CN108362334B - Underwater bionic lateral line sensing array - Google Patents
Underwater bionic lateral line sensing array Download PDFInfo
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- CN108362334B CN108362334B CN201810107857.1A CN201810107857A CN108362334B CN 108362334 B CN108362334 B CN 108362334B CN 201810107857 A CN201810107857 A CN 201810107857A CN 108362334 B CN108362334 B CN 108362334B
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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- G—PHYSICS
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M10/00—Hydrodynamic testing; Arrangements in or on ship-testing tanks or water tunnels
Abstract
An underwater bionic lateral line sensing array comprises a bionic lateral line array structure body, a flow channel water through hole, an internal channel and a plurality of water flow and water pressure composite sensors, wherein each water flow and water pressure composite sensor comprises an electroactive polymer intelligent material cilium, a pressure sensor, an electrode and a base; the base sets up in the inner channel, is provided with four electrodes on the base, is provided with electroactive polymer intelligent material cilia pressure sensor on the base and arranges on the base. The invention has the advantages of simulating the fish side line system, sensing the water flow and water pressure change at the same time, having strong anti-interference capability and high sensitivity and precision, and providing a measuring basis for accurately sensing the water environment change around the side line array.
Description
Technical Field
The invention relates to the technical field of underwater novel water flow and water pressure signal acquisition, in particular to an underwater bionic lateral line sensing array.
Background
The fish has high flexibility and maneuverability in water, the fish fundamentally originates from a developed lateral line sensing system, and useful information is extracted by sensing the change of the surrounding environment, so that obstacles and dangers are easily avoided. The fish siding system inspires scientists that artificial siding systems mimic the fish's perception of the environment. The perception research of the artificial lateral line system has great scientific research value and practical application value.
The fish senses external stimulation through the deviation of neurons and transmits the stimulation in the form of current, and the stimulation is a biological process integrating machinery and an electric field, and the working principle of the stimulation is similar to that of most sensors. In combination with the characteristics of perception of the neural dune of the epidermis of the fish, in recent years, researchers design various micro-mechanical distributed fluid perceptrons and various forms of artificial lateral systems for perceiving the speed and the strength of water flow, and rarely carry out comprehensive measurement and analysis on water flow and water pressure signals. The researches can sense the surrounding changed fluid through a sensing system, can sense fluid information, estimate the direction and the speed of the fluid, but have a great difference from the lateral line of the real fish, and the stability and the accuracy of the researches need to be further ensured.
Disclosure of Invention
The invention aims to provide an underwater bionic lateral line sensing array which is simple in structure, reasonable in arrangement and complete in function, a special bionic lateral line array structure body type structure is used for replacing a fish lateral line pipe, the filtering protection effect on a water flow and water pressure composite sensor is achieved, the water flow speed and water pressure in each direction can be accurately measured, and the water flow and water pressure comprehensive sensing effect can be achieved by arranging the sensing array through a fish-like lateral line structure.
In order to achieve the purpose, the invention adopts the following technical scheme:
an underwater bionic lateral line sensing array comprises a bionic lateral line array structure body, a flow channel water through hole, an internal channel and a plurality of water flow and water pressure composite sensors, wherein each water flow and water pressure composite sensor comprises an electroactive polymer intelligent material cilium, a pressure sensor, an electrode and a base; the base sets up in the inner channel, is provided with four electrodes on the base, is provided with electroactive polymer intelligent material cilia pressure sensor on the base and arranges on the base.
The invention has the further improvement that the bionic lateral line array structure body is of a rectangular structure.
A further development of the invention is that the cross-section of the inner channel is semicircular.
A further improvement of the invention is that the diameter of the semi-circle is one quarter to one half of the cilia length of the electroactive polymer smart material.
The invention is further improved in that the number of the runner limber holes is at least 5.
The invention has the further improvement that the cilia of the electroactive polymer intelligent material are vertically arranged with the base; each cilium of the electroactive polymer intelligent material is arranged in the middle of the water through hole of the adjacent flow channel.
The invention has the further improvement that cilia of the electroactive polymer intelligent material are cuboid, four positive and negative electrodes are led out from four side surfaces, and the electrodes are arranged on the base.
A further development of the invention is that the pressure sensor is arranged on the base.
A further development of the invention consists in that the electrodes are connected to a data acquisition channel.
A further improvement of the invention is that the base is secured within the internal passage by bolts.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the water flow and water pressure composite sensor is arranged in the bionic lateral line array structure body, a filtering protection effect can be realized in a relatively closed environment, the water flow and water pressure composite sensor is prevented from being influenced by a peripheral large flow field environment, so that a relatively stable environment is formed, changed water flow enters through a runner limber hole and flows out of another runner limber hole, and the flowing water drives cilia of the electroactive polymer intelligent material to deflect, so that the size of the water flow can be accurately measured. The fish side line simulating sensor is simple in structure, reasonable in arrangement and complete in function, a special bionic side line array structure body type packaging structure is used for replacing a fish side line pipe, the filtering protection effect on a water flow and water pressure composite sensor is achieved, the water flow speed and the water pressure in each direction can be accurately measured, and the comprehensive sensing effect on the water flow and the water pressure can be achieved by arranging the sensing array through the fish side line simulating structure. The invention has the advantages of simulating the fish side line system, sensing the water flow and water pressure change at the same time, having strong anti-interference capability and high sensitivity and precision, and providing a measuring basis for accurately sensing the water environment change around the side line array.
Furthermore, the diameter of the water through hole of the flow channel is too large, so that the bionic lateral line array structure body loses the filtering protection effect, and the diameter is too small, so that the water flow and water pressure composite sensor is insensitive to water flow change, and the measurement precision is influenced.
Furthermore, four positive and negative electrodes are led out, the flow velocity of water flow in two mutually perpendicular directions can be measured, and the flow velocity of water flow in two directions is combined, so that the flow velocity of water flow in any direction in a plane can be obtained.
Furthermore, at least four water flow and water pressure composite sensors in each group of bionic lateral line array structure bodies can measure the change of the gradient of water flow and water pressure in one direction.
Drawings
FIG. 1 is a schematic structural diagram of an example of the present application;
FIG. 2 is a schematic diagram of a sensor configuration of an example of the present application;
fig. 3 is a schematic diagram of an array arrangement of an example of the present application.
Fig. 4 is a sectional view taken along line a-a' of fig. 3.
In the figure: 1. bionic lateral line array structure body, 2, runner limber hole, 3, electroactive polymer intelligent material cilium, 4, pressure sensor, 5, internal channel, 6, base, 7, electrode, 8, water flow and water pressure composite sensor, 9 fish lateral lines.
Detailed Description
The invention provides an underwater bionic lateral line sensing array which is simple in structure, reasonable in arrangement and complete in function, a special bionic lateral line array structure body type packaging structure is used for replacing a fish lateral line pipe, the filtering protection effect on a water flow and water pressure composite sensor is achieved, the water flow speed and water pressure in each direction can be accurately measured, and the sensing array is arranged through a fish-like lateral line 9 structure, so that the comprehensive sensing effect on water flow and water pressure can be achieved.
For a better understanding of the above aspects, reference will now be made in detail to the embodiments illustrated in the accompanying drawings.
As shown in fig. 1-4, an underwater bionic lateral line sensing array comprises a bionic lateral line array structure body 1, a flow passage water through hole 2, cilia 3 made of an electroactive polymer intelligent material, a pressure sensor 4, an internal passage 5, a base 6, an electrode 7 and a water flow and water pressure composite sensor 8, wherein the number of the water flow and water pressure composite sensors 8 is a plurality, as shown in fig. 2, the water flow and water pressure composite sensor 8 is composed of the cilia 3 made of the electroactive polymer intelligent material, the pressure sensor 4, the electrode 7 and the base 6, the internal passage 5 is formed inside the bionic lateral line array structure body 1 along the length direction, the water flow and water pressure composite sensor 8 is arranged in the internal passage 5, and at least 5 flow passage water through holes 2 communicated with the internal passage 5 are formed in one side of the bionic lateral line array structure body 1; the base 6 is arranged in the internal channel 5, four electrodes 7 are arranged on the base 6, the base 6 is provided with the cilia 3 of the electroactive polymer intelligent material, and the cilia 3 of the electroactive polymer intelligent material is perpendicular to the base 6; the pressure sensor 4 is arranged on the base 6 without interfering with the cilia and the electrodes. The cilia 3 of the electroactive polymer intelligent material is an IPMC ion exchange polymer metal material.
The electrode 7 is connected with the data acquisition channel, and the base 6 is fixed in the inner channel 5 through bolts.
In practical application, the bionic lateral line array structure body 1 is of a rectangular structure, and at least 5 runner limber holes 2 are formed in one side wall. The position arrangement and the number of the runner limber holes 2 can be adjusted according to different working conditions, but at least 5 runner limber holes 2 are ensured at the top.
In practical application, the water flow and water pressure composite sensor 8 is arranged at the right middle position of the two runner limber holes 2. The water flow and water pressure composite sensor 8 is arranged between the two runner limber holes, so that the water flow and water pressure composite sensor 8 can be ensured to be in the best working state, and the detection of the water pressure of the water flow is more accurate. The water flow and water pressure composite sensor 8 is arranged in the bionic lateral line array structure body 1, the relatively closed environment can play a role in filtering protection, the water flow and water pressure composite sensor 8 is prevented from being influenced by the environment of a peripheral large flow field, so that a relatively stable environment is formed, changed water flow enters through one runner limber hole 2 and flows out of the other runner limber hole 2, flowing water drives the cilia 3 of the electroactive polymer intelligent material to deflect, and the size of the water flow can be accurately measured.
In practical application, the cross section of the flow passage water through hole 2 is semicircular, the diameter of the flow passage water through hole is one fourth to one half of the length of the cilia 3 of the electroactive polymer intelligent material, and the flow passage water through hole is adjusted in a specified interval according to actual measurement and working conditions. The diameter of the runner limber hole 2 is too large, so that the bionic lateral line array structure body loses the filtering protection effect, and the diameter is too small, so that the water flow and water pressure composite sensor 8 is insensitive to water flow change, and the measurement precision is influenced.
In practical application, the cilia 3 of the electroactive polymer intelligent material is a cuboid, and four positive and negative electrodes 7 are led out from four side faces. The traditional cilia are cylinders, and two positive and negative electrodes 7 are led out to measure the water flow velocity in one direction only. The cilia 3 of the electroactive polymer intelligent material is designed into a cuboid, four positive and negative electrodes 7 are led out, the flow velocity of water in two mutually perpendicular directions can be measured, and the flow velocity of water in two directions is combined, so that the flow velocity of water in any direction in a plane can be obtained.
In practical application, referring to fig. 3 and 4, the bionic side line array structural bodies 1 are arranged on an underwater vehicle according to a fish-like side line 9 structure, and each group of bionic side line array structural bodies 1 at least comprises four water flow and water pressure composite sensors 8. The fish side line 9 is structurally arranged in a simulated mode, so that good effect is achieved in practical application, but the fish side line can be modified appropriately according to special conditions. At least four water flow and water pressure composite sensors 8 in each group of bionic lateral line array structure bodies 1 can measure the change of water flow and water pressure gradient in one direction.
In practical application, the water flow and water pressure composite sensor 8 and the electro-active polymer intelligent material cilia 3 are arranged in the middle of the base 6, and the pressure sensor 4 is arranged on the upper right of the base 6. The cilia 3 of the electroactive polymer intelligent material measure the water flow, the pressure sensor 4 measures the water pressure, the cilia and the pressure sensor are arranged according to the structure shown in figure 2 to form a water flow and water pressure composite sensor 8 together, and the side line 9 of the fish is simulated to measure the water pressure, the water flow and the gradient change of the water flow and the water flow.
Four sides of each cilium are respectively connected with four positive and negative electrodes to form a water flow sensor, the water flow sensor and the pressure sensor are combined to form a water flow and water pressure composite sensor, the water flow and water pressure composite sensor is installed according to the appearance layout of the bionic lateral line structure to form a water flow and water pressure comprehensive sensing array, electric signals of all channels of the array are acquired through a data acquisition system, and water flow and water pressure information around the lateral line can be judged through analyzing the array signals. The invention has the advantages of simulating the fish side line system, sensing the water flow and water pressure change at the same time, having strong anti-interference capability and high sensitivity and precision, and providing a measuring basis for accurately sensing the water environment change around the side line array.
Although the present invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the scope of the present invention.
Claims (2)
1. The underwater bionic lateral line sensing array is characterized by comprising a bionic lateral line array structure body (1), a runner limber hole (2), an internal channel (5) and a plurality of water flow and water pressure compound sensors (8), wherein each water flow and water pressure compound sensor (8) comprises an electroactive polymer intelligent material cilium (3), a pressure sensor (4), an electrode (7) and a base (6), the internal channel (5) is formed in the bionic lateral line array structure body (1) along the length direction, the water flow and water pressure compound sensors (8) are arranged in the internal channel (5), and the runner limber holes (2) communicated with the internal channel (5) are formed in one side of the bionic lateral line array structure body (1); the base (6) is arranged in the internal channel (5), four electrodes (7) are arranged on the base (6), the base (6) is provided with cilia (3) made of electroactive polymer intelligent materials, and the cilia (3) made of the electroactive polymer intelligent materials are made of IPMC ion exchange polymer metal materials; the bionic lateral line array structure body (1) is of a rectangular structure, and the diameter of the runner limber hole (2) is between one fourth and one half of the length of the cilia (3) of the electroactive polymer intelligent material; the number of the runner limber holes (2) is at least 5, and a water flow and water pressure composite sensor (8) is arranged in the middle of the two runner limber holes (2); each group of bionic lateral line array structure bodies (1) at least comprises four water flow and water pressure composite sensors (8);
the cilia (3) of the electroactive polymer intelligent material are vertically arranged with the base (6); each electro-active polymer intelligent material cilium (3) is arranged in the middle of the adjacent runner water through hole (2);
the cilia (3) of the electroactive polymer intelligent material are cuboid, four positive and negative electrodes (7) are led out from four side faces, and the electrodes (7) are arranged on the base (6);
the pressure sensor (4) is arranged on the base (6);
the electrode (7) is connected with the data acquisition channel;
the water flow and water pressure composite sensor is arranged in the bionic lateral line array structure body, a filtering protection effect can be achieved in a relatively closed environment, the water flow and water pressure composite sensor is prevented from being influenced by a peripheral large flow field environment, and therefore a relatively stable environment is formed, changed water flows enter through a runner limber hole and flow out of another runner limber hole.
2. The underwater bionic lateral line sensing array as claimed in claim 1, wherein the base (6) is fixed in the inner channel (5) through bolts.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810107857.1A CN108362334B (en) | 2018-02-02 | 2018-02-02 | Underwater bionic lateral line sensing array |
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| CN201810107857.1A CN108362334B (en) | 2018-02-02 | 2018-02-02 | Underwater bionic lateral line sensing array |
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| CN108362334B true CN108362334B (en) | 2021-01-19 |
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