CN113465798B - DUS-FBG-based large-area flexible electronic skin smooth sensation sensor - Google Patents
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Abstract
The invention discloses a DUS-FBG-based large-area flexible electronic skin smooth sensation sensor, which relates to the technical field of flexible electronics and comprises the following components: the optical fiber flexible skin structure is formed by packaging a smooth sense sensing array by a flexible packaging material; the sliding sense sensing array is formed by arranging and distributing a first DUS-FBG which is transversely arranged and a second DUS-FBG which is longitudinally arranged in a grid manner, the first DUS-FBG and the second DUS-FBG are two grating optical fibers with different central wavelengths, and the array arrangement is that a DUS-FBG with a preset length is arranged at intervals of a preset distance; a tunable laser module for providing an incident light source for the slip sense sensing array; and the sliding sense sensing module is used for determining the positions and moments of sliding sense generation and termination according to the central wavelength deviation and the threshold of the two DUS-FBGs of the sliding sense sensing array, so as to realize sliding sense measurement. The invention uses two fiber gratings with different central wavelengths to improve the sensitivity, and has the advantages of high sensitivity and large-area measurement.
Description
Technical Field
The invention belongs to the technical field of flexible electronics, and particularly relates to a DUS-FBG-based large-area flexible electronic skin smooth sensation sensor.
Background
With the rapid development of intelligent robots, high requirements are placed on the sensitivity of the intelligent robots, and measurement and feedback of slippery sensations play an important role in the intelligence of the robots.
The slip sensor is a device capable of detecting relative slip between a manipulator paw and a clamped object, and mainly comprises capacitance type, piezoresistive type, magnetic sensitive type, optical fiber type, piezoelectric type and the like. The resistive sliding touch sensor has the defects of large volume, difficult integration, unstable leakage current of the force-sensitive resistor and the like; the photoelectric sliding-sense sensor has the advantages of simple structure, reasonable design, strong anti-electromagnetic interference capability and the like, but the photoelectric sliding-sense sensor is difficult to maintain a linear relation when the photoelectric sliding-sense sensor works together with more than two forces, has certain difficulty in calibration, is difficult to improve the precision and the like; the most widespread sliding tactile sensor is a piezoelectric sensor, which can detect sliding tactile information and tactile information at the same time, however, the separation of the sliding tactile information and the tactile information has certain difficulty, and the piezoelectric sliding tactile sensor has piezoelectric response and thermoelectric response at the same time; and it is difficult to realize the requirements for large area and high precision.
Disclosure of Invention
The invention aims to: the utility model provides a smooth sense sensor of large tracts of land flexible electron skin based on DUS-FBG to solve the problem that proposes in the above-mentioned background art, realize high sensitivity, large tracts of land smooth sense sensor.
The technical scheme adopted by the invention is as follows:
the invention provides a DUS-FBG-based large-area flexible electronic skin slip sensor, which comprises:
the optical fiber flexible skin structure is formed by packaging a slip sensing array by a flexible packaging material; the sliding sense sensing array is formed by arranging and distributing a first DUS-FBG which is transversely arranged and a second DUS-FBG which is longitudinally arranged in a grid manner, the first DUS-FBG and the second DUS-FBG are two grating optical fibers with different central wavelengths, and the array arrangement is that a DUS-FBG with a preset length is arranged at intervals of a preset distance;
a tunable laser module for providing an incident light source for the slip sense sensing array;
and the sliding sense sensing module is used for determining the positions and moments of sliding sense generation and termination according to the central wavelength deviation and the threshold of the two DUS-FBGs of the sliding sense sensing array, so as to realize sliding sense measurement.
Furthermore, the total length of each DUS-FBG is 30m, 30000 gratings are engraved on each optical fiber, a 54 cm-long DUS-FBG is arranged at intervals of 1cm, and the spatial resolution of the minimum sensing unit is 1 mm.
Further, the area expansion of the fiber flexible skin is realized by multiplexing technology.
Further, in the process of drawing the optical fiber, dynamically writing a first DUS-FBG with the center wavelength of 1546nm by using a phase mask method; and dynamically writing a second DUS-FBG with the central wavelength of 1554nm by using a phase mask method, and performing staggered serpentine arrangement.
Furthermore, the output light of the tunable laser is divided into 3 light signals after passing through a 1 × 3 optical splitter, and the first light beam is directly incident into the reference interference arm through the circulator; the second beam of light enters the slip sense sensing array; the third beam of light is firstly modulated into pulse light by a pulse modulator, then is subjected to light amplification by an EDFA and enters the slip sensation sensing array.
Further, still include: and reconstructing the actual sensing data of a plurality of discrete points on the fiber bragg grating by using an IDW algorithm to invert the sensing data in the sensing blind area.
Further, determining the positions and moments of generating and ending the sliding sense to realize the sliding sense measurement, comprising the following steps of:
on the optical fiber grating array, judging the positions and the time of the start and the end of the sliding sense according to a sliding sense threshold value, and recording an initial point of occurrence so as to calculate the displacement of the sliding sense according to an initial coordinate; (x)1,y1) And (x)2,y2) Position coordinates of the start of the slide and the end of the slide, respectively, and according to x2-x1And y2-y1The positive and negative values determine the direction of the slip.
Further, determining the position and time of generating and ending the slip sense according to the central wavelength shift and the threshold of the two DUS-FBGs of the slip sense sensing array comprises:
and obtaining the acceleration of wavelength change by secondarily deriving the wavelength deviation with time, and judging the jump moment of the wavelength deviation by combining with a threshold value to realize the identification of the initial sliding.
Compared with the prior art, the invention has the following technical effects:
the large-area flexible electronic skin slip sensation sensor based on the DUS-FBG is simple in structure, reasonable in design and ingenious in structure; the method realizes high spatial resolution and high-precision slippery sensation measurement on large-area flexible intelligent skin, overcomes the defects that the existing method is low in sensitivity and cannot realize large-area detection, and can be applied to a flexible grasping system of a robot to improve the intelligence of the robot.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a DUS-FBG-based large-area flexible electronic skin slip sensor in an embodiment of the invention;
FIG. 2 is an enlarged schematic view of the distribution of the slip sense sensing array in the embodiment of the present invention;
FIG. 3 is a schematic diagram of the distribution of fiber gratings on the DUS-FBG in the embodiment of the present invention;
FIG. 4 is a schematic flow chart of the slip sensor for detecting the sliding speed and direction according to the embodiment of the present invention;
wherein: 1. a flexible material enclosure; 2. a sensory array of smooth senses; 3. a first laterally arranged DUS-FBG; 4. a second DUS-FBG; 5. a sensing grating; 6. and a grating sensing unit.
Detailed Description
Description of technical terms:
the DUS-FBG is called as Dense Ultra-Short FBG, namely the Ultra-Dense identical weak fiber FBG. FBGs are known as Fiber Bragg gratings, i.e. gratings with periodic spatial phase distribution formed in the core, and essentially form a narrow-band (transmissive or reflective) filter or mirror in the core.
The OTDR is called an Optical Time Domain Reflectometer in english, that is, an Optical Time Domain Reflectometer. The OTDR is a precise photoelectric integrated instrument manufactured by using rayleigh scattering when light is transmitted in an optical fiber and back scattering generated by fresnel reflection, and is widely used in maintenance and construction of optical cable lines, and can measure the length of the optical fiber, transmission attenuation of the optical fiber, joint attenuation, fault location, and the like.
The Optical frequency domain reflectometer is an Optical frequency domain reflectometer, and is a high-resolution Optical fiber measurement technology developed gradually in 1990. Different from the optical time domain reflectometer OTDR which transmits a time domain pulse signal into the system, the OFDR transmits a frequency sweep optical signal into the system by utilizing a narrow-band laser and an acoustic optical modulator, and the detected signal is analyzed by a special algorithm through an optical heterodyne detection technology. Regardless of structure or algorithm, OFDR is more complex than OTDR.
The EDFA is an Erbium-doped Fiber Amplifier, which is an active Optical device for amplifying signal light.
The general english name of IDW is Inverse Distance Weighted interpolation, which is a common and simple spatial interpolation method, and the Weighted average is performed by using the Distance between an interpolation point and a sample point as a weight, and the weight given to the sample point closer to the interpolation point is larger.
The invention aims to provide a DUS-FBG-based large-area flexible electronic skin slip sensor, which realizes high-sensitivity and large-area sensing.
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, which shows a schematic structural diagram of a DUS-FBG-based large-area flexible electronic skin slip sensor, a device body is an optical fiber flexible skin structure, and the optical fiber flexible skin structure is formed by packaging a slip sensing array 2 with a flexible packaging material 1; the sliding sense sensing array 2 is fixed in the middle of the flexible package 1, the sliding sense sensing array 2 is arranged and distributed in a grid shape by a first DUS-FBG3 arranged transversely and a second DUS-FBG4 arranged longitudinally, each grid is called as a grating sensing unit 6, and a plurality of sensing gratings 5 are arranged in each grating sensing unit 6. And packaging the two grating optical fibers by using a flexible material 1 after finishing arrangement.
According to the ultra-dense identical weak optical fiber grating array and the novel optical fiber flexible skin made of the embedded flexible material, the grating length and the interval of the utilized grating are 0.5cm, the reflectivity of the grating is kept at-45 dB, and the extremely short grating distance can realize distributed sensing with high spatial resolution and large capacity. The purpose of the weak reflectivity grating is to increase the transmission distance of the optical signal in the optical fiber to increase the multiplexing number of the distributed fiber gratings, and the weak grating reflectivity can reduce various crosstalk of the tandem FBG network, especially the spectral shadow and the multiple reflection effect. In the process of drawing the optical fiber, a first transverse DUS-FBG with the central wavelength of 1546nm is dynamically written in by using a phase mask method, and a second DUS-FBG which is written in a longitudinal arrangement with the central wavelength of 1554nm is drawn by using the same method to perform staggered and serpentine arrangement, so that the spatial resolution and the detection area are improved.
The arrangement of fiber gratings in the slip sense sensing array is shown in fig. 2, two DUS-FBG fiber grids are arranged, and DUS-FBGs with different central wavelengths are arranged in a staggered and snakelike manner when the gratings are arranged. The DUS-FBGs used, each with total length lm, the length of the gates and the distance between the gates, dmm. The array is arranged with a section of a cm long DUS-FBG at intervals of b cm. The first DUS-FBG arranged transversely has a central wavelength λ1The center wavelength of the second DUS-FBG arranged longitudinally is λ2Two fiber gratings are arranged in a staggered way, so that the spatial resolution and the smooth feeling detection area are improved, and a can be realized2cm2The area is detected in a smooth sense, and the detection area can be expanded through a multiplexing technology. The length of the side a is determined by the total length l (l is more than or equal to 10m) and the distance b (b is less than or equal to 1mm) between the grating region and the grating region:
in a specific example, the DUE-FBG has a total length of 30m, 30000 gratings are engraved, and a 54cm DUS-FBG is arranged at intervals of 1cm, and can realize 2916cm2The minimum sensing unit space resolution is 1mm, and the space resolution is equivalent to that of a human fingertip.
And the tunable laser module is used for providing an incident light source for the slip sense sensing array. The output light of the tunable laser is divided into 3 light signals after passing through a 1 x 3 optical splitter, and the first light is not entered into the flexible skin sensor but directly enters the reference interference arm through the circulator; the second beam of light enters a port of a 2 × 4 optical switch input1, the third beam of light is modulated into pulse light by a pulse modulator, and the pulse light is amplified by an EDFA and then enters a port of a 2 × 4 optical switch input2 for demodulation. The reflected light pulse enters the photoelectric detection device to realize photoelectric conversion after passing through the circulator, and then is processed by the data acquisition module and the data processing module to realize signal processing and data calculation and analysis. Preferably, the external cavity tunable laser adopted in the embodiment of the invention has an excellent narrow linewidth characteristic, and provides stable high-speed frequency-sweeping light for a subsequent optical path of an OFDR system.
When relative sliding occurs, namely the moment from the maximum static friction force to the sliding friction force, the central wavelength of the fiber grating sensing unit of the sliding array can be shifted. One sensing unit has b2cm2The strain force applied to the fiber grating around the sensing unit changes at the slip occurrence point, so that the refractive index and the grating pitch of the fiber grating change, and the center wavelength shifts. b2cm2The slippery sense fiber grating sensing unit is a square with the side length of b cm, and one grating is carved on the side of each bcm at intervals of dmm, so that the high-precision measurement of the slippery sense is realized. The slip sensation sensing module can determine the positions and moments of slip sensation generation and termination according to the deviation of the center wavelength of each fiber bragg grating of the sensing unit and the determination of the threshold value, and further perform a series of slip sensation measurements.
When the optical fiber flexible skin slides relatively to the object, the pressure distribution on the sensing array changes continuously along with the sliding process, the detection of the sliding area is realized by utilizing the space positioning technology of optical frequency domain reflection demodulation, the sliding state of the object is judged, the linear distance and the detection time difference between pressure signal change points (different DUS-FBG sensing units) are calculated to obtain the relative sliding speed of the optical fiber flexible skin, and the sensing of the direction is realized according to the position coordinate calculation, so that the slip sensing of the optical fiber flexible skin is realized.
Based on
The OFDR multi-parameter sensing system mainly comprises a light source module, a multi-parameter sensing array and a demodulation module, a narrow-bandwidth light source and a low-noise detector are adopted to reduce the influence of light source phase noise and detector noise, meanwhile, the weak fiber bragg grating with extremely low reflectivity is adopted to reduce system noise, and high-capacity fiber flexibility is achievedHigh-precision and high-sensitivity demodulation of skin.
In order to enable the sensing data to have complete and continuous spatial distribution on the optical fiber flexible skin, sensing values in the sensing dead zone need to be reconstructed and inverted according to a limited number of actual sensing data.
The slippery sensation array can realize the detection of the sliding speed and the sliding direction, the starting position and the ending position and the time of the slippery sensation can be judged on the optical fiber grating array according to a slippery sensation threshold value, the initial point of the sliding can be recorded, and the displacement of the slippery sensation can be calculated according to the initial coordinate. (x)1,y1) And (x)2,y2) Position coordinates of the start of the slide and the end of the slide, respectively, and according to x2-x1And y2-y1The positive and negative values can determine the direction of the sliding.
The slip sensor can recognize this trend immediately from the moment when the static friction is maximized to the moment when the slip friction is minimized. The DUS-FBG center wavelength shift will produce a maximum jump to determine the initial slip that occurs. The wavelength variation speed is obtained by deriving the wavelength offset with respect to time. Referring to fig. 4, it shows a flowchart of the slip sensor implementing the slip speed and direction detection in the embodiment of the present invention, the method includes:
s1, when the sliding occurs, the pressure of the sliding point changes, which causes the central wavelength of the fiber grating of the sensing unit to shift;
s2, identifying the sliding start time according to the acceleration of the wavelength shift;
because when the static friction force of an object is gradually increased, the change rate of the central wavelength is high, and the judgment of the initial sliding is not facilitated by directly changing the central wavelength, a second derivative algorithm is applied, the second derivative of the wavelength deviation on time is obtained by carrying out the second derivation on the wavelength deviation, the acceleration of the wavelength change is obtained, and the jump moment of the wavelength deviation is judged by combining a threshold value, so that the identification of the initial sliding is realized, the sampling frequency is 1khz, and the average acceleration of the wavelength deviation within 1ms can be represented as:
s3, judging the start and end time of the sliding sense according to the threshold value, and recording the position coordinates of the sliding sense when the sliding sense occurs and ends;
s4, calculating the sliding direction and speed according to the initial coordinate;
the slip sensor can measure the sliding distance and time according to the judgment of the generation and the termination of the sliding and a threshold value, the distance can be calculated by the position coordinate of the initial sliding, and then the average speed of the sliding is calculated:
and S5, detecting the slip direction and speed by using the change of the central wavelength of the fiber bragg grating of the sensing unit.
According to x2-x1And y2-y1The positive and negative values can determine the direction of the sliding.
The DUS-FBG-based large-area flexible electronic skin slip sensation sensor realizes high-spatial resolution and high-precision slip sensation measurement on large-area flexible intelligent skin, and can be applied to a flexible grasping system of a robot so as to improve the intelligence of the robot.
The technical principle of the present invention is explained below by way of an example.
Book-keeping deviceThe DUS-FBG-based large-area flexible electronic skin slip sensor provided by the invention is placed and fixed on a test platform, when the surface of the slip sensor slides relatively, according to the moment from the maximum static friction to the sliding friction sensed by the slip sensor, the rising edge time of the wavelength change of the DUS-FBG1 is set as t1At t, 0.34s2The center wavelength of the DUS-FBG1 drifts to a peak Δ λ at time 0.84s10.0743 nm; let the time of the rising edge of the wavelength change of DUS-FBG2 be t10.37s at t2The central wavelength of the DUS-FBG2 shifts to a peak Δ λ at time 0.87s20.0951 nm. The moving position of the object can be judged by comparing the rising edge time and the peak value time of the two gratings. The average speed of the object sliding can be obtained according to the linear distance between the positions and the time difference, wherein the average speed is 10.5cm/s, the position coordinate of the sliding starting point is (0, 1.3) and the end point is (4,4.3) according to the threshold value, and then the average speed is calculated according to the linear distance between the positions and the time difference
So slide by 5cm, x2-x1The > 0 sliding direction is to the right; y is2-y1The sliding direction is upward > 0.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A DUS-FBG-based large area flexible electronic skin slip sensor, comprising:
the optical fiber flexible skin structure is formed by packaging a slip sensing array by a flexible packaging material; the sliding sense sensing array is formed by arranging and distributing a first DUS-FBG which is transversely arranged and a second DUS-FBG which is longitudinally arranged in a grid manner, the first DUS-FBG and the second DUS-FBG are two grating optical fibers with different central wavelengths, and the array arrangement is that a DUS-FBG with a preset length is arranged at intervals of a preset distance;
a tunable laser module for providing an incident light source for the slip sense sensing array;
and the sliding sense sensing module is used for determining the positions and moments of sliding sense generation and termination according to the central wavelength deviation and the threshold of the two DUS-FBGs of the sliding sense sensing array, so as to realize sliding sense measurement.
2. The DUS-FBG-based large area flexible electronic skin slip sensor of claim 1, wherein: the total length of each DUS-FBG is 30m, 30000 gratings are engraved on each optical fiber, a 54 cm-long DUS-FBG is arranged at intervals of 1cm, and the spatial resolution of the minimum sensing unit is 1 mm.
3. The DUS-FBG-based large area flexible electronic skin slip sensor of claim 1, wherein: the area expansion of the optical fiber flexible skin is realized through a multiplexing technology.
4. The DUS-FBG-based large area flexible electrodermal slip sensor of claim 2, wherein a first DUS-FBG with a center wavelength of 1546nm is dynamically written during fiber drawing using phase masking; and dynamically writing a second DUS-FBG with the central wavelength of 1554nm by using a phase mask method, and performing staggered serpentine arrangement.
5. The DUS-FBG-based large area flexible electronic skin slippage sensor of claim 1, wherein the output light of the tunable laser is split into 3 optical signals after passing through a 1 x 3 optical splitter, the first beam of light being directly incident into the reference interference arm through a circulator; the second beam of light enters the slip sense sensing array; the third beam of light is firstly modulated into pulse light by a pulse modulator, then is subjected to light amplification by an EDFA and enters the slip sensation sensing array.
6. The DUS-FBG-based large area flexible electronic skin slip sensor of claim 1, further comprising: and reconstructing the actual sensing data of a plurality of discrete points on the fiber bragg grating by using an IDW algorithm to invert the sensing data in the sensing blind area.
7. The DUS-FBG-based large area flexible electronic skin slip sensor of claim 1, wherein the location and time of slip generation and termination are determined to enable slip measurement, comprising:
on the optical fiber grating array, judging the positions and the time of the start and the end of the sliding sense according to a sliding sense threshold value, and recording an initial point of occurrence so as to calculate the displacement of the sliding sense according to an initial coordinate; (x)1,y1) And (x)2,y2) Position coordinates of the start of the slide and the end of the slide, respectively, and according to x2-x1And y2-y1The positive and negative values determine the direction of the slip.
8. The DUS-FBG-based large area flexible electronic skin slip sensor of claim 1, wherein determining the location and time of slip generation and termination based on the central wavelength shift of the two DUS-FBGs of the slip sensing array and a threshold comprises:
and obtaining the acceleration of wavelength change by secondarily deriving the wavelength deviation with time, and judging the jump moment of the wavelength deviation by combining with a threshold value to realize the identification of the initial sliding.
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| US10054516B2 (en) * | 2016-08-29 | 2018-08-21 | The United States Of America As Represented By The Adiminstrator Of Nasa | System and method for optical frequency domain reflectometer |
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