CN202342034U - Optical fiber angle transducer for measuring structure angles - Google Patents
Optical fiber angle transducer for measuring structure angles Download PDFInfo
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- CN202342034U CN202342034U CN2011204819127U CN201120481912U CN202342034U CN 202342034 U CN202342034 U CN 202342034U CN 2011204819127 U CN2011204819127 U CN 2011204819127U CN 201120481912 U CN201120481912 U CN 201120481912U CN 202342034 U CN202342034 U CN 202342034U
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- optical fiber
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- rectangular groove
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Abstract
本实用新型提出了一种测量结构角度的光纤角度传感器，包括特制光纤、光发射部件和光接收部件；在光纤上均匀开有N个垂直矩形槽，在矩形槽内表面上涂有吸光材料；矩形槽的截面形状为圆冠形，矩形槽最大深度h的范围为d2-d1＜h＜d2/2，矩形槽表面粗糙度要求为Ra≤0.05，相邻矩形槽间距s2的范围为s2＞5(h+d1-d2)；第1个矩形槽至第N个矩形槽之间的特制光纤形成光强调制区，光强调制区的轴向长度不大于5cm。当特制光纤随着结构偏转角度时，光线经过光强调制区的矩形槽时有一部分被吸光层吸收，而被吸收的光强大小随结构角度减小而增大，光接收部分接收到的光强随角度变化明显，因此提高了传感器的对结构角度的敏感度。
The utility model proposes an optical fiber angle sensor for measuring structural angles, which includes a special optical fiber, a light emitting part and a light receiving part; N vertical rectangular grooves are evenly opened on the optical fiber, and light-absorbing materials are coated on the inner surface of the rectangular groove; The cross-sectional shape of the groove is a round crown, the maximum depth h of the rectangular groove is in the range of d 2 -d 1 <h<d 2 /2, the surface roughness of the rectangular groove is required to be Ra≤0.05, and the distance between adjacent rectangular grooves is within the range of s 2 s 2 >5(h+d 1 -d 2 ); the special optical fiber between the first rectangular groove and the Nth rectangular groove forms a light intensity modulation area, and the axial length of the light intensity modulation area is not more than 5cm. When the special optical fiber deflects the angle with the structure, part of the light is absorbed by the light absorbing layer when passing through the rectangular groove of the light intensity modulation area, and the absorbed light intensity increases with the decrease of the structure angle, and the light received by the light receiving part The intensity varies significantly with the angle, thus improving the sensor's sensitivity to the structure angle.
Description
Technical field
The present invention relates to the optical sensor technology field, be specially a kind of The Optical Fiber Angle Transducer that is used for the measurement structure angle.
Background technology
Exoskeleton robot is meant the automaton that helps people to bear a heavy burden attached on the human body.To be exactly it catch human motion intention or behavior through the pick off that is installed on the human body to an important feature of exoskeleton robot, and with this as control signal drive controlling ectoskeleton, make its can with the user synchronous walking.At present in the world to the ectoskeleton robot research be on the forefront be Hybrid Assistive Leg (HAL) and the California, USA university of the Japanese Cybernics of University of tsukuba development restrain sharp branch school robot and Human Engineering Laboratory Aberdeen Proving Ground develop U.S. army's " Berkeley lower limb skeletons " (Berkeleylower extremity exoskeleton, BLEXE).They all are to use myoelectric sensor as the means of catching human motion intention or behavior.Though this myoelectric sensor mode can guarantee the real-time of signals collecting, in its experimentation, find the disadvantage of myoelectric sensor: 1) under vigorous exercise, come off easily, be shifted; 2) behind the prolonged exercise, human body is perspired can influence sensor measurement; 3) there is certain difference in pick off along with the difference of individual human; 4) pick off all will be attached to human body surface at every turn, uses inconvenient; (5) contain much information and complicated, be subject to disturb, thereby the control difficulty is strengthened.
Domestic exoskeleton robot still adopts traditional motor code-disc to the signal extraction of human synovial at present; Mechanical angle pick off and force transducer; Such as, the grandson of Hefei Institute Of Intelligent Machines Chinese Academy Of Sciences builds the surplus brave human body lower limbs movable information sensory perceptual system of a cover based on the CAN bus that designed with your island university of sika.This system is made up of motor code-disc, 6 one dimensional force sensors being installed in 22 D force sensors of shank and being installed in sole, and the shank force transducer is fixed on people's lower limb knee joint and ankle joint top, is used to measure the contact force between human body and the ectoskeleton; The motor code-disc is used to measure hip joint and knee joint rotation angle, through obtaining the contact force between human body lower limbs and the robot ectoskeleton, utilizes these force informations and joint angles information Control robot ectoskeleton to realize the power-assisted to the human body lower limbs motion.But because force transducer and motor code-disc be installed on the ectoskeleton, in actual use, can the generation changing of the relative positions between ectoskeleton clothes and the human body even collide with, can cause signal measurement error to occur; Adopt the mechanical pick-up device of this installation can't guarantee when handling accident, (advance such as the stopping suddenly) real-time of signals collecting of user in addition.
In the above-mentioned human synovial signal, the measurement of angle signal is the key of signal extraction technology.Be a direction of future development in the angular surveying of change structure when optical fiber technology is applied to.At present, the existing optical fibre sensor structure that has otch also mainly is to adopt the continuous otch of zigzag, and this structure is mainly used in the distortion curvature measurement of structure; Its precision to the curvature measurement of film micro area structure is higher, but because the design of its modulator zone, its modulator zone length is generally very little; Only in 5mm; If modulator zone length is long, the exit end signal will be very faint, can't realize measuring purpose.Therefore its knee joint angle that is used for bigger structure angle of transition region such as human body is measured, and its measuring range will be very little, can't meet the demands.
Summary of the invention
The technical problem that solves
For solving the problem that prior art exists, the present invention proposes a kind of The Optical Fiber Angle Transducer of measurement structure angle.
Technical scheme
Technical scheme of the present invention is:
The The Optical Fiber Angle Transducer of said a kind of measurement structure angle is characterized in that: comprise specialty optical fiber, be fixed to the light emitting members of specialty optical fiber incident end and be fixed to the light-receiving member of specialty optical fiber exit end; The light emitting members external diameter is less than the specialty optical fiber core diameter, and the light-receiving member external diameter is greater than the specialty optical fiber core diameter; The specialty optical fiber axis direction evenly has N rectangular channel in the specialty optical fiber upper edge, N＞1, and rectangular channel scribbles light absorbent perpendicular to the specialty optical fiber axis on the rectangular channel inner surface; The cross sectional shape of rectangular channel is crown for circle, and the scope of rectangular channel depth capacity h is d
2-d
1＜h＜d
2/ 2, d wherein
1Be specialty optical fiber core diameter, d
2Be the external diameter of specialty optical fiber covering, the rectangular channel surface roughness requires to be Ra≤0.05, adjacent rectangle separation s
2Scope be s
2＞5 (h+d
1-d
2); Specialty optical fiber between the 1st rectangular channel to the N rectangular channel forms the intensity modulation district, and the axial length in intensity modulation district is not more than 5cm.
Beneficial effect
The The Optical Fiber Angle Transducer of a kind of measurement structure angle that the present invention proposes; All incide the incident end face of specialty optical fiber from the light of light emitting members ejaculation; When specialty optical fiber during along with structure deflection angle in the lump, some is absorbed by light-absorption layer light during through the rectangular channel in intensity modulation district, and absorbed light intensity magnitude reduces with the structure angle and increase; The light intensity that receives from light receiving part like this changes obviously with angle, has therefore improved the sensitivity to the structure angle of pick off.And in the intensity modulation district, adopt rectangular channel, solved the short problem of existing triangular incision optical fiber modulator zone.
Description of drawings
Fig. 1: structural representation of the present invention;
Wherein: 1, light emitting members fixture; 2, light emitting members; 3, specialty optical fiber fibre core; 4, specialty optical fiber covering; 5, rectangular channel; 6, light-receiving member fixture; 7, light-receiving member.
The specific embodiment
Below in conjunction with specific embodiment the present invention is described:
Present embodiment is the The Optical Fiber Angle Transducer that is applied in the exoskeleton robot joint part, is used to measure the angle of human synovial.In the present embodiment, The Optical Fiber Angle Transducer is installed in the human body knee joint place.
The Optical Fiber Angle Transducer in the present embodiment comprises specialty optical fiber, light emitting members 2 and light-receiving member 7.Specialty optical fiber is a wire shape, and specialty optical fiber comprises specialty optical fiber fibre core 3 and specialty optical fiber covering 4, specialty optical fiber core diameter d
1Be 100 microns, specialty optical fiber covering outside diameter d
2Be 140 microns, the specialty optical fiber fibre core is processed by thermosetting acrylic resin, and the specialty optical fiber covering is processed by fluororesin (PEP) and formed with the specialty optical fiber fibre core is whole.
Light emitting members 2 is light emitting diode (LED); Be fixed on specialty optical fiber incident end through light emitting members fixture 1; Light emitting members 2 centrages and specialty optical fiber fibre core incident end central axes; The light emitting members external diameter is 80 microns, less than the specialty optical fiber core diameter, guarantees that the light that light emitting members is launched is all absorbed by the specialty optical fiber incident end face.
Light-receiving member 7 is photodiode (PD); Be fixed on the specialty optical fiber exit end through light-receiving member fixture 6; Light-receiving member centrage and specialty optical fiber fibre core exit end central axes; The light-receiving member external diameter is 130 microns, greater than the specialty optical fiber core diameter, guarantees that the light that specialty optical fiber outgoing end face sends is all received by light-receiving member.
Light emitting members is to the incident end emission light of specialty optical fiber, and light is delivered to exit end from the incident end in specialty optical fiber, and shines to light-receiving member from exit end.Fibre Optical Sensor is based on from the light intensity of light emitting members emission and the light intensity that light-receiving member, receives, and confirms the light intensity loss that takes place during through specialty optical fiber when light, and based on the change calculations angle of light intensity loss.
The specialty optical fiber axis direction evenly has 100 rectangular channels in the specialty optical fiber upper edge, and rectangular channel scribbles graphite perpendicular to the specialty optical fiber axis on each rectangular channel inner surface; The cross sectional shape of rectangular channel is crown for circle, and rectangular channel depth capacity h is 65 microns, and width of rectangular is 50 microns, and the rectangular channel surface roughness is Ra=0.05, adjacent rectangle separation s
2It is 350 microns; Specialty optical fiber between 100 rectangular channels of the 1st rectangular channel to the forms the intensity modulation district, and the axial length in intensity modulation district is 4 centimetres.And it is when The Optical Fiber Angle Transducer being installed in the human body knee joint place here, preferably that the notch direction of rectangular channel is vertical with the joint angles surfaces of revolution.
When knee joint bending; Synchronous bending will take place in the intensity modulation district of specialty optical fiber thereupon; Because the character of specialty optical fiber, the critical angle that light is propagated in specialty optical fiber changes, and the light quantity that incides the end face of rectangular channel also can change; The light quantity that light is absorbed by graphite when the rectangular channel in the intensity modulation district of process specialty optical fiber increases; The light intensity that light-receiving member receives the optical fiber exit end diminishes, and incident intensity does not change, and the light intensity that receives according to light-receiving member can calculate kneed angle of bend.
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204819127U CN202342034U (en) | 2011-11-28 | 2011-11-28 | Optical fiber angle transducer for measuring structure angles |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204819127U CN202342034U (en) | 2011-11-28 | 2011-11-28 | Optical fiber angle transducer for measuring structure angles |
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| Publication Number | Publication Date |
|---|---|
| CN202342034U true CN202342034U (en) | 2012-07-25 |
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ID=46531050
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011204819127U Expired - Lifetime CN202342034U (en) | 2011-11-28 | 2011-11-28 | Optical fiber angle transducer for measuring structure angles |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102499688A (en) * | 2011-11-28 | 2012-06-20 | 西北工业大学 | Optical fiber angle sensor for measuring structural angles |
| US9351900B2 (en) | 2012-09-17 | 2016-05-31 | President And Fellows Of Harvard College | Soft exosuit for assistance with human motion |
| CN108629242A (en) * | 2017-03-24 | 2018-10-09 | 敦捷光电股份有限公司 | Display with biological characteristic identification function |
| US10278883B2 (en) | 2014-02-05 | 2019-05-07 | President And Fellows Of Harvard College | Systems, methods, and devices for assisting walking for developmentally-delayed toddlers |
| US10434030B2 (en) | 2014-09-19 | 2019-10-08 | President And Fellows Of Harvard College | Soft exosuit for assistance with human motion |
| CN111238407A (en) * | 2020-01-30 | 2020-06-05 | 华东交通大学 | Sensor system for measuring angle of contact net isolating switch knife |
| US10843332B2 (en) | 2013-05-31 | 2020-11-24 | President And Fellow Of Harvard College | Soft exosuit for assistance with human motion |
| US10864100B2 (en) | 2014-04-10 | 2020-12-15 | President And Fellows Of Harvard College | Orthopedic device including protruding members |
| US11014804B2 (en) | 2017-03-14 | 2021-05-25 | President And Fellows Of Harvard College | Systems and methods for fabricating 3D soft microstructures |
| US11324655B2 (en) | 2013-12-09 | 2022-05-10 | Trustees Of Boston University | Assistive flexible suits, flexible suit systems, and methods for making and control thereof to assist human mobility |
| US11498203B2 (en) | 2016-07-22 | 2022-11-15 | President And Fellows Of Harvard College | Controls optimization for wearable systems |
| US11590046B2 (en) | 2016-03-13 | 2023-02-28 | President And Fellows Of Harvard College | Flexible members for anchoring to the body |
-
2011
- 2011-11-28 CN CN2011204819127U patent/CN202342034U/en not_active Expired - Lifetime
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102499688B (en) * | 2011-11-28 | 2014-04-16 | 西北工业大学 | Optical fiber angle sensor for measuring structural angles |
| CN102499688A (en) * | 2011-11-28 | 2012-06-20 | 西北工业大学 | Optical fiber angle sensor for measuring structural angles |
| US9351900B2 (en) | 2012-09-17 | 2016-05-31 | President And Fellows Of Harvard College | Soft exosuit for assistance with human motion |
| US11464700B2 (en) | 2012-09-17 | 2022-10-11 | President And Fellows Of Harvard College | Soft exosuit for assistance with human motion |
| US10427293B2 (en) | 2012-09-17 | 2019-10-01 | Prisident And Fellows Of Harvard College | Soft exosuit for assistance with human motion |
| US10843332B2 (en) | 2013-05-31 | 2020-11-24 | President And Fellow Of Harvard College | Soft exosuit for assistance with human motion |
| US11324655B2 (en) | 2013-12-09 | 2022-05-10 | Trustees Of Boston University | Assistive flexible suits, flexible suit systems, and methods for making and control thereof to assist human mobility |
| US10278883B2 (en) | 2014-02-05 | 2019-05-07 | President And Fellows Of Harvard College | Systems, methods, and devices for assisting walking for developmentally-delayed toddlers |
| US10864100B2 (en) | 2014-04-10 | 2020-12-15 | President And Fellows Of Harvard College | Orthopedic device including protruding members |
| US10434030B2 (en) | 2014-09-19 | 2019-10-08 | President And Fellows Of Harvard College | Soft exosuit for assistance with human motion |
| US11590046B2 (en) | 2016-03-13 | 2023-02-28 | President And Fellows Of Harvard College | Flexible members for anchoring to the body |
| US11498203B2 (en) | 2016-07-22 | 2022-11-15 | President And Fellows Of Harvard College | Controls optimization for wearable systems |
| US11014804B2 (en) | 2017-03-14 | 2021-05-25 | President And Fellows Of Harvard College | Systems and methods for fabricating 3D soft microstructures |
| CN108629242A (en) * | 2017-03-24 | 2018-10-09 | 敦捷光电股份有限公司 | Display with biological characteristic identification function |
| CN111238407A (en) * | 2020-01-30 | 2020-06-05 | 华东交通大学 | Sensor system for measuring angle of contact net isolating switch knife |
| CN111238407B (en) * | 2020-01-30 | 2020-12-01 | 华东交通大学 | A sensor system for measuring the angle of the knife of the catenary isolation switch |
| US11501935B1 (en) | 2020-01-30 | 2022-11-15 | East China Jiaotong University | Sensor system for measuring angle of gate of isolating switch of overhead lines |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120725 Effective date of abandoning: 20140416 |
|
| RGAV | Abandon patent right to avoid regrant |