A multi-parameter sensing device and method for a traveling wave robot based on a spectrally encoded transparent TPU light guide

Abstract

The application discloses a kind of based on spectrum coding transparent TPU light guide's travelling wave robot multi-parameter sensing device and method, it is applicable to low stiffness variable amplitude travelling wave robot, and can be extended to various continuum soft robot.The device includes light emitting end, flexible light guide and light receiving module;Light guide is spaced apart and provided with spectrum coding sensitive unit containing micro slot, and is filled with different spectral response materials.Robot bending causes micro slot to open and close, so that corresponding waveband light intensity changes, and local curvature is obtained by decoupling mapping, to realize waveform reconstruction and amplitude identification;According to the periodic change of deformation signal, the motion frequency is determined.Meanwhile, the overall light intensity changes caused by the difference in refractive index between air and water, and after deformation compensation by combining local bending variables, the land / water environment is accurately distinguished.The application is soft in structure, does not need to add water immersion sensor, and integrates deformation, frequency and environment sensing.

Description

Technical Field

[0001] This invention relates to the fields of biomimetic mobile robots and flexible sensing technology, and in particular to a multi-parameter sensing device and method for traveling wave robots based on spectrally encoded transparent TPU optical guides. Background Technology

[0002] Traveling wave motion is a widespread mode of locomotion in nature. Fish, snakes, worms, and gastropods can move, turn, and adapt to complex environments by generating waves that propagate along their bodies, either on or within their bodies. Inspired by these biological locomotion methods, traveling wave robots can typically change the amplitude of their vibrations to adapt to different environments.

[0003] In the prior art, patent application CN202511311950.0 (publication number CN121199963A) discloses a variable amplitude traveling wave robot based on a flexible helical rod, including a flexible helical rod, a shell, a left motor, and a right motor. The shell is composed of multiple connecting frames, and the flexible helical rod passes through the hollow interior of the connecting frames sequentially, with one end connected to the left motor and the other end connected to the right motor. The robot changes the radius of the flexible helical rod by controlling the rotational phase difference between the left and right motors, causing the shell to bend periodically driven by the flexible helical rod, thus presenting a wave-like shape and moving the robot.

[0004] Existing rigid angle sensors, inertial sensors, or ordinary resistive sensors typically suffer from high structural stiffness, complex wiring, and difficulty adapting to continuous bending or withstanding underwater environments. While some flexible strain sensors can produce large deformations, their restoring force, hysteresis, and drift can still affect low-stiffness traveling wave robots.

[0005] Furthermore, the movement patterns and control parameters of traveling wave robots may differ in terrestrial and underwater environments. Existing robots typically require additional water immersion sensors, pressure sensors, or electrode sensors to determine whether they have entered a water environment, increasing the complexity of the robot's structure, wiring, and sealing.

[0006] Therefore, how to identify the local bending, waveform amplitude and curling state of a traveling wave robot without affecting the waveform as much as possible, and further use the same sensing structure to identify whether the robot is in an air environment or an aquatic environment, is a technical problem that needs to be solved in this field. Summary of the Invention

[0007] The technical problem to be solved by this invention is:

[0008] How to identify the local bending, waveform amplitude, and curling state of a traveling wave robot with minimal impact on the waveform, and further use the same sensing structure to identify whether the robot is in an air or water environment, is a technical problem that needs to be solved in this field.

[0009] The technical solution of this invention is:

[0010] This invention provides a device and method for identifying the morphology, motion frequency, and environment of a traveling wave robot based on a transparent thermoplastic polyurethane elastomer optical guide. It can utilize the optical response of different spectral encoding sensitive units in the transparent thermoplastic polyurethane elastomer optical guide to identify local deformations at different locations of the traveling wave robot and further obtain the traveling wave amplitude. It can obtain the bending frequency of the traveling wave robot based on the periodic changes of the local deformation signal, using the bending frequency to characterize the speed of the traveling wave robot's motion. Furthermore, it can utilize the difference in overall transmitted light intensity of the transparent thermoplastic polyurethane elastomer optical guide in air and water environments to identify whether the traveling wave robot is in a land or underwater environment.

[0011] This invention provides a traveling wave robot sensing device based on a transparent thermoplastic polyurethane elastomer light guide, comprising a transparent flexible light guide, multiple spectral coding sensitive units, a light source module, a light receiving module, and a signal processing module.

[0012] The transparent flexible light guide is made of transparent thermoplastic polyurethane elastomer and is arranged along the traveling wave propagation direction of the traveling wave robot, so that the transparent flexible light guide can bend and / or stretch and deform with the body of the traveling wave robot.

[0013] Multiple spectral coding sensitive units are spaced apart along the length of the transparent flexible light guide and correspond to different sensing positions of the traveling wave robot body.

[0014] Each of the spectral coding sensitive units includes a microgroove disposed on the transparent flexible light guide, and a flexible spectral response material disposed within the microgroove.

[0015] Flexible spectral response materials within different spectral encoding sensitive units possess mutually distinguishable spectral absorption, spectral transmission, spectral scattering, and / or fluorescence characteristics, enabling deformations at different sensing locations to be differentiated through optical responses in different wavelength bands.

[0016] The light source module is connected to the light input end of the transparent flexible light guide and is used to input detection light containing multiple wavelengths into the transparent flexible light guide.

[0017] The light receiving module is connected to the light output end of the transparent flexible light guide, and is used to receive the output light after passing through multiple spectral coding sensitive units, and obtain the light intensity information and / or spectral information of the output light.

[0018] The signal processing module is connected to the optical receiving module and is used to determine the local deformation state of different sensing positions of the traveling wave robot body according to the optical response corresponding to different spectral coding sensitive units, and to obtain the traveling wave amplitude and bending frequency of the traveling wave robot according to the local deformation state; the signal processing module is also used to determine whether the traveling wave robot is in a land environment or an underwater environment according to the overall transmitted light intensity of the transparent flexible light guide.

[0019] In this specification, the traveling wave robot refers to a robot whose body can generate periodic bending, periodic stretching and / or periodic deformation propagating along its body, including but not limited to hinged traveling wave robots, continuous traveling wave robots, soft traveling wave robots, peristaltic robots, bionic abdominal foot robots, and robots that use flexible plates, flexible tubes, flexible rods, or serial joints to form traveling waves.

[0020] The motion frequency referred to in this specification refers to the number of times the traveling wave robot completes periodic bending or periodic shape changes per unit time. The motion frequency is used to characterize the speed of the traveling wave robot's movement. After establishing the calibration relationship between the motion frequency and the robot's actual speed, an estimated value of the robot's speed can be further obtained.

[0021] When the side containing the transparent flexible light-guiding microgroove is bent, the microgroove tends to close; when the side of the transparent flexible light-guiding microgroove away from the microgroove is bent, the microgroove tends to open.

[0022] The opening or closing of the microgroove causes the flexible spectral response material disposed within the microgroove to be compressed or stretched, thereby changing the effective optical path, thickness, cross-sectional area, interface contact state, light absorption state, light scattering state and / or light coupling state of the flexible spectral response material, thus causing changes in the output light intensity of the corresponding wavelength band.

[0023] By pre-calibrating the optical response in the open and closed states of the microgroove, the bending direction and degree of bending at the corresponding sensing position can be determined.

[0024] Optionally, the microgroove is a V-shaped groove, a U-shaped groove, an arc-shaped groove, a rectangular groove, a trapezoidal groove, or a wedge-shaped groove.

[0025] Optionally, the flexible spectral response material is a silicone rubber, polyurethane elastomer, flexible resin, or gel material with added dyes.

[0026] Optionally, the light source module is a combination light source consisting of a white light-emitting diode, a broadband light source, multiple light-emitting diodes of different wavelengths, or an adjustable light source capable of sequentially outputting detection light of different wavelengths.

[0027] Optionally, the light receiving module is a spectral sensor, a color sensor, an RGB color sensor, a multi-channel photodetector, a photodetector with different filters, or a spectrometer.

[0028] Optionally, at least a portion of the outer surface of the transparent flexible light guide is in direct contact with the external environment, forming a medium-sensing surface.

[0029] When the traveling wave robot is in a terrestrial environment, the external medium of the medium sensing surface is air; when the traveling wave robot enters an underwater environment, the external medium of the medium sensing surface is water.

[0030] Because air and water have different refractive indices, when the external medium of the transparent flexible light guide changes from air to water, the total internal reflection conditions, evanescent field distribution, and / or propagation loss at the interface between the transparent flexible light guide and the external medium change, causing a change in the overall transmitted light intensity of the transparent flexible light guide.

[0031] This invention also provides a method for recognizing the morphology, motion frequency, and environment of a traveling wave robot based on a transparent thermoplastic polyurethane elastomer optical guide, comprising the following steps:

[0032] Step 1: Set up a transparent flexible light guide along the propagation direction of the traveling wave of the traveling wave robot, and make multiple spectral coding sensitive units correspond to different sensing positions of the traveling wave robot body.

[0033] Step 2: Input detection light containing multiple wavelengths into the transparent flexible light guide through the light source module;

[0034] Step 3: Obtain the output light intensity and / or output spectrum of the transparent flexible light guide output end through the light receiving module;

[0035] Step 4: Extract the characteristic band signals corresponding to different spectral coding sensitive units, and determine the local deformation state of the traveling wave robot at different sensing positions based on the characteristic band signals.

[0036] Step 5: Obtain the traveling wave amplitude of the traveling wave robot based on the local deformation state at multiple sensing locations;

[0037] Step 6: Based on the periodic change of the local deformation signal at at least one sensing position over time, obtain the bending frequency of the traveling wave robot, and use the bending frequency to characterize the speed of the traveling wave robot's movement.

[0038] Step 7: Determine whether the traveling wave robot is in a land or underwater environment based on the total transmitted light intensity of the transparent flexible light guide or the total transmitted light intensity after deformation compensation.

[0039] In step three, let the output spectrum obtained by the optical receiving module be:

[0040]

[0041] in, Indicates wavelength. Indicates time.

[0042] For the Each spectrally encoded sensitive unit, in its corresponding characteristic band Internal calculation of characteristic band light intensity:

[0043]

[0044] in, Indicates the first The characteristic band light intensity corresponding to each spectral coding sensitive unit.

[0045] In embodiments that employ only discrete photoelectric receiving channels, the intensity of the characteristic band light can also be directly expressed as the output value of the corresponding photoelectric receiving channel.

[0046] To reduce the impact of variations in light source brightness, end coupling, and overall transmission loss on local deformation identification, the intensity of the characteristic wavelength band can be normalized:

[0047]

[0048] in, Indicates the first Normalized spectral features corresponding to each spectral coding sensitive unit This indicates the number of spectral coding sensitive units or characteristic bands.

[0049] Alternatively, the intensity of the characteristic band light under the reference state can also be used. Calculate relative transmittance:

[0050]

[0051] Alternatively, calculate the change in absorbance:

[0052]

[0053] in, Indicates the first The relative transmittance of each characteristic band relative to the reference state. This represents the corresponding change in absorbance. The signal processing module determines the local deformation at different sensing locations based on normalized spectral characteristics, relative transmittance, change in absorbance, or a combination of these characteristics.

[0054] For the The local deformation at a given sensing location can be expressed as:

[0055]

[0056] in, Indicates the first The amount of local deformation at a sensing location. This represents the mapping relationship between pre-established spectral features and local deformations.

[0057] The local bending variables include local bending angle, local curvature, or dimensionless parameters that can characterize the degree of local bending.

[0058] The mapping relationship It can be established through table lookup, piecewise interpolation, linear fitting, polynomial fitting, nonlinear regression, support vector regression, neural networks, or other calibration methods.

[0059] In one embodiment, the first The local bending angle at each sensing location is expressed as:

[0060]

[0061] in, Indicates the first The local bending angle of a sensing location. This represents the corresponding angle calibration function.

[0062] In another embodiment, the first The local curvature at each sensing location is represented as:

[0063]

[0064] in, Indicates the first Local curvature at a sensing location, This represents the corresponding curvature calibration function.

[0065] The beneficial effects of this invention are:

[0066] The device and method for recognizing the morphology, motion frequency, and environment of a traveling wave robot based on a transparent thermoplastic polyurethane elastomer optical guide, as described in this invention, have the following beneficial effects:

[0067] First, this invention integrates multiple sensitive units with different spectral response characteristics into a single transparent TPU flexible light guide. It distinguishes local bending at different locations on the robot body by varying light intensity across different wavelengths, and reconstructs the traveling wave morphology and identifies the traveling wave amplitude based on the local bending variables at multiple locations. This structure eliminates the need for separate sensors and signal lines at each sensing location, and features a flexible structure, high integration, simple wiring, and minimal interference with the robot's motion.

[0068] Secondly, by continuously acquiring the periodic optical response of the spectral coding sensitive unit, the present invention obtains the bending period and motion frequency of the robot body, which can characterize the motion speed of the traveling wave robot in real time. Combined with the pre-established calibration relationship between motion frequency, traveling wave amplitude and robot motion speed, the robot motion speed can be further estimated, providing feedback information for robot motion state monitoring and closed-loop control.

[0069] Third, this invention utilizes the differences in total internal reflection conditions and propagation losses when the outer surface of the transparent TPU flexible light guide comes into contact with air and water respectively, and identifies whether the robot is in a land environment or an underwater environment by the change in the overall transmitted light intensity; at the same time, it combines the results of local deformation recognition to compensate for the light intensity changes caused by bending, thereby reducing the impact of robot amplitude changes on environmental judgment, without the need to set up additional water immersion electrodes, pressure sensors or other independent environmental sensors. Attached Figure Description

[0070] Figure 1 This is a schematic diagram of the overall structure of the flexible optical sensing system provided in an embodiment of the present invention;

[0071] Figure 2 This is a schematic diagram of the structure of the transparent TPU flexible light guide and spectral encoding sensitive unit provided in an embodiment of the present invention;

[0072] Figure 3 This is a schematic diagram of the structure of the spectral coding sensitive unit provided in an embodiment of the present invention when it is not bent;

[0073] Figure 4 This is a schematic diagram of the structure of the spectral coding sensitive unit when it bends towards the side where the microgroove is located, as provided in an embodiment of the present invention;

[0074] Figure 5 This is a schematic diagram of the structure of the spectral coding sensitive unit provided in an embodiment of the present invention when it bends away from the side where the microgroove is located.

[0075] Figure 6 This is a schematic diagram illustrating the deformation state of each spectral encoding sensitive unit when the traveling wave robot is in a large amplitude state, as provided in an embodiment of the present invention.

[0076] Figure 7 This is a schematic diagram illustrating the deformation state of each spectral encoding sensitive unit when the traveling wave robot is in a small amplitude state, as provided in an embodiment of the present invention.

[0077] Figure 8 This is a signal processing flowchart provided in an embodiment of the present invention;

[0078] Figure 9 This is a schematic diagram of the optical path when the outer surface of the transparent TPU flexible light guide is in contact with air, as provided in an embodiment of the present invention.

[0079] Figure 10 This is a schematic diagram of the optical path when the outer surface of the transparent TPU flexible light guide comes into contact with water, as provided in an embodiment of the present invention.

[0080] Reference numerals: 1 represents the light emitting end, 2 represents the flexible light guide, 3 represents the light receiving module, 2.1 represents the first spectral coding sensitive unit, 2.2 represents the second spectral coding sensitive unit, 2.3 represents the third spectral coding sensitive unit, and 2.4 represents the transparent TPU light guide body. Detailed Implementation

[0081] The invention will now be further described with reference to the accompanying drawings.

[0082] Example 1: A flexible optical sensing device for traveling wave robots

[0083] like Figure 1 As shown, this embodiment provides a flexible optical sensing device for a traveling wave robot, including a light emitting end 1, a flexible light guide 2, and a light receiving module 3.

[0084] An optical transmitter 1 is disposed at one end of the flexible optical guide 2 and is used to input detection light into the flexible optical guide 2. The detection light can be white light, broadband light, or a combination of light containing multiple predetermined wavelengths. An optical receiver 3 is disposed at the other end of the flexible optical guide 2 and is used to receive the output light after it has been transmitted through the flexible optical guide 2, and to detect the overall light intensity and / or the light intensity of different wavelengths of the output light.

[0085] The flexible light guide 2 is positioned along the body of the traveling wave robot and can bend with the periodic deformation of the robot. The flexible light guide 2 is used to convert the local deformation of different positions of the traveling wave robot into corresponding changes in light intensity and / or spectral changes.

[0086] like Figure 2 As shown, the flexible light guide 2 includes a transparent TPU light guide body 2.4, and a first spectral coding sensitive unit 2.1, a second spectral coding sensitive unit 2.2, and a third spectral coding sensitive unit 2.3 arranged sequentially along the length direction of the transparent TPU light guide body 2.4.

[0087] The first spectral coding sensitive unit 2.1, the second spectral coding sensitive unit 2.2, and the third spectral coding sensitive unit 2.3 correspond to different sensing positions on the traveling wave robot body. The number and spacing of the first spectral coding sensitive unit 2.1, the second spectral coding sensitive unit 2.2, and the third spectral coding sensitive unit 2.3 can be adjusted according to the length of the traveling wave robot, waveform characteristics, and required spatial resolution, and are not limited to the three spectral coding sensitive units shown in this embodiment.

[0088] The transparent TPU light guide body 2.4 is made of transparent thermoplastic polyurethane elastomer material. The transparent TPU light guide body 2.4 serves both to transmit detection light and to bend and deform along with the traveling wave robot body. The transparent TPU light guide body 2.4 can be a filament, strip, ribbon, or sheet structure. Preferably, the transparent TPU light guide body 2.4 adopts a flat ribbon structure to reduce the bending stiffness of the flexible light guide 2 and minimize its impact on the original motion state of the traveling wave robot.

[0089] The first spectral coding sensitive unit 2.1, the second spectral coding sensitive unit 2.2, and the third spectral coding sensitive unit 2.3 each include a microgroove disposed on one side of the transparent TPU light guide body 2.4, and a flexible spectral response material filled in the microgroove.

[0090] The flexible spectral response material can be stretched, compressed, or deformed along with the transparent TPU photoconductor body 2.4, and can absorb, scatter, transmit, or couple the detection light passing through the corresponding spectral encoding sensitive unit.

[0091] The first spectral coding sensitive unit 2.1, the second spectral coding sensitive unit 2.2, and the third spectral coding sensitive unit 2.3 are each filled with flexible spectral response materials with different spectral response characteristics. For example, they can be filled with flexible colored materials with different colors, different absorption peaks, or different concentrations, so that the three spectral coding sensitive units mainly affect different characteristic bands.

[0092] When the light emitting end 1 inputs detection light into the flexible light guide 2, the detection light passes sequentially through the transparent TPU light guide body 2.4, the first spectral encoding sensitive unit 2.1, the second spectral encoding sensitive unit 2.2, and the third spectral encoding sensitive unit 2.3, and finally reaches the light receiving module 3. The light receiving module 3 distinguishes the local deformation of different sensing positions of the traveling wave robot by detecting the changes in light intensity in different characteristic wavelength bands.

[0093] The first spectral coding sensitive unit 2.1, the second spectral coding sensitive unit 2.2, and the third spectral coding sensitive unit 2.3 can each use flexible spectral response materials of different colors. Alternatively, by changing the type, concentration, filling thickness, microgroove length, microgroove depth, or number of microgrooves of the flexible spectral response material, different spectral coding sensitive units can have mutually distinguishable spectral responses.

[0094] like Figure 3 As shown, when the spectral encoding sensitive unit is not bent, the transparent TPU photoguide body 2.4 and the microgroove disposed on one side therein are in their initial state. The flexible spectral response material in the microgroove has an initial shape, initial thickness, and initial optical path. At this time, the detection light forms a corresponding reference output light intensity and reference output spectrum after passing through the spectral encoding sensitive unit.

[0095] like Figure 4 As shown, when the spectral encoding sensitive unit bends upward with the traveling wave robot body, the transparent TPU light guide body 2.4 bends, and the microgroove set on one side of the transparent TPU light guide body 2.4 deforms accordingly, and the flexible spectral response material in the microgroove is stretched.

[0096] like Figure 5 As shown, when the spectral coding sensitive unit bends downwards with the traveling wave robot body, the microgroove and its internal flexible spectral response material are compressed.

[0097] Because the microgrooves are located on one side of the transparent TPU photoguide body 2.4, the spectral encoding sensitive unit forms an asymmetric structure. Therefore, even with the same degree of bending but opposite bending directions, the deformation states of the microgrooves and the flexible spectral response material are different.

[0098] Example 2: Amplitude Recognition of Traveling Wave Robot

[0099] When the traveling wave robot undergoes traveling wave deformation, the spectral coding sensitive units at different positions bend along with the robot body, causing changes in the light intensity of the corresponding characteristic waveband. Figure 6 The deformation states of the first spectral coding sensitive unit 2.1, the second spectral coding sensitive unit 2.2, and the third spectral coding sensitive unit 2.3 are shown when the traveling wave robot is in a large amplitude state; Figure 7 The deformation states of the first spectral coding sensitive unit 2.1, the second spectral coding sensitive unit 2.2, and the third spectral coding sensitive unit 2.3 are shown when the traveling wave robot is in a small amplitude state.

[0100] like Figure 8 As shown, the amplitude recognition of the traveling wave robot includes optical signal acquisition, multimodal decoupling, extraction of spectral signals at various locations, calculation of local bending variables, and waveform reconstruction.

[0101] The optical receiving module 3 receives the optical signal output from the flexible optical guide 2. Since the first spectral coding sensitive unit 2.1, the second spectral coding sensitive unit 2.2, and the third spectral coding sensitive unit 2.3 have different spectral response characteristics, the signal processing module performs multimodal decoupling on the received optical signal to obtain the spectral signal corresponding to each sensing location:

[0102]

[0103] in, and These represent the spectral signals of the first spectral coding sensitive unit 2.1, the second spectral coding sensitive unit 2.2, and the third spectral coding sensitive unit 2.3 at time t, respectively.

[0104] Based on the pre-defined correspondence between spectral numbers and bending deformation, the local bending variables at each sensing location are calculated:

[0105]

[0106] in, Indicates the first The local bending variable at a sensing location can be a local bending angle, local curvature, or a parameter used to characterize the degree of bending. This represents the mapping relationship between the pre-calibrated spectral signal and the local bending variable.

[0107] The signal processing module reconstructs the waveform based on local bending variables at multiple sensing locations:

[0108]

[0109] in, This represents the reconstructed waveform of the traveling wave robot. This represents the reconstruction relationship between local bending variables and the overall waveform of the robot.

[0110] Based on the reconstructed waveform, the height difference between the wave crests and troughs is calculated, and the traveling wave amplitude is obtained:

[0111]

[0112] in, and These represent the maximum and minimum positions of the reconstructed waveform in the amplitude direction, respectively. Thus, following the processing flow of "optical signal—modal decoupling—spectral signals at each position—local bending variables—waveform reconstruction," the waveform and amplitude of the traveling wave robot are identified.

[0113] Example 3: Motion Frequency Recognition of Traveling Wave Robot

[0114] In this embodiment, the motion frequency of the traveling wave robot is identified by continuously acquiring the spectral signals of each spectral coding sensitive unit.

[0115] When the traveling wave robot moves periodically, the first spectral coding sensitive unit 2.1, the second spectral coding sensitive unit 2.2, and the third spectral coding sensitive unit 2.3 bend periodically with the robot body, causing the corresponding spectral signals to... It changes periodically over time.

[0116] Based on the pre-defined mapping relationship, the first... Local bending variables at each sensing location:

[0117]

[0118] in, Indicates the first Each sensing location at time Local bending variables, This represents the mapping relationship between the spectral signal and the local bending variable.

[0119] Signal processing module detection The same type of feature points appearing consecutively, such as two consecutive wave peaks. Let the times when two adjacent wave peaks appear be... and Then the period of this motion is:

[0120]

[0121] The average motion period of the traveling wave robot is obtained by averaging multiple motion cycles:

[0122]

[0123] in, This indicates the number of similar feature points detected.

[0124] The motion frequency of the traveling wave robot is:

[0125]

[0126] in, This represents the number of periodic bending movements the traveling wave robot completes per unit time. Alternatively, the motion frequency can be calculated separately based on the local bending variables of multiple spectrally encoded sensitive units, and the average value can be used as the final recognition result.

[0127]

[0128] in, Indicates according to the first The motion frequency calculated by each spectral coding sensitive unit This indicates the number of spectrally encoded sensitive units involved in frequency identification.

[0129] Therefore, by analyzing the periodic changes in the spectral signals of each spectral coding sensitive unit, the motion frequency of the traveling wave robot can be obtained, and this motion frequency can be used to characterize the speed of the traveling wave robot's motion.

[0130] Example 4: Robotic Recognition of Land and Underwater Environments Figure 9 As shown, when the outer surface of the transparent TPU flexible light guide 2 comes into contact with air, the detection light propagates inside the transparent TPU light guide body 2.4 and is reflected at the interface between the transparent TPU light guide body 2.4 and the air, and is finally received by the light receiving module 3.

[0131] like Figure 10 As shown, when the transparent TPU flexible light guide 2 enters the underwater environment, its outer surface changes from being in contact with air to being in contact with water. Due to the difference in refractive index between air and water, the total internal reflection condition between the transparent TPU light guide body 2.4 and the external medium changes, causing some of the detected light to leak into the water, thereby causing a change in the overall transmitted light intensity detected by the light receiving module 3.

[0132] Assume that the optical receiver module 3 is at time 3 The total transmitted light intensity detected is:

[0133]

[0134] in, Indicates the first Light intensity of each characteristic wavelength band This represents the number of characteristic bands participating in the detection. Let the baseline total transmitted light intensity when the robot is in a terrestrial environment be... Then the environmental characteristic value can be expressed as:

[0135]

[0136] Environmental characteristic values Compared with the pre-calibrated environmental judgment value Compare. When:

[0137]

[0138] When the robot is in a land environment, it is determined that the robot is in a land environment; when the following conditions are met:

[0139]

[0140] At that time, it was determined that the robot was in an underwater environment.

[0141] Since the bending of the flexible light guide 2 may also cause changes in the overall transmitted light intensity, the local bending variables at each sensing location can be obtained first according to the method described in Example 2. And calculate the predicted light intensity of the robot in the terrestrial environment under the current deformation state based on the pre-calibrated relationship:

[0142]

[0143] in, This represents the mapping relationship between the robot's deformation state and the overall transmitted light intensity of the terrestrial environment. At this point, the environmental characteristic value is further expressed as:

[0144]

[0145] By compensating for the light intensity changes caused by robot deformation, the impact of amplitude variations and periodic bending on the identification results of terrestrial and underwater environments can be reduced.

[0146] Therefore, by utilizing the different light transmission characteristics of transparent TPU flexible light guide 2 in air and water, it is possible to identify whether the robot is in a land environment or an underwater environment without setting up an additional independent water immersion sensor.

Claims

1. A multi-parameter sensing device for a traveling wave robot based on a spectrally encoded transparent TPU optical guide, characterized in that, include: The transparent TPU flexible light guide is made of transparent thermoplastic polyurethane elastomer and is set along the traveling wave propagation direction of the traveling wave robot, so that the transparent TPU flexible light guide can bend or stretch with the body of the traveling wave robot. Multiple spectral coding sensitive units are spaced apart along the length of the transparent TPU flexible light guide and correspond to different sensing positions of the traveling wave robot body; each spectral coding sensitive unit includes a microgroove disposed on the transparent TPU flexible light guide and a flexible spectral response material disposed in the microgroove; Flexible spectral response materials within different spectral coding sensitive units possess mutually distinguishable spectral absorption characteristics, spectral transmission characteristics, spectral scattering characteristics, or fluorescence characteristics; A light source module is connected to the light input end of the transparent TPU flexible light guide and is used to input detection light containing multiple wavelengths into the transparent TPU flexible light guide; The light receiving module is connected to the light output end of the transparent TPU flexible light guide and is used to receive the output light after passing through multiple spectral coding sensitive units, and to obtain the light intensity information or spectral information of the output light. The signal processing module, connected to the optical receiving module, is used to determine the local deformation state of different sensing positions of the traveling wave robot body according to the optical response corresponding to different spectral coding sensitive units, and to obtain the traveling wave amplitude and bending frequency of the traveling wave robot according to the local deformation state; the signal processing module is also used to determine whether the traveling wave robot is in a land environment or an underwater environment according to the overall transmitted light intensity of the transparent TPU flexible light guide.

2. The multi-parameter sensing device for traveling wave robots based on spectrally encoded transparent TPU optical guides according to claim 1, characterized in that, The microgrooves are V-shaped grooves, U-shaped grooves, arc-shaped grooves, rectangular grooves, trapezoidal grooves, or wedge-shaped grooves; the flexible spectral response material is silicone rubber, polyurethane elastomer, flexible resin, or gel material with added dyes.

3. The multi-parameter sensing device for traveling wave robots based on spectrally encoded transparent TPU optical guides according to claim 1, characterized in that, The light source module is a white light-emitting diode, a broadband light source, a combination light source composed of multiple light-emitting diodes of different wavelengths, or an adjustable light source capable of sequentially outputting detection light of different wavelengths; the light receiving module is a spectral sensor, a color sensor, an RGB color sensor, a multi-channel photodetector, a photodetector equipped with different filters, or a spectrometer.

4. The multi-parameter sensing device for traveling wave robots based on spectrally encoded transparent TPU optical guides according to claim 1, characterized in that, When the side of the transparent TPU flexible light-guiding microgroove is bent, the microgroove tends to close; when the side of the transparent TPU flexible light-guiding microgroove away from the microgroove is bent, the microgroove tends to open; the opening or closing of the microgroove causes the flexible spectral response material disposed in the microgroove to be compressed or stretched, and changes at least one of the effective optical path, thickness, cross-sectional area, interface contact state, light absorption state, light scattering state and light coupling state of the flexible spectral response material, thereby changing the output light intensity of the corresponding wavelength band.

5. The multi-parameter sensing device for traveling wave robots based on spectrally encoded transparent TPU optical guides according to claim 1, characterized in that, At least a portion of the outer surface of the transparent TPU flexible light guide is in direct contact with the external environment, forming a medium sensing surface. When the traveling wave robot is in a land environment, the external medium of the medium sensing surface is air; when the traveling wave robot enters an underwater environment, the external medium of the medium sensing surface is water. When the signal processing module determines whether the traveling wave robot is in a land or underwater environment based on the overall transmitted light intensity of the transparent TPU flexible light guide, it is also used to calculate the predicted light intensity of the robot in the land environment under the current deformation state based on the local deformation state of each sensing position and the pre-calibrated relationship, and to obtain the environmental feature value by using the ratio between the current overall transmitted light intensity and the predicted light intensity. The environmental feature value is then compared with the pre-calibrated environmental judgment threshold to make a judgment.

6. A multi-parameter sensing method for traveling wave robots based on spectrally encoded transparent TPU optical guides, characterized in that, Includes the following steps: Step 1: Set up a transparent TPU flexible light guide along the propagation direction of the traveling wave of the traveling wave robot, and make multiple spectral coding sensitive units correspond to different sensing positions of the traveling wave robot body. Step 2: Input detection light containing multiple wavelengths into the transparent TPU flexible light guide through the light source module; Step 3: Obtain the output light intensity or output spectrum of the transparent TPU flexible light guide output end through the light receiving module; Step 4: Extract the characteristic band signals corresponding to different spectral coding sensitive units, and determine the local deformation state of the traveling wave robot at different sensing positions based on the characteristic band signals. Step 5: Obtain the traveling wave amplitude of the traveling wave robot based on the local deformation state at multiple sensing locations; Step 6: Based on the periodic change of the local deformation signal at at least one sensing position over time, obtain the bending frequency of the traveling wave robot, and use the bending frequency to characterize the speed of the traveling wave robot's movement. Step 7: Determine whether the traveling wave robot is in a land or underwater environment based on the total transmitted light intensity of the transparent TPU flexible light guide or the total transmitted light intensity after deformation compensation.

7. The multi-parameter sensing method for traveling wave robots based on spectrally encoded transparent TPU optical guides according to claim 6, characterized in that, In step four, characteristic band signals corresponding to different spectral coding sensitive units are extracted, and the local deformation state of the traveling wave robot at different sensing positions is determined based on the characteristic band signals, including: Normalize the intensity of light in the characteristic band to obtain normalized spectral characteristics; or calculate the change in relative transmittance or absorbance based on the intensity of light in the characteristic band under the reference state. Based on the normalized spectral characteristics, relative transmittance or absorbance changes, and in conjunction with the pre-established mapping relationship, the local deformation, local bending angle or local curvature of each sensing location is determined.

8. The multi-parameter sensing method for traveling wave robots based on spectrally encoded transparent TPU optical guides according to claim 6, characterized in that, In step five, the traveling wave amplitude of the traveling wave robot is obtained based on the local deformation state at multiple sensing locations, including: Waveform reconstruction is performed based on local bending variables at multiple sensing locations, and the height difference between the peaks and troughs in the reconstructed waveform is calculated to obtain the traveling wave amplitude.

9. The multi-parameter sensing method for traveling wave robots based on spectrally encoded transparent TPU optical guides according to claim 6, characterized in that, In step six, the bending frequency of the traveling wave robot is obtained, including: Detect consecutive similar feature points in local bending variables, use the time difference between two adjacent similar feature points to obtain the motion period, average multiple motion periods to obtain the average motion period, and take the reciprocal of the average motion period as the motion frequency; or, calculate the motion frequency based on the local bending variables of multiple spectral coding sensitive units respectively, and take the average of all motion frequencies as the final recognition result.

10. The multi-parameter sensing method for traveling wave robots based on spectrally encoded transparent TPU optical guides according to claim 6, characterized in that, In step seven, the traveling wave robot is determined to be in a land or underwater environment based on the overall transmitted light intensity after deformation compensation, including: Obtain the current total transmitted light intensity of the transparent TPU flexible light guide; Based on the local bending variables of each sensing location obtained in step four and the pre-calibrated deformation-light intensity mapping relationship, the predicted light intensity of the robot in the land environment under the current deformation state is obtained. The environmental characteristic value is obtained by calculating the ratio of the current total transmitted light intensity to the predicted light intensity. The environmental feature value is compared with a pre-defined environmental judgment threshold. If the environmental feature value is greater than or equal to the environmental judgment threshold, it is determined to be a terrestrial environment; if it is less than the environmental judgment threshold, it is determined to be an underwater environment.

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