Method for compensating bending effect of intrinsic flexible distance sensor

Abstract

The invention relates to a method for compensating the bending effect of an intrinsic flexible distance sensor, and belongs to the technical field of measurement. In the calibration stage, calibration impedance-distance data under each calibration curvature radius value is obtained. In the measuring stage, firstly, the minimum calibrated curvature radius interval where the actual curvature radius is located is determined; determining a minimum calibration impedance interval where the sensor impedance value is located under the condition of the endpoint value of the minimum calibration curvature radius interval, and further obtaining a calibration distance value corresponding to the endpoint of the minimum calibration impedance interval; and then obtaining a distance value corresponding to the impedance value of the sensor under the condition of a minimum calibrated curvature radius interval endpoint value, and finally obtaining a measured distance value. The method provided by the invention can solve the problem that the bending effect of the intrinsic flexible distance sensor has an adverse effect on measurement, and is particularly suitable for the field of narrow curved surface interlayer distance measurement of modern industrial equipment and the like.

Description

Technical Field

[0001] The present invention belongs to the technical field of measurement, and particularly relates to a distance sensor. Background Art

[0002] There are many narrow curved surface layer structures in key equipment of modern large-scale industries. To ensure system safety, it is urgent to measure the distance between narrow curved surface layers. Due to the narrow space of the layer structure and the curved contact surface, the sensor is required to have intrinsic flexibility and be able to conformably adhere to the curved surface layer to complete the measurement task. Preparing an intrinsically flexible conductive material (such as a conductive polymer composite material) into a spiral shape can endow it with the function of measuring distance. However, the intrinsically flexible distance sensor has a bending effect, that is, both the external shape structure and the internal conductive network of the sensor change in the bent state, which in turn causes its distance-impedance characteristic to change with different bending degrees, resulting in measurement errors. Therefore, how to design a compensation method to eliminate the adverse effects of the bending effect on distance measurement is an urgent problem to be solved. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and propose a method for compensating the bending effect of an intrinsically flexible distance sensor, including the following steps:

[0004] (a) In the calibration stage, determine I calibration curvature radius values r i , where I is a positive integer greater than 1, and i = 1, 2,..., I; then determine the J calibration distance values corresponding to the calibration curvature radius value of r i where J is a positive integer greater than 1, and j = 1, 2,..., J; and then obtain the J calibration impedance values corresponding to r when the calibration curvature radius value is r i and ;

[0005] (b) In the measurement stage, obtain the impedance value Z(G x , r) of the intrinsically flexible distance sensor when the measured distance value is G x and the actual curvature radius value is r, determine the endpoints of the minimum calibration curvature radius interval where the actual curvature radius value is located as r k and r k+1 , where k = 1, 2,..., I - 1;

[0006] Determine the endpoints of the minimum calibration impedance interval where the impedance value of the intrinsically flexible distance sensor is located when the calibration curvature radius value is r k as and where n = 1, 2,..., J - 1, and They are the calibrated distance values corresponding to the calibrated curvature radius value of r k at and respectively. Then, the distance value G[Z(G k , r) corresponding to the calibrated curvature radius value of r x is obtained, as shown in Equation (1): x , r k )], as shown in Equation (1):

[0007]

[0008] Determine that the endpoints of the minimum calibrated impedance interval where the impedance value of the intrinsic flexible distance sensor is located at the calibrated curvature radius value of r k+1 are and where m = 1, 2,..., J - 1, and They are the calibrated distance values corresponding to the calibrated curvature radius value of r k+1 at and respectively. Then, the distance value G[Z(G k+1 , r) corresponding to the calibrated curvature radius value of r x is obtained, as shown in Equation (2): x , r k+1 , as shown in Equation (2):

[0009]

[0010] Based on the calculation results of Equation (1) and Equation (2), the measured distance value G x is obtained, as shown in Equation (3):

[0011] G x = G[Z(G x , r), r k - {G[Z(G x , r), r k - G[Z(G x , r), r k+1}(r k - r k+1 ) -1 (r k - r) (3).

[0012] Features and effects of the present invention:

[0013] The method for compensating the bending effect of the intrinsic flexible distance sensor proposed by the present invention can be divided into a calibration stage and a measurement stage. In the calibration stage, the calibration distance-impedance data at each calibrated curvature radius value is obtained. In the measurement stage, first, the minimum calibrated curvature radius interval where the actual curvature radius is located is determined; then, the minimum calibrated impedance interval where the sensor impedance value is located under the conditions of the endpoint values of the minimum calibrated curvature radius interval is determined, and further the calibrated distance values corresponding to the endpoints of the minimum calibrated impedance interval are obtained; finally, the measured distance value is obtained by using the actual curvature radius value, the endpoint values of the minimum calibrated curvature radius interval, and the calibrated distance values corresponding to the endpoints of the minimum calibrated impedance interval. The method proposed by the present invention can solve the problem of the adverse effect of the bending effect of the intrinsic flexible distance sensor on measurement, and is particularly suitable for fields such as the measurement of the distance between narrow curved surfaces in modern industrial equipment and the development of sensors for dexterous hands of humanoid robots. Detailed implementation manner

[0014] (a), Affix the intrinsic flexible distance sensor to the curved surface layer with a curvature radius of r i , where I is a positive integer greater than 1, and i = 1, 2,..., I; then determine that the calibrated curvature radius value is r i The corresponding J calibrated distance values , where J is a positive integer greater than 1, and j = 1, 2,..., J; obtain by moving the target object to change the distance between the intrinsic flexible distance sensor and the target object Record the curvature radius as r i When The corresponding calibrated impedance value

[0015] (b), In the measurement stage, affix the intrinsic flexible distance sensor to the curved surface layer with a curved surface curvature radius of r, and obtain the measured distance value as G x The impedance value Z(G x , r) of the intrinsic flexible distance sensor at this time, and determine that the endpoints of the minimum calibrated curvature radius interval where the actual curvature radius value is located are r k And r k+1 , where k = 1, 2,..., I - 1;

[0016] Determine that the endpoints of the minimum calibrated impedance interval where the impedance value of the intrinsic flexible distance sensor is located when the calibrated curvature radius value is r k Are And , where n = 1, 2,..., J - 1, And Are respectively the calibrated distance values corresponding to when the calibrated curvature radius value is r k When And The corresponding calibrated distance values, and further obtain when the calibrated curvature radius value is rk corresponds to Z(G x , r) with the distance value G[Z(G x , r), r k ), as shown in Equation (4):

[0017]

[0018] Determine the endpoints of the minimum calibration impedance interval where the impedance value of the intrinsic flexible distance sensor is located when the calibrated curvature radius value is r k+1 as and where m = 1, 2,..., J - 1, and are the calibrated distance values corresponding to the calibrated curvature radius value of r k+1 respectively. Then, obtain the distance value G[Z(G and ), r] corresponding to Z(G k+1 , r) when the calibrated curvature radius value is r x , r) with the distance value G[Z(G x , r), r k+1 , as shown in Equation (5):

[0019]

[0020] According to the calculation results of Equation (4) and Equation (5), obtain the measured distance value G x , as shown in Equation (3):

[0021] G x = G[Z(G x , r), r k - {G[Z(G x , r), r k - G[Z(G x , r), r k+1} (r k - r k+1 ) -1 (r k - r) (6).

[0022] Embodiment

[0023] (a) Affix the intrinsic flexible distance sensor made of a conductive polymer composite material between the layers of a curved surface with a curvature radius of r i , where I is a positive integer greater than 1, and i = 1, 2,..., I; then determine the J calibrated distance values corresponding to the calibrated curvature radius value of r i when Where J is a positive integer greater than 1, and j = 1, 2, …, J; the distance between the intrinsic flexible distance sensor and the target is changed by moving the target to obtain Record the radius of curvature as r i when and the calibrated impedance value of the corresponding intrinsic flexible distance sensor

[0024] (b) In the measurement stage, the intrinsic flexible distance sensor composed of a conductive polymer composite is attached to the interlayer of a curved surface with a radius of curvature of r, and the measured distance value is G x the impedance value Z(G x of the intrinsic flexible distance sensor when, r); determine the maximum value r k among all the calibrated radius of curvature values that is not greater than r, and determine the minimum value r k+1 among all the calibrated radius of curvature values that is not less than r, where k = 1, 2, …, I - 1;

[0025] Determine the maximum value among all the calibrated impedance values that is not greater than Z(G k under the condition of the calibrated radius of curvature value r x , r) Determine the minimum value among all the calibrated impedance values that is not less than Z(G k under the condition of the calibrated radius of curvature value r x , r) where n = 1, 2, …, J - 1, and are the calibrated distance values corresponding to the calibrated radius of curvature value r k when and respectively, and then obtain the distance value G[Z(G k , r), r x , r x )] corresponding to Z(G k ), r) as shown in Equation (7):

[0026]

[0027] Determine the maximum value among all the calibrated impedance values that is not greater than Z(G k+1 under the condition of the calibrated radius of curvature value r x , r) Determine the minimum value among all the calibrated impedance values that is not less than Z(G k+1 under the condition of the calibrated radius of curvature value r x , r) where m = 1, 2,..., J - 1, and They are the calibrated distance values corresponding to the calibrated curvature radius values of r k+1 when and respectively. Then, the distance value G[Z(G k+1 , r) corresponding to the calibrated curvature radius value r x is obtained, as shown in Equation (8): x , r k+1 )], as shown in Equation (8):

[0028]

[0029] According to the calculation results of Equation (7) and Equation (8), the measured distance value G x is obtained, as shown in Equation (9):

[0030] G x = G[Z(G x , r), r k - {G[Z(G x , r), r k - G[Z(G x , r), r k+1}(r k - r k+1 ) -1 (r k - r) (9).

Claims

1. A method for compensating for bending effects of an intrinsically flexible distance sensor, characterized in that: The method comprises the following steps: (a) During the calibration phase, determine a calibration radius of curvature value r i , where I is a positive integer greater than 1, i = 1, 2, ..., I; then determine the calibration curvature radius value as r i The J calibration distance values ​​corresponding to Wherein, J is a positive integer greater than 1, j = 1, 2, ..., J; and the calibration radius of curvature is obtained as r i Time and Corresponding calibrated impedance value (b) In the measurement phase, the measured distance value is G x The impedance value Z(G x , r), determine the endpoint of the minimum calibrated curvature radius interval where the actual curvature radius value is located as r k and r k+1 , where k = 1, 2, ..., I-1; Determine the calibration radius of curvature r k The endpoint of the minimum calibrated impedance interval of the impedance value of the intrinsic flexible distance sensor at time is and Where n = 1, 2, ..., J-1, and The calibration curvature radius is r k hour and The corresponding calibration distance value is obtained, and then the calibration curvature radius value is r k When it corresponds to Z(G x , r) of the distance value G[Z(G λ , r), r k )], as shown in formula (1): Determine the calibration radius of curvature r k+1 The endpoint of the minimum calibrated impedance interval of the impedance value of the intrinsic flexible distance sensor at time is and Where m = 1, 2, ..., J-1, and The calibration curvature radius is r k+1 hour and The corresponding calibration distance value is obtained, and then the calibration curvature radius value is r k+1 When it corresponds to Z(G x , r) of the distance value G[Z(G x , r), r k+1 ], as shown in formula (2): According to the calculation results of formula (1) and formula (2), the measured distance value G is obtained x , as shown in formula (3): G x =G[Z(G x ,r),r k ]-{G[Z(G x ,r),r k ]-G[Z(G x ,r),r k+1 ]}(r k -r k+1 ) -1 (r k -r) (3)。

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