Shear force optical fiber sensing pin shaft, shear force detection method, shear force detection system, shear force detection equipment and medium

Abstract

The invention relates to a shearing force optical fiber sensing pin shaft, a shearing force detection method, a shearing force detection system, shearing force detection equipment and a medium, and belongs to the technical field of track safety detection.The shearing force optical fiber sensing pin shaft utilizes a fiber bragg grating as a sensitive element and is laid in the pin shaft, and changes of stress and strain of the pin shaft are converted into wavelength movement of the fiber bragg grating; the wavelength offset of the fiber bragg grating is detected through the detection device, and the shearing force is detected according to the mapping relation between the wavelength offset and the dependent variable of the pin shaft; the stress consistency of the pin shaft is guaranteed, the sensitivity is improved, the temperature compensation function can be achieved, meanwhile, the detection method is good in anti-interference performance, high in measurement stability, high in precision and free of zero drift, and the problems that a traditional strain rosette type sensor is prone to electromagnetic interference and poor in long-term stability are solved; the sensing device is small in size, the sensing pin shaft is directly installed on existing turnout switching equipment, installation is easy and convenient, and construction is easy.

Description

Technical Field

[0001] The present invention belongs to the technical field of rail safety detection, and in particular relates to a shear force optical fiber sensing pin. Background Art

[0002] Pins are a type of standardized fasteners, widely used in the connection of mechanical structures, and are key and important parts in mechanical structures. Pin parts are transformed into intelligent pin sensors, which have both connection and sensing functions, and can detect the load on them in real time, grasp their working status in time, and thus realize overload protection for the pins. At the same time, they can also serve the safety detection and safety management of mechanical devices and equipment.

[0003] Traditional pin shaft sensors mainly use electrical sensing detection technology, implanting resistance strain gauges into the pin shaft to sense the load on the pin shaft. Traditional resistance strain gauge pin shaft sensors have been widely used in engineering applications and have played a very positive role. However, because electrical sensing elements are active devices, their moisture resistance, anti-electromagnetic interference, and long-term stability are poor under harsh monitoring conditions. When used for a long time in a complex monitoring environment, zero drift and other faults are prone to occur, affecting the reliability of the monitoring results.

[0004] The prior art has not yet found a pin device and a detection method for testing shear stress using grating optical fiber; the prior art uses traditional strain gauge sensors that are susceptible to electromagnetic interference and have poor long-term stability; the prior art has not yet found a turnout switching device that uses a pin sensor to test shear stress. Summary of the invention

[0005] The purpose of the present disclosure is to provide a shear force optical fiber sensing pin in order to solve the above-mentioned problems.

[0006] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0007] A shear force optical fiber sensing pin comprises a pin body, an optical fiber Bragg grating and a collection and transmission unit, wherein grooves are symmetrically provided on both sides of the pin body, a through hole is provided in the horizontal direction on the upper end of the pin body, and the through hole connects the two grooves; the optical fiber Bragg grating is used to convert the changes in pin stress and strain into wavelength offset, the optical fiber Bragg grating passes through the through hole and its two ends are respectively laid in the two grooves, the groove and the through hole are both injected with plastic material, the optical fiber Bragg grating is potted in the groove and the through hole, and two deformation amplification layers are formed on both sides of the pin body, and the deformation amplification layers can be deformed in the vertical direction; the collection and transmission unit is arranged at the head of the pin body, connected to the optical fiber Bragg grating, and is used to collect and transmit signals.

[0008] As a further optimization solution of the present disclosure, the plastic material is epoxy glue.

[0009] As a further optimization scheme of the present disclosure, the acquisition and transmission unit includes a battery, a processing circuit and a Bluetooth transmitter, the battery is used for power supply; the processing circuit is used for converting the collected analog electrical signal output by the fiber grating into a digital electrical signal; the Bluetooth transmitter is used for transmitting the converted digital electrical signal.

[0010] As a further optimization solution of the present disclosure, the Bluetooth transmitter has a universal communication protocol of low-power Bluetooth and can be connected to a handheld terminal with Bluetooth communication function, thereby realizing real-time online viewing of data through the handheld terminal.

[0011] A method for shear force detection using the shear force optical fiber sensing pin comprises the following steps:

[0012] Install the shear force optical fiber sensing pin on the external locking device;

[0013] When the point rail on the outer locking device is switched to the position to complete the switch locking, the shear force optical fiber sensing pin is stressed, and the deformation amplification layer is deformed by the stress. The optical fiber Bragg grating is used as a sensitive element to convert the stress and strain changes of the shear force optical fiber sensing pin into a wavelength offset Δλ of the optical fiber Bragg grating, and the signal is transmitted through the acquisition and transmission unit;

[0014] The shear force detection is achieved according to the mapping relationship between the wavelength shift Δλ and the strain.

[0015] As a further optimization scheme of the present disclosure, converting the change of shear force optical fiber sensing pin stress and strain into the wavelength offset Δλ of the optical fiber grating includes:

[0016] Force analysis of shear force optical fiber sensing pin:

[0017]

[0018] From the above formula, we can deduce:

[0019]

[0020] Among them, τ is stress, F is shear force, E is material elastic modulus, r is pin radius, and ε is strain;

[0021] The relationship between the wavelength shift Δλ, the temperature change ΔT and the strain Δε is:

[0022] Δλ=Kt*ΔT+Kε*Δε;

[0023] Among them, Kt is the temperature sensitivity coefficient, Kε is the strain sensitivity coefficient, and ΔT is the temperature change.

[0024] As a further optimization scheme of the present disclosure, according to the mapping relationship between the wavelength shift Δλ and the strain, the shear force detection is realized including:

[0025] Since the pin is perpendicular to the force direction and the two fiber gratings are placed symmetrically, the strains of the upper and lower fiber gratings are consistent when subjected to force, then:

[0026] Δε=2ε;

[0027] From the above formula, we can deduce:

[0028] Δλ=Kt*ΔT+2Kε*ε;

[0029] The above formula can be used to obtain the corresponding relationship between the fiber Bragg grating wavelength offset Δλ and the shear force F, which is as follows:

[0030]

[0031] A system for shear force detection using a shear force optical fiber sensing pin, comprising:

[0032] An installation module, used to install the shear force optical fiber sensing pin on the external locking device;

[0033] A wavelength offset acquisition module is used for converting the stress and strain changes of the shear force optical fiber sensing pin into the wavelength offset Δλ of the optical fiber Bragg grating by using the optical fiber Bragg grating as a sensitive element when the point rail on the external locking device is switched to the position to complete the switch locking, and the shear force optical fiber sensing pin is subjected to force, and the deformation amplification layer is subjected to force to produce deformation, and the signal is transmitted through the acquisition and transmission unit;

[0034] The detection module is used to detect the shear force according to the mapping relationship between the wavelength offset Δλ and the strain.

[0035] An electronic device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0036] Memory, for storing computer programs;

[0037] The processor is used to implement the method of using the shear force optical fiber sensing pin to detect shear force when executing the program stored in the memory.

[0038] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the method for shear force detection using a shear force optical fiber sensing pin.

[0039] The beneficial effects of the present disclosure are:

[0040] The present invention utilizes a fiber Bragg grating as a sensitive element, lays it in a pin shaft, converts the change of the pin shaft stress and strain into the movement of the fiber Bragg grating wavelength, detects the fiber Bragg grating wavelength offset by a detection device, and realizes the detection of shear force according to the mapping relationship between the wavelength offset and the pin shaft strain; the present invention ensures the consistency of the force on the pin shaft, increases the sensitivity, and can realize the temperature compensation function; at the same time, the detection method of the present invention has good anti-interference performance, high measurement stability, high accuracy, and no zero drift problem, and overcomes the problem that the traditional strain rosette type sensor is susceptible to electromagnetic interference and has poor long-term stability; the sensing device of the present invention is small in size, and the sensing pin shaft is directly installed on the existing turnout conversion equipment, which is easy to install and simple to construct. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 is a schematic diagram of the overall structure of the shear force optical fiber sensing pin in the embodiment of the present disclosure;

[0042] Figure 2 is a schematic diagram of the structure of the external locking device;

[0043] Figure 3 It is a schematic diagram of the structure of the switch rail connecting iron assembly;

[0044] Figure 4 is a schematic diagram of the installation position of the shear force optical fiber sensing pin in the embodiment of the present disclosure;

[0045] Figure 5 is a schematic diagram of the force of the shear force optical fiber sensing pin in the embodiment of the present disclosure;

[0046] Figure 6 is a cross-sectional schematic diagram of the installation position of the shear force optical fiber sensing pin in the embodiment of the present disclosure;

[0047] Figure 7 is a flow chart of a method for shear force detection using a shear force optical fiber sensing pin in an embodiment of the present disclosure;

[0048] Figure 8 is a system structure block diagram in an embodiment of the present disclosure;

[0049] Fig. 9 It is a block diagram of the device structure in an embodiment of the present disclosure.

[0050] In the figure: 1. Pin body; 2. Fiber Bragg grating; 3. Deformation amplification layer; 4. Collection and transmission unit. DETAILED DESCRIPTION

[0051] The present application is further described in detail below in conjunction with the accompanying drawings. It is necessary to point out here that the following specific implementation methods are only used to further illustrate the present application and cannot be understood as limiting the scope of protection of the present application. Technical personnel in this field can make some non-essential improvements and adjustments to the present application based on the above application content.

[0052] like Figure 1 As shown, a shear force optical fiber sensing pin includes a pin body 1, an optical fiber Bragg grating 2 and a collection and transmission unit 4, wherein grooves are symmetrically provided on both sides of the pin body 1, and a through hole is provided in the horizontal direction on the upper end of the pin body 1, and the through hole connects the two grooves; the optical fiber Bragg grating 2 is used to convert the changes in pin stress and strain into wavelength offset, the optical fiber Bragg grating 2 passes through the through hole and the two ends are respectively laid in the two grooves, the groove and the through hole are both injected with plastic material, the optical fiber Bragg grating 2 is encapsulated in the groove and the through hole, and two deformation amplification layers 3 are formed on both sides of the pin body 1, and the deformation amplification layer 3 can be deformed in the vertical direction; the collection and transmission unit 4 is arranged at the head of the pin body 1, connected to the optical fiber Bragg grating 2, and is used to collect and transmit signals.

[0053] The acquisition and transmission unit 4 is embedded in the head of the optical fiber pin-type sensor, which contains a battery, a processing circuit and a Bluetooth transmitter. It can supply power and convert the analog electrical signal output by the optical fiber Bragg grating 2 into a digital electrical signal, and transmit the converted digital electrical signal through the Bluetooth transmitter. It has a universal communication protocol for low-power Bluetooth and can communicate with handheld terminals (mobile phones, tablets, etc.) with Bluetooth communication functions, so that the online detection function of the collected data can be realized through the handheld terminal, and the handheld terminal can directly view the specific detection values.

[0054] The deformation amplification layer 3 is an elastic material, which may be epoxy glue. The fiber grating 2 is encapsulated in the pin shaft with epoxy glue, and then the excess epoxy glue is polished flat with sandpaper and left to stand for curing. The deformation amplification layer 3 can deform in the vertical direction. When the shear force acts, the pin shaft produces relative deformation in the direction of the shear force, thereby causing physical deformation. The above-mentioned displacement coordination process between the deformation amplification layer 3 and the fiber grating 2 converts the shear force strain of the fiber grating 2 into an equivalent axial strain. By measuring the axial strain of the fiber grating 2, the stress acting on the measured object can be deduced, thereby obtaining the current shear force value. The magnitude of the shear force is directly related to the deformation amount of the fiber grating 2, and the deformation amount of the fiber grating 2 is directly related to the wavelength of the photoelectric signal. The value of the shear force acting on the pin shaft can be obtained by forming test data through the photoelectric signal.

[0055] First, the composition and operating performance of the external locking device are described.

[0056] like Figure 2 As shown, the external locking device mainly includes a locking rod assembly, a locking hook assembly, a locking frame assembly, and a point rail connecting iron assembly.

[0057] like Figure 3 As shown, the switch rail connecting iron assembly is mainly composed of the switch rail connecting iron, push-pull plate, connecting iron seat, connecting iron seat shaft, slider and pin shaft. The switch rail connecting iron is the installation foundation, and the slider and pin shaft are used to realize the hinge connection between the switch rail connecting iron and the push-pull plate, and the push-pull plate rotates around the connecting iron seat shaft. On the one hand, the switch rail connecting iron assembly cooperates with other components to realize the unlocking, switching and locking of the turnout; on the other hand, it has the function of adapting to the expansion and contraction of the switch rail.

[0058] Force analysis of external locking device:

[0059] The point rail is converted from the repelling side to the close contact side, and the locking rod pushes the lock hook. The lock hook transmits force to the connecting iron seat through the pin shaft, and the connecting iron seat transmits force to the push-pull plate through the connecting iron seat shaft, thereby pushing the point rail connecting iron until the arc surface of the lock hook is locked with the elastic roller. At this time, the point rail is converted into place to complete the switch locking. The installation position of the shear force optical fiber sensor pin shaft is as follows Figure 4 As shown, the cross-sectional view is Figure 6 As shown, the force on the pin is the turnout close contact force, and the force diagram is as follows Figure 5 shown.

[0060] like Figure 7 As shown, a method for shear force detection using a shear force optical fiber sensing pin comprises the following steps:

[0061] Install the shear force optical fiber sensing pin on the external locking device;

[0062] When the point rail on the external locking device is switched to the position to complete the switch locking, the shear force optical fiber sensing pin is stressed, and the deformation amplification layer 3 is deformed by the stress. The optical fiber grating 2 is used as a sensitive element to convert the stress and strain changes of the shear force optical fiber sensing pin into the wavelength offset Δλ of the optical fiber grating 2, and the signal is transmitted through the acquisition and transmission unit 4;

[0063] The shear force detection is achieved according to the mapping relationship between the wavelength shift Δλ and the strain.

[0064] The change of stress and strain of the shear force optical fiber sensing pin is converted into the wavelength shift Δλ of the optical fiber grating (2) including:

[0065] Force analysis of shear force optical fiber sensing pin:

[0066]

[0067] From the above formula, we can deduce:

[0068]

[0069] Among them, τ is stress, F is shear force, E is material elastic modulus, r is pin radius, and ε is strain;

[0070] The relationship between the wavelength shift Δλ, the temperature change ΔT and the strain Δε is:

[0071] Δλ=Kt*ΔT+Kε*Δε;

[0072] Among them, Kt is the temperature sensitivity coefficient, Kε is the strain sensitivity coefficient, and ΔT is the temperature change.

[0073] According to the mapping relationship between the wavelength shift Δλ and the strain, the shear force detection includes:

[0074] Since the pin is perpendicular to the force direction and the two fiber Bragg gratings 2 are placed symmetrically, the strains of the upper and lower fiber Bragg gratings 2 are consistent when subjected to force, then:

[0075] Δε=2ε;

[0076] From the above formula, we can deduce:

[0077] Δλ=Kt*ΔT+2Kε*ε;

[0078] The above formula can be used to obtain the corresponding relationship between the fiber Bragg grating wavelength offset Δλ and the shear force F, which is as follows:

[0079]

[0080] like Figure 8 As shown, an embodiment of the present disclosure provides a system for shear force detection using a shear force optical fiber sensing pin, comprising:

[0081] An installation module 11, used to install the shear force optical fiber sensing pin on the external locking device;

[0082] The wavelength offset acquisition module 12 is used for converting the stress and strain changes of the shear force optical fiber sensing pin into the wavelength offset of the optical fiber Bragg grating 2 by using the optical fiber Bragg grating 2 as a sensitive element when the point rail on the external locking device is switched to the position to complete the switch locking, and the shear force optical fiber sensing pin is subjected to force, and the deformation amplification layer 3 is subjected to force to produce deformation, and the signal is transmitted through the acquisition and transmission unit 4;

[0083] The detection module 13 is used to detect the shear force according to the mapping relationship between the wavelength shift and the strain.

[0084] The implementation process of the functions and effects of each module in the above system is specifically described in the implementation process of the corresponding steps in the above method, which will not be repeated here.

[0085] For the system embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The system embodiment described above is only schematic, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the disclosed solution. A person of ordinary skill in the art can understand and implement it without paying any creative work.

[0086] In the above-mentioned embodiment, any multiple of all modules can be combined in one module for implementation, or any one of the modules can be split into multiple modules. Alternatively, at least some functions of one or more of these modules can be combined with at least some functions of other modules and implemented in one module. At least one of all modules can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application specific integrated circuit (ASIC), or can be implemented by hardware or firmware such as any other reasonable way of integrating or packaging the circuit, or implemented in any one of the three implementation modes of software, hardware and firmware or in a suitable combination of any of them. Alternatively, at least one of all modules can be at least partially implemented as a computer program module, and when the computer program module is run, the corresponding function can be executed.

[0087] See also Fig. 9 , an electronic device provided by an embodiment of the present disclosure includes a processor 1110, a communication interface 1120, a memory 1130 and a communication bus 1140, wherein the processor 1110, the communication interface 1120, and the memory 1130 communicate with each other through the communication bus 1140;

[0088] Memory 1130, for storing computer programs;

[0089] The processor 1110 is used to implement the shear force optical fiber sensing pin as shown below when executing the program stored in the memory 1130.

[0090] The communication bus 1140 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus 1140 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0091] The communication interface 1120 is used for communication between the above electronic device and other devices.

[0092] The memory 1130 may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory 1130 may also be at least one storage device located away from the processor 1110.

[0093] The above-mentioned processor 1110 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0094] The embodiment of the present disclosure further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the shear force optical fiber sensing pin described above is implemented.

[0095] The computer-readable storage medium may be included in the device / apparatus described in the above embodiment; or it may exist independently without being assembled into the device / apparatus. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the shear force optical fiber sensing pin according to the embodiment of the present disclosure is implemented.

[0096] According to an embodiment of the present disclosure, a computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, may include but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0097] The above-mentioned embodiments only express several implementation methods of the present disclosure, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present disclosure. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present disclosure, and these all belong to the protection scope of the present disclosure.

Claims

1. A shear force optical fiber sensing pin, characterized in that: The invention comprises a pin shaft body (1), an optical fiber grating (2) and a collection and transmission unit (4), wherein grooves are symmetrically provided on both sides of the pin shaft body (1), a through hole is provided in the horizontal direction at the upper end of the pin shaft body (1), and the through hole connects the two grooves; the optical fiber grating (2) is used to convert the change of pin shaft stress and strain into wavelength offset, the optical fiber grating (2) passes through the through hole and the two ends are respectively laid in the two grooves, the groove and the through hole are both filled with plastic material, the optical fiber grating (2) is embedded in the groove and the through hole, and two deformation amplification layers (3) are formed on both sides of the pin shaft body (1), and the deformation amplification layers (3) can be deformed in the vertical direction; the collection and transmission unit (4) is arranged at the head of the pin shaft body (1), connected to the optical fiber grating (2), and used to collect and transmit signals.

2. A shear force optical fiber sensing pin according to claim 1, characterized in that: The plastic material is epoxy glue.

3. A shear force optical fiber sensing pin according to claim 1, characterized in that: The acquisition and transmission unit (4) comprises a battery, a processing circuit and a Bluetooth transmitter, wherein the battery is used for power supply; the processing circuit is used for converting the collected analog electrical signal output by the fiber grating (2) into a digital electrical signal; and the Bluetooth transmitter is used for transmitting the converted digital electrical signal.

4. A shear force optical fiber sensing pin according to claim 3, characterized in that: The Bluetooth transmitter has a universal communication protocol of low-power Bluetooth and can be connected to a handheld terminal with a Bluetooth communication function, thereby enabling real-time online viewing of data through the handheld terminal.

5. A method for shear force detection using the shear force optical fiber sensing pin as claimed in any one of claims 1 to 4, characterized in that: The following steps are involved: Install the shear force optical fiber sensing pin on the external locking device; When the point rail on the external locking device is switched to the position to complete the switch locking, the shear force optical fiber sensing pin is stressed, and the deformation amplification layer (3) is deformed by the stress. The optical fiber grating (2) is used as a sensitive element to convert the stress and strain changes of the shear force optical fiber sensing pin into the wavelength offset of the optical fiber grating (2), and the signal is transmitted through the acquisition and transmission unit (4); The shear force detection is achieved according to the mapping relationship between the wavelength shift and the strain.

6. The method for shear force detection using a shear force optical fiber sensing pin according to claim 5, characterized in that: The change of stress and strain of the shear force optical fiber sensing pin is converted into the wavelength shift Δλ of the optical fiber grating (2) including: Force analysis of shear force optical fiber sensing pin: From the above formula, we can deduce: Among them, τ is stress, F is shear force, E is material elastic modulus, r is pin radius, and ε is strain; The relationship between the wavelength shift Δλ, the temperature change ΔT and the strain Δε is: Δλ=Kt*ΔT+Kε*Δε; Among them, Kt is the temperature sensitivity coefficient, Kε is the strain sensitivity coefficient, and ΔT is the temperature change.

7. The method for shear force detection using a shear force optical fiber sensing pin according to claim 6, characterized in that: According to the mapping relationship between the wavelength shift Δλ and the strain, the shear force detection includes: Since the pin is perpendicular to the force direction and the two fiber gratings (2) are placed symmetrically, the strains of the upper and lower fiber gratings (2) are consistent when subjected to force, then: Δε=2ε; From the above formula, we can deduce: Δλ=Kt*ΔT+2Kε*ε; The above formula can be used to obtain the corresponding relationship between the fiber Bragg grating wavelength offset Δλ and the shear force F, which is as follows:

8. A system for shear force detection using a shear force optical fiber sensing pin, characterized in that: include: An installation module, used to install the shear force optical fiber sensing pin on the external locking device; A wavelength offset acquisition module is used for, when the point rail on the external locking device is switched to the position to complete the switch locking, the shear force optical fiber sensing pin shaft is subjected to force, the deformation amplification layer (3) is subjected to force and deforms, and the optical fiber grating (2) is used as a sensitive element to convert the stress and strain changes of the shear force optical fiber sensing pin shaft into the wavelength offset of the optical fiber grating (2), and transmit the signal through the acquisition transmission unit (4); The detection module is used to detect the shear force according to the mapping relationship between the wavelength offset and the strain.

9. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory, for storing computer programs; The processor is used to implement the method for shear force detection using a shear force optical fiber sensing pin as described in any one of claims 5-7 when executing the program stored in the memory.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for shear force detection using a shear force optical fiber sensing pin described in any one of claims 5 to 7 is implemented.

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