Robot bionic skin based on optical fiber sensing, positioning method of robot bionic skin and application of robot bionic skin

A positioning method and optical fiber sensing technology are applied in the field of robotic bionic skin and its positioning to achieve the effects of convenient flexible packaging, high positioning accuracy and large sensing range

Inactive Publication Date: 2018-09-11
李丽萍
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0016] In order to overcome the above-mentioned defects, the present invention provides a robot bionic skin based on optical fiber sensing and its positioning method and application. Through the bionic

Method used

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  • Robot bionic skin based on optical fiber sensing, positioning method of robot bionic skin and application of robot bionic skin
  • Robot bionic skin based on optical fiber sensing, positioning method of robot bionic skin and application of robot bionic skin
  • Robot bionic skin based on optical fiber sensing, positioning method of robot bionic skin and application of robot bionic skin

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Embodiment 1

[0038] A bionic skin based on optical fiber sensing technology, comprising: an optical fiber skin band 2 and an optical fiber demodulation device 3, by connecting one end of the optical fiber skin band 2 with the optical fiber demodulation device 3, in order to touch an optical fiber skin band 2 To achieve the purpose of dual perception of force and temperature, the optical fiber skin belt 2 described in this application includes a single-mode optical fiber and a multi-mode optical fiber, and the single-mode optical fiber and multi-mode optical fiber arranged side by side are flattened and packaged by flexible materials The optical fiber demodulation device 3 includes a Brillouin demodulator and a Raman demodulator, the Brillouin demodulator is used for distributed measurement of force, and the Raman demodulator is used for distributed measurement of temperature, and The single-mode fiber is connected to the Brillouin demodulator, and the multi-mode fiber is connected to the Ra...

Embodiment 2

[0076] Such as figure 1 and figure 2 Shown, a kind of robot that applies bionic skin perception function, comprises robot body 1, and this robot adopts the bionic skin based on the optical fiber sensing technology described in embodiment 1, and the optical fiber skin band 2 in described bionic skin is in S type etc. The spacing is pasted and arranged on the outer surface of the robot body 1, an optical fiber demodulation device 3 and a controller are installed on the torso of the robot body 1, and the controller is connected to one end of the optical fiber skin belt 2 through the optical fiber demodulation device 3. The controller can be selected from the model FX3U-48MTES-A. The optical fiber demodulation device 3 includes a Brillouin demodulator and a Raman demodulator. The Brillouin demodulator is used for distributed measurement of force, Raman The demodulator is used for distributed measurement of temperature. The optical fiber skin belt 2 includes a single-mode optical...

Embodiment 3

[0079] A sensory positioning method for bionic skin, the method is based on the robot described in Embodiment 2, and the optical fiber skin belt 2 is equidistantly arranged on the outer surface of the robot body 1, and one end of the optical fiber skin belt 2 is connected to the optical fiber demodulation device 3 For connection, the optical fiber skin band 2 includes a single-mode optical fiber and a multi-mode optical fiber, and is flattened by a flexible material, and the optical fiber demodulation device 3 includes a Brillouin demodulator and a Raman The demodulator, the Brillouin demodulator is connected with single-mode fiber for distributed force measurement; the Raman demodulator is connected with multi-mode fiber for distributed temperature measurement.

[0080] The specific positioning method is:

[0081] S1: Determine the mutation area through the variation curve. The initial state measured by the optical fiber demodulation device 3 obtains the strain curve S0, and...

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Abstract

The invention relates to a robot bionic skin based on optical fiber sensing, a positioning method of a robot bionic skin and applications of a robot bionic skin. A fiber sensor technology is utilizedto simulate a bionic skin with human force and temperature sensing and positioning functions. The bionic skin is adhered to the surface of a robot, and problems of human force and temperature sensingand positioning simulated by the robot are solved by touching the bionic skin. The bionic skin, applied to the robot, has the characteristics of being easy to install, not affecting execution of the robot, not affecting arrangement of the robot structure and having a good sensing effect of simulating the human skin.

Description

Technical field: [0001] The invention belongs to the field of sensors, in particular to a robot bionic skin based on optical fiber sensing and its positioning method and application. Background technique: [0002] With the development of integrated circuits, sensors, and artificial intelligence technology, the perception capabilities of robots are becoming more and more developed. Through technologies such as stereo vision and microphone arrays, robots can obtain information similar to human vision and hearing. The simulation of is still a difficult problem in the field of robotics. [0003] The sense of touch refers to the nerve cells distributed on the skin of the whole body, which receive the sensations of temperature, humidity, pain, pressure, vibration and other aspects from the outside world. The tactile organs of most animals are spread all over the body, just like the human skin is located on the human body surface, relying on the free nerve endings of the epidermis...

Claims

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Application Information

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IPC IPC(8): G01K11/32G01L1/24
CPCG01K11/32G01L1/242G01K11/324
Inventor 张洪涛
Owner 李丽萍
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