A three-dimensional continuous curvature measurement sensor and system thereof

By using a three-dimensional continuous curvature measurement sensor composed of an inner slider and an outer slider, combined with an optical transceiver module and multi-color light field measurement, the problem that traditional sensors cannot be miniaturized and integrated is solved, and high-precision measurement of the soft robot's posture reconstruction is achieved.

CN117589088BActive Publication Date: 2025-09-19浣江实验室 +1
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Patent Information

Application Number
CN202311543568.3
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2023-11-17
Publication Date
2025-09-19
Estimated Expiration
2043-11-17

AI Technical Summary

Technical Problem

Existing technologies cannot effectively measure three-dimensional continuous curvature, which limits the application of soft robots. Traditional sensors cannot be miniaturized and lightweight and are difficult to integrate.

Method used

A three-dimensional continuous curvature measurement sensor consisting of an inner sliding body and an outer sliding body is used, combined with an optical transceiver module and multi-color light field measurement. The xyz three-axis rotation angle is obtained through dual-sensor differential measurement. The sensors are coupled through a spherical structure to achieve multi-degree-of-freedom measurement.

Benefits of technology

The sensor has been made lightweight, miniaturized and modularized, and the measurement accuracy has been improved. It is suitable for the posture reconstruction of soft robots and lowers the application threshold.

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Abstract

The present invention discloses a three-dimensional continuous curvature measurement sensor and its system. The sensor consists of an inner slider, an outer slider, and an optical transceiver module. The optical transceiver module is placed between the inner and outer sliders. The optical transceiver module is provided with two sets of symmetrically arranged receivers on the side facing the outer slider, and three sets of optical emission systems on the side facing the inner slider. Each optical emission system includes a light emitter and an emission regulator, and the emission regulator is used to calibrate the color accuracy and luminous intensity of the light emitter. The system is composed of several curvature measurement sensors connected in series. The curvature measurement sensors of the present invention are coupled through a spherical structure, so that each measurement sensor has three measurement degrees of freedom, which is more suitable for the position reconstruction of soft robots. The composite light field composed of multiple colors and light intensities is used for measurement, and dual sensors are provided for position compensation, which greatly improves the measurement accuracy.
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