Robot ranging system based on FBG bionic whisker sensor and method thereof

The technology of a distance measuring system and a distance measuring method, which is applied in the field of distance measuring sensors, can solve the problems of anti-electromagnetic interference, low reliability, and high cost, and achieve the effects of small environmental impact, strong reliability, and simple use

Inactive Publication Date: 2017-06-06
SHANDONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0009] The present invention overcomes the problems of how to solve the problem that the existing robot distance measuring system and distance measuring sensor are greatly affected by the environment, high in cost, unable to be reused many times, complex in manufacture and use, weak in reliability and resistant to electromagnetic interference in the prior art. , especially the problem of being unable to measure the distance from obstacles of arbitrary shape, a robot ranging system based on FBG bionic whisker sensor is provided

Method used

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  • Robot ranging system based on FBG bionic whisker sensor and method thereof
  • Robot ranging system based on FBG bionic whisker sensor and method thereof
  • Robot ranging system based on FBG bionic whisker sensor and method thereof

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Embodiment 1

[0052] As introduced in the background technology, the existing robot ranging systems and ranging sensors in the prior art are greatly affected by the environment, have high cost, cannot be reused many times, are complicated to manufacture and use, have low reliability, and are resistant to electromagnetic interference. problems, especially the inability to measure distances to obstacles of arbitrary shape.

[0053] In a typical implementation of the present application, a robot ranging system based on the FBG bionic whisker sensor is provided, such as figure 1 As shown, the system includes a bionic whisker sensor 1, a bottom base 2, a motor 3 and a demodulator. In this embodiment, the bottom base 2 adopts a hollow hexagonal prism, and the center positions of the six outer surfaces of the hollow hexagonal prism are Each bionic whisker sensor 1 is provided, and the bionic whisker sensor 1 is perpendicular to the side surface of the hollow hexagonal prism to which it is connecte...

Embodiment 2

[0067] As introduced in the background technology, the existing robot ranging systems and ranging sensors in the prior art are greatly affected by the environment, have high cost, cannot be reused many times, are complicated to manufacture and use, have low reliability, and are resistant to electromagnetic interference. problems, especially the inability to measure distances to obstacles of arbitrary shape.

[0068] In a typical implementation of the present application, a ranging method of a robot ranging system based on an FBG bionic whisker sensor is provided, which is applied to a robot ranging system based on an FBG bionic whisker sensor, and the method includes the following step:

[0069] (1) During the moving process of the robot, the motor is used to rotate to drive the bionic whisker sensor to rotate for scanning sensing. When the robot encounters an obstacle during the moving process, the motor stops moving, and the bionic whisker sensor bends , the wavelength of t...

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Abstract

The invention relates to a robot ranging system based on an FBG bionic whisker sensor and a ranging method thereof. The ranging system comprises a bionic whisker sensor, a bottom base, a motor and a demodulator. The system is low in environment influence, low in cost, simple in wiring, convenient to use, high in reliability and anti-electromagnetic-interference and can be repeatedly used. According to the ranging method, the motor rotates in the advancing process of a robot to drive the bionic whisker sensor to rotate to perform scanning sensing. When the robot encounters an obstacle in the advancing process, FBG wavelength signals before and after bending of the bionic whisker sensor are transmitted to the demodulator to be demodulated, and demodulation signals are transmitted to an upper computer so as to obtain FBG wavelength variance. A mathematical model of the FBG wavelength variance and deflection of the grating position is established in the upper computer according to a cantilever beam structure model so as to obtain the deflection of the grating position, the contact distance is obtained according to a deflection line differential equation and thus position information of the obstacle is obtained.

Description

technical field [0001] The invention belongs to the technical field of ranging sensors, in particular to a robot ranging system based on FBG bionic whisker sensors and a method thereof. Background technique [0002] At present, the existing robot ranging sensors mainly include non-contact ranging sensors and contact ranging sensors. Non-contact sensors mainly include infrared sensors, ultrasonic sensors, laser sensors, and visual sensors. Among them, laser sensors and visual sensors are expensive and have high requirements for controllers. Therefore, existing mobile robots mostly use ultrasonic sensors or infrared sensors. The sensor measures the distance. The contact ranging sensor is similar to the tentacles of insects, and realizes ranging through microswitches and corresponding mechanical devices. This kind of whisker-like sensor can be installed around the mobile robot to sense external obstacles. [0003] Ultrasonic ranging is based on the measurement of transit tim...

Claims

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Application Information

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IPC IPC(8): G01B11/02
CPCG01B11/02
Inventor 蒋奇赵晨璐李贻斌
Owner SHANDONG UNIV
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