CN114323147A - Underwater bionic lateral line structure with high sensitivity - Google Patents
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Abstract
The invention discloses an underwater bionic lateral line structure with high sensitivity, which comprises electrodes respectively led out from two sides of the bottom of an IPMC (ion polymer composite) imitated multifilament wool sensor, wherein the bottom of the IPMC imitated multifilament wool sensor and the electrodes which form an integral structure is fixed in a sensor fixing base, a filling solution is filled in a bionic sensitive top, the sensor base is inversely inserted into the bionic sensitive top filled with the filling solution, and the sensor base is fixedly connected with the bionic sensitive top through a bolt and a nut. According to the invention, the multi-IPMC lateral line simulation structure is designed by simulating the multi-cilium structure of the fish lateral line system, and the sensitivity of the multi-IPMC lateral line simulation structure is greatly improved by utilizing the vibration coupling principle among the plurality of IPMC sensing units, so that the development time is greatly shortened and the cost is reduced. The detection sensitivity of the bionic lateral line structure is further improved by combining multiple means such as signal superposition of multiple IPMC sensors, bionic feeling top circular arc design and silicone oil filling, and the like, and the method has a wide application prospect in the field of underwater detection equipment.
Description
Technical Field
The invention belongs to the technical field of novel underwater sensors, and particularly relates to an underwater bionic lateral line structure with high sensitivity.
Background
With the increasingly complex marine environment and the continuous progress of the stealth technology of the underwater target object, the traditional sound field detection can not meet the actual requirements of modern underwater detection far away, and more novel equipment and novel sensors with higher detection sensitivity need to be developed urgently to make up the defects of the traditional method continuously. The lateral line system is an important sensing organ of most fishes, the extremely sensitive sensory neurothalamus system can help the fishes to realize complex behaviors such as avoidance of enemies, ingestion, navigation, clustering and communication, and the like, the high attention of researchers in various fields is attracted, and the bionic lateral line sensor has a very key significance to the detection technology of novel underwater equipment.
An ionic polymer-metal composite (IPMC) is a typical novel flexible intelligent material which is widely researched in the last two decades, has the unique advantages of self-generation, good flexibility, light weight, easy plasticity, quick response and the like, and has wide application prospect in various fields as a sensor. The sensing principle of the IPMC sensor is extremely similar to that of fish, and the IPMC sensor contains water inside and is very suitable for underwater application. At present, related teams continuously improve the sensing capability of the IPMC bionic lateral line sensor in recent years, but compared with real fishes, the IPMC bionic lateral line sensor still has some problems, one of the larger problems is lower sensitivity, and the application requirement of actual detection cannot be met. Therefore, the development of an IPMC bionic lateral line sensor with higher sensitivity is urgently needed to supplement the defects of the non-acoustic detection technology and the research field of a novel underwater sensor, so as to promote the development of the future underwater novel equipment detection technology and promote the wide application of the IPMC bionic lateral line sensor to military and civil industries.
Disclosure of Invention
In view of the above problems, the present invention is to provide a combined structure of a plurality of IPMC sensing units simulating a multi-fiber structure in a fish lateral line receptor unit to effectively improve the sensitivity of the IPMC bionic lateral line sensing apparatus.
In order to realize the purpose, the invention adopts the following technical scheme:
an underwater bionic lateral line structure with high sensitivity comprises an IPMC (ion-polymer metal composite) bionic multi-fiber sensor, an electrode, a sensor fixing base, a bionic feeling top, a filling solution, a bolt and a nut. Electrodes are respectively led out from two sides of the bottom of the IPMC multi-fiber-like hair sensor, the bottom of the IPMC multi-fiber-like hair sensor and the electrodes which form an integral structure is fixed in the sensor fixing base, the bionic sensitive top is filled with a filling solution, the sensor base is inversely inserted into the bionic sensitive top filled with the filling solution, and the sensor base is fixedly connected with the bionic sensitive top through the bolt and the nut.
The IPMC multi-fiber-like sensor consists of a first sensing unit and a second sensing unit, and a distance d exists between the first sensing unit and the second sensing unit.
And the positive electrode 1, the negative electrode 1, the positive electrode 2 and the negative electrode 2 of the electrode are respectively led out from the two sides of the tail end of the first sensing unit and the second sensing unit.
The sensor fixing base comprises a first notch and a second notch, and the first sensing unit and the second sensing unit are embedded into the first notch and the second notch from the end part of the extraction electrode to form cantilever beam structures respectively.
The bottom of the bionic sensory top is provided with a groove, and the diameter of the groove is larger than the width of the sensing unit; the bionic sensory top is of a cavity structure, the bionic sensory top is vertically embedded and coated outside the sensing unit from the bottom, and the cavity structure of the bionic sensory top is filled with filling liquid.
The bottom of the bionic sensory top and the sensor fixing base are correspondingly provided with 4 through holes and are fixed through the bolts and the nuts.
When the motion of an underwater target object causes fluid to generate oscillation with a certain frequency, and the oscillating flow acts on the bionic sensory top, the bionic sensory top generates mechanical deformation so as to drive the filling solution to generate mechanical deformation with a corresponding frequency, further vibration deformation of the first sensing unit and the second sensing unit in the filling solution is caused, and the solution between the distances d causes the first sensing unit and the second sensing unit to generate strong coupling effect, so that the sensing units generate larger deformation to improve the sensitivity.
Further, gaps between the bottoms of the first sensing unit and the second sensing unit and between the first notch and the second notch are filled with waterproof glue, the first sensing unit and the second sensing unit are fixed, and the bottom gap of the whole bionic lateral line device is sealed through the waterproof glue to prevent the filling solution from overflowing.
Furthermore, a distance d is left between the first sensing unit and the second sensing unit, wherein the distance d is designed according to the minimum value which can be practically achieved, and the principle is that the smaller the distance d, the better the effect is, and the sensing units cannot be attached together.
Further, the length of the second sensing unit is not less than two-thirds of the length of the first sensing unit and is not longer than the first sensing unit.
Furthermore, the first sensing unit and the second sensing unit form a parallel structure, the anode of the electrode 1 is connected with the anode of the electrode 2, the cathode of the electrode 1 is connected with the cathode of the electrode 2, and a lumped sensing current signal is acquired.
Further, the IPMC multi-fiber-like sensor at least comprises a first sensing unit and a second sensing unit, and may further include a third sensing unit, a fourth sensing unit, a fifth sensing unit or a sixth sensing unit.
Furthermore, the bionic sensory top is made of materials with lower elastic modulus, such as soft silica gel, polydimethylsiloxane, polyurethane or silicon rubber.
Further, the shape of the bionic sensory top simulates an arc-shaped structure of a fish side line crest device so as to increase the surface area of a drainage basin and the bionic side line structure and further enhance the sensitivity.
Further, the filling liquid is preferably silicone oil, and other liquids with higher viscosity, such as vegetable oil, paraffin oil or kerosene, can also be selected.
Further, the bottom of the bionic sensory top and the sensor fixing base are round, square or trapezoidal in structure.
Compared with the prior IPMC bionic lateral line sensor technology, the invention has the following advantages:
(1) according to the fish side line system, the side line imitating structures of a plurality of IPMCs are designed by imitating the multi-fiber-wool structure of the fish side line system, the sensitivity of the fish side line system is greatly improved by utilizing the vibration coupling principle among a plurality of IPMC sensing units, and the fish side line system is ingenious in design method and remarkable in effect.
(2) The invention directly adopts a plurality of IPMC sensors to form the multi-fiber-wool-imitated side line structure, has simple structure and manufacture, and can greatly shorten the development time and reduce the cost.
(3) The invention not only utilizes the mutual coupling effect of a plurality of IPMCs to enhance the sensitivity, but also further combines a plurality of means such as signal superposition of a plurality of IPMC sensing units, the design of a bionic sensory top, silicon oil filling and the like to jointly improve the detection sensitivity of the bionic lateral line structure.
Drawings
Fig. 1 is a three-dimensional perspective view and an assembled exploded view of an underwater biomimetic lateral line structure with high sensitivity according to an embodiment of the present invention.
Fig. 2 is a structural diagram of an IPMC multi-fiber simulation sensing module according to an embodiment of the present invention: (a) an IPMC imitated multi-fiber wool perception component three-dimensional perspective view; (b) a top view of the IPMC imitated multi-fiber wool sensing assembly; (c) the IPMC simulates a main view of a multi-fiber wool sensing assembly; (d) IPMC imitates the left view of the multi-fiber wool sensing component.
FIG. 3 is a top view of a sensor mounting base according to an embodiment of the present invention.
FIG. 4 is a graph showing verification of the linear relationship between the response of the IPMC sensor and the tip deformation displacement: (a) schematic diagram of experimental testing device; (b) and (5) experimental verification result chart.
Fig. 5 is a schematic diagram of the principle of enhancement of the perception sensitivity of the IPMC multi-fiber-like hair sensor according to the embodiment of the present invention.
Fig. 6 is a simulation diagram of the effect result of the distance d between the first sensing unit and the second sensing unit after being changed on the deformation of the first sensing unit according to the embodiment of the present invention.
Number designation in the figures:
1. an IPMC multi-fiber simulation sensor comprises 1-1 parts of an IPMC multi-fiber simulation sensor, 1-2 parts of a first sensing unit, 1-2 parts of a second sensing unit, 2 parts of a leading-out electrode, 2-1 parts of a leading-out electrode 1 anode, 2-2 parts of a leading-out electrode 1 cathode, 2-3 parts of a leading-out electrode 2 anode, 2-2 parts of a leading-out electrode 2 cathode, 3 parts of a sensor fixing base, 3-1 parts of a first notch, 3-2 parts of a second notch, 4 parts of a bionic sensory top, 5 parts of a filling solution, 6 parts of a bolt, 7 parts of a nut.
Detailed Description
In order to fully and clearly show the objects, technical solutions and advantages of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings. It should be noted that the exemplary embodiments and the accompanying drawings are only for explaining the present invention and are not to be construed as limiting the present invention.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
According to the fish side-line system side-line simulation system, a novel IPMC side-line simulation structure is designed by simulating a multi-cilium structure of the fish side-line system, the sensitivity of the fish side-line simulation system is greatly improved by utilizing the vibration coupling principle among a plurality of IPMC sensing units, the design method is ingenious, and the effect is obvious. A plurality of IPMC sensors are directly adopted to form the multi-fiber-wool-like lateral line structure, the structure and the manufacture are simple, the development time can be greatly shortened, and the cost can be reduced. The sensitivity is enhanced by utilizing the mutual coupling effect of the plurality of IPMCs, and the detection sensitivity of the bionic lateral line structure is further improved by combining a plurality of means such as signal superposition of the plurality of IPMC sensors, bionic feeling top circular arc design and silicone oil filling.
In order to fully and clearly show the objects, technical solutions and advantages of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings. It should be noted that the exemplary embodiments and the accompanying drawings are only for explaining the present invention and are not to be construed as limiting the present invention.
In the embodiment, an ionic polymer-metal composite (IPMC) with good comprehensive performance is used as a sensing unit, the IPMC is a sandwich structure formed by a polymer-based membrane (usually a Nafion-117 series commercial membrane) and two outer layers of electrodes, and usually forms a cantilever beam structure, when mechanical deformation is generated under the action of external force, the internal stress difference promotes the unbalanced migration of internal cations and water molecules to generate corresponding sensing response signals, the sensing principle of the IPMC is similar to the lateral line sensing mechanism of fish, namely, external information is judged by the migration of ions inside a neural dune caused by the deformation of cilia, so that corresponding judgment is made. Fig. 1 is a three-dimensional perspective view and an assembly explosion diagram of an underwater bionic lateral line structure with high sensitivity, which comprises an IPMC bionic multi-fiber sensor 1, an electrode 2, a sensor fixing base 3, a bionic sensory top 4, a filling solution 5, a bolt 6 and a nut 7. Electrodes 2 are respectively led out of two sides of the bottom of the IPMC imitated multi-fiber sensor 1, the bottom of the IPMC imitated multi-fiber sensor 1 and the electrodes 2 which form an integral structure is fixed in the sensor fixing base 3, the bionic sensitive top 4 is filled with a filling solution 5, the sensor base 3 is inversely inserted into the bionic sensitive top 4 filled with the filling solution 5, and the IPMC imitated multi-fiber sensor and the electrodes are fixedly connected through the bolts 6 and the nuts 7.
Fig. 2 shows the design of the bionic lateral line structure in further detail, and the IPMC imitated multifilament wool sensor 1 is composed of a first sensing unit 1-1 and a second sensing unit 1-2, and a distance d exists between the first sensing unit 1-1 and the second sensing unit 1-2. Two sides of the tail end of the first sensing unit 1-1 and the second sensing unit 1-2 are respectively led out of an anode 2-1 of the electrode 1, a cathode 2-2 of the electrode 1, an anode 2-3 of the electrode 2 and a cathode 2-4 of the electrode 2.
Fig. 3 is a top view of a sensor fixing base according to an embodiment of the present invention, where the sensor fixing base 3 includes a first notch 3-1 and a second notch 3-2, and the first sensing unit 1-1 and the second sensing unit 1-2 are inserted into the first notch 3-1 and the second notch 3-2 from the end of the extraction electrode, respectively, to form a cantilever structure.
The bottom of the bionic sensory top 4 is provided with a groove, and the diameter of the groove is larger than the width of the sensing unit 1; the bionic sensory top 4 is of a cavity structure, the bionic sensory top 4 is vertically embedded and coated outside the sensing unit 1 from a groove at the bottom, and the cavity structure of the bionic sensory top 4 is filled with filling liquid 5.
The bottom of the bionic sensory top 4 and the sensor fixing base 3 are correspondingly provided with 4 through holes and are fixed through the bolts 6 and the nuts 7.
The sensing response of the IPMC sensor is linear with the deformation of the sensor tip, and therefore, an increase in the amount of deformation of the sensor tip under otherwise the same conditions means an increase in the sensing response, i.e., an increase in sensitivity. FIG. 4 is a graph showing verification of the linear relationship between the response of the IPMC sensor and the tip deformation displacement: (a) schematic diagram of experimental testing device; (b) and (5) experimental verification result chart. Fig. 4(a) shows a verified experimental apparatus, which detects the sensing current response of the IPMC sensor at which deformation displacement by applying a specified deformation to the end of the IPMC sensor through the exciter. Wherein, the excitation head of the vibration exciter is connected with a gap (about 2 times of the thickness of the sensor) of 0.5mm to prevent the tail end of the sensor from being clamped to generate distortion. The experimental test results are shown in fig. 4(b), and it is apparent that the sensing response of the IPMC sensor is linear to the deformation of the end thereof by fitting the experimental data.
The invention designs a multi-piece IPMC lateral line simulation structure by simulating a multi-cilium structure of a fish lateral line system, and the embodiment utilizes 2 IPMC sensing units and combines a schematic diagram of a perception sensitivity enhancement principle of an IPMC lateral line simulation sensor shown in figure 5. When the motion of an underwater target object causes the fluid to generate oscillation with a certain frequency, and the oscillating flow acts on the bionic sensory top 4, the bionic sensory top 4 generates mechanical deformation, so as to drive the filling solution 5 to generate mechanical deformation with a corresponding frequency, further to cause the vibration deformation of the first sensing unit 1-1 and the second sensing unit 1-2 in the filling solution 5, and the filling solution 5 between the distances d causes the first sensing unit 1-1 and the second sensing unit 1-2 to generate a strong coupling effect, so that the sensing unit 1 generates larger deformation to improve the sensitivity of the bionic lateral line structure.
Specifically, the gaps between the bottoms of the first sensing unit 1-1 and the second sensing unit 1-2 and the first notch 3-1 and the second notch 3-2 are filled with waterproof glue, so that the first sensing unit 1-1 and the second sensing unit 1-2 are fixed, and the bottom gap of the whole bionic lateral line device is sealed with waterproof glue to prevent the filling solution 5 from overflowing.
Specifically, a distance d is left between the first sensing unit 1-1 and the second sensing unit 1-2, wherein the distance d is designed according to the minimum value which can be practically achieved, and the principle is that the smaller the distance d, the better the effect is, and the sensing units cannot be attached together. The influence of the distance d on the sensing performance is verified through numerical simulation calculation. In which dipole balls are generally used as underwater targets in a large number of studies, the target of the present example is a vibrating dipole ball with a diameter of 40mm, the first sensing unit 1-1 and the second sensing unit 1-2 are both 30mm in length and 0.2mm in thickness (commonly used commercial Nafion-117 series film preparation), and the coupling effect between the sensing units is numerically simulated and calculated in a two-dimensional plane through the distance d between the first sensing unit 1-1 and the second sensing unit 1-2 under the condition that other conditions are not changed. Fig. 6 is a simulation diagram of the influence result of the distance d between the first sensing unit 1-1 and the second sensing unit 1-1 changing on the deformation of the first sensing unit 1-1 according to the embodiment of the present invention, and shows that when the first sensing unit 1-1 and the second sensing unit 1-2 are combined into a multi-fiber side line structure, the deformation displacement of the end of the sensing unit 1-1 increases first and then decreases as the distance d increases from 0. Specifically, when d is 0mm, the end deformation of the first sensing unit 1-1 is decreased by about 4.6 times as compared with that of the first sensing unit 1-1 alone; when d is 1mm, the deformation of the tail end of the first sensing unit 1-1 is increased by about 3 times compared with that of the first sensing unit; after d is increased to 20mm, the deformation of the end of the first sensing unit 1-1 is equivalent to that of the first sensing unit 1-1 only, which shows that when d is increased to a certain degree, the coupling effect between the second sensing unit 1-2 and the first sensing unit 1-1 disappears, and further shows the effectiveness of the coupling effect between the sensing units in improving the sensitivity of the sensing units.
Specifically, the length of the second sensing unit 1-2 is not less than four fifths of the length of the first sensing unit 1-1 and not more than the first sensing unit 1-1.
Specifically, the first sensing unit 1-1 and the second sensing unit 1-2 form a parallel structure, as shown in fig. 5, the anode 2-1 of the electrode 1 is connected with the anode 2-3 of the electrode 2, the cathode 2-2 of the electrode 1 is connected with the cathode 2-4 of the electrode 2, and the total sensing current signal of the whole bionic lateral line structure device is collected through the parallel structure, so that the sensitivity of the whole bionic lateral line device is further enhanced.
Specifically, the IPMC multi-fiber-like sensor 1 at least includes a first sensing unit 1-1 and a second sensing unit 1-2, and may be further added to a third sensing unit, a fourth sensing unit, a fifth sensing unit or a sixth sensing unit, and the like, and may be designed according to practical application requirements, so as to enhance the sensitivity of the device more significantly.
Specifically, the bionic sensory top 4 is made of materials with lower elastic modulus, such as soft silica gel, polydimethylsiloxane, polyurethane or silicon rubber, and the like, so that deformation of the bionic sensory top 4 is facilitated.
Specifically, the shape of the bionic sensory top 4 simulates a circular arc structure of a fish side line crest so as to increase the surface area of a drainage basin and a bionic side line structure and further enhance the sensitivity.
Specifically, the filling liquid 5 is preferably selected from silicone oil because the density of silicone oil is closest to that of a liquid in a fish side line and the application is wide, and the related literature attempts to directly use an aqueous solution as a filling solution, but water is less effective than silicone oil, so silicone oil is preferably selected in the embodiment of the present invention. In addition, other liquids with higher viscosity, such as vegetable oil, paraffin oil or kerosene, etc., can also be selected.
Specifically, the bottom of the bionic sensory top 4 and the sensor fixing base 3 are in a circular, square or trapezoidal structure.
The present invention preferably selects IPMC as the sensing unit, and if the sensing unit is replaced by other novel materials having the type sensing principle and the testing structure with IPMC, such as TPU, PVDF or its derivatives, etc., it can be considered as the protection scope of the art.
The above-mentioned embodiments are merely to illustrate and explain the technical idea of the present invention, and should not be used to limit the present invention, and any modification, replacement, and improvement made on the technical solution within the design idea and principle of the present invention should be within the protection scope of the present invention.
Claims (10)
1. The utility model provides an underwater bionic lateral line structure with high sensitivity, including the imitative fine hair sensor of IPMC, the electrode, sensor unable adjustment base, bionical sensation top, filling solution, bolt, nut, its characterized in that, the electrode is drawn forth respectively to the bottom both sides of the imitative fine hair sensor of IPMC, the imitative fine hair sensor of IPMC and the bottom that the electrode formed overall structure are fixed in sensor unable adjustment base, fill with filling solution in the bionical sensitive top, insert the sensor base in the bionical sensitive top that is full of filling solution upside down, and through bolt and nut fixed connection, the imitative fine hair sensor of imitative fine hair of IPMC comprises first sensing unit and second sensing unit, there is interval d between first sensing unit and the second sensing unit.
2. The underwater bionic lateral line structure with high sensitivity is characterized in that the positive electrode 1, the negative electrode 1, the positive electrode 2 and the negative electrode 2 are respectively led out from two sides of the tail ends of the first sensing unit and the second sensing unit.
3. The underwater biomimetic lateral line structure with high sensitivity according to claim 1, wherein the sensor fixing base comprises a first notch and a second notch, and the first sensing unit and the second sensing unit are embedded into the first notch and the second notch from the end of the extraction electrode to form a cantilever structure respectively.
4. The underwater bionic lateral line structure with high sensitivity is characterized in that the bottom of the bionic sensory top is provided with a groove, and the diameter of the groove is larger than the width of the sensing unit; the bionic sensory top is of a cavity structure, the bionic sensory top is vertically embedded and coated outside the sensing unit from the bottom, and the cavity structure of the bionic sensory top is filled with filling liquid.
5. The underwater bionic lateral line structure with high sensitivity of claim 1 is characterized in that the bottom of the bionic sensory top and the sensor fixing base are respectively provided with 4 through holes, the bionic sensory top and the sensor fixing base are fixed through the bolts and the nuts, when the motion of an underwater target causes fluid to generate oscillation with a certain frequency, and the oscillating flow acts on the bionic sensory top, the bionic sensory top generates mechanical deformation, so that the filling solution is driven to generate mechanical deformation with a corresponding frequency, further the first sensing unit and the second sensing unit in the filling solution are caused to vibrate and deform, and the solution between the distances d causes the first sensing unit and the second sensing unit to generate strong coupling effect, so that the sensing units generate larger deformation to improve the sensitivity.
6. The underwater bionic lateral line structure with high sensitivity of claim 1, wherein the gap between the bottoms of the first sensing unit and the second sensing unit and the first notch and the second notch is filled with waterproof glue for fixing the first sensing unit and the second sensing unit, and the gap at the bottom of the whole bionic lateral line device is sealed with waterproof glue to prevent the filling solution from overflowing, and the filling liquid is preferably silicone oil or other liquid with high viscosity, such as vegetable oil, paraffin oil or kerosene.
7. The underwater biomimetic lateral line structure with high sensitivity as recited in claim 1, wherein a distance d is left between the first sensing unit and the second sensing unit, wherein the distance d is designed according to a minimum value which can be practically achieved, and the principle is that the smaller the distance d, the better the effect is, and the sensing units cannot be attached together.
8. The underwater biomimetic lateral line structure with high sensitivity according to claim 1, wherein the length of the second sensing unit is not less than two-thirds of the length of the first sensing unit and is not longer than the first sensing unit, and the IPMC multi-fiber-like sensor at least comprises the first sensing unit and the second sensing unit, and may be added to a third sensing unit, a fourth sensing unit, a fifth sensing unit or a sixth sensing unit.
9. The underwater bionic lateral line structure with high sensitivity is characterized in that the bionic sensory top is made of materials with low elastic modulus, such as soft silica gel, polydimethylsiloxane, polyurethane or silicon rubber.
10. The underwater biomimetic lateral line structure with high sensitivity according to claim 1, wherein the shape of the biomimetic sensory top simulates a circular arc-shaped structure of a fish lateral line crest so as to increase the surface area of a watershed and the biomimetic lateral line structure and further enhance the sensitivity, and the bottom of the biomimetic sensory top and the structure of the sensor fixing base are circular, square or trapezoidal.
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