CN115220488B - Bionic skin temperature control method and device - Google Patents
Bionic skin temperature control method and device Download PDFInfo
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- CN115220488B CN115220488B CN202210751945.1A CN202210751945A CN115220488B CN 115220488 B CN115220488 B CN 115220488B CN 202210751945 A CN202210751945 A CN 202210751945A CN 115220488 B CN115220488 B CN 115220488B
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 136
- 238000000034 method Methods 0.000 title claims abstract description 19
- 239000007788 liquid Substances 0.000 claims abstract description 105
- 238000010521 absorption reaction Methods 0.000 claims abstract description 28
- 210000003491 skin Anatomy 0.000 claims description 158
- 238000010438 heat treatment Methods 0.000 claims description 25
- 230000001276 controlling effect Effects 0.000 claims description 23
- 230000003592 biomimetic effect Effects 0.000 claims description 19
- 210000004207 dermis Anatomy 0.000 claims description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 12
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 238000005452 bending Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000037384 skin absorption Effects 0.000 claims description 3
- 231100000274 skin absorption Toxicity 0.000 claims description 3
- 210000001124 body fluid Anatomy 0.000 abstract description 6
- 239000010839 body fluid Substances 0.000 abstract description 6
- 238000012360 testing method Methods 0.000 abstract description 4
- 230000003796 beauty Effects 0.000 description 5
- 238000004088 simulation Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 3
- 239000002537 cosmetic Substances 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 102000008186 Collagen Human genes 0.000 description 2
- 108010035532 Collagen Proteins 0.000 description 2
- 229920001436 collagen Polymers 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000008929 regeneration Effects 0.000 description 1
- 238000011069 regeneration method Methods 0.000 description 1
- 238000007920 subcutaneous administration Methods 0.000 description 1
- 230000037303 wrinkles Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D23/00—Control of temperature
- G05D23/19—Control of temperature characterised by the use of electric means
- G05D23/20—Control of temperature characterised by the use of electric means with sensing elements having variation of electric or magnetic properties with change of temperature
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/40—Applying electric fields by inductive or capacitive coupling ; Applying radio-frequency signals
- A61N1/403—Applying electric fields by inductive or capacitive coupling ; Applying radio-frequency signals for thermotherapy, e.g. hyperthermia
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K7/00—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements
- G01K7/16—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements using resistive elements
- G01K7/22—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements using resistive elements the element being a non-linear resistance, e.g. thermistor
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- Health & Medical Sciences (AREA)
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Radiology & Medical Imaging (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Nonlinear Science (AREA)
- Automation & Control Theory (AREA)
- External Artificial Organs (AREA)
- Measuring And Recording Apparatus For Diagnosis (AREA)
Abstract
The invention provides a control method and a device for bionic skin temperature, wherein the method comprises the following steps: acquiring a current temperature value of the bionic skin; judging whether the current temperature value reaches a preset temperature threshold value, if not, calculating a theoretical heat value required by the bionic skin to reach the preset temperature threshold value; calculating the current actual heat absorption value of the bionic skin; calculating the temperature control time required by the bionic skin to reach the temperature corresponding to the theoretical heat value from the temperature corresponding to the actual heat absorption value according to the theoretical heat value and the actual heat absorption value; calculating the maximum power required by the temperature control device for adjusting the temperature according to the temperature control time; and judging whether the maximum power is larger than the preset limiting power, if so, calculating a flow increasing value under the maximum power, and controlling the flow of the liquid flowing through the bionic skin according to the flow increasing value. The invention enables the bionic skin to be closer to the skin temperature and the body fluid flowing state of the human body, and enables the test result to be more accurate.
Description
Technical Field
The invention relates to the field of machinery, in particular to a bionic skin temperature control method and device.
Background
In the prior art, a Radio Frequency (RF) cosmetic instrument penetrates into the dermis layer of human skin through radio frequency electromagnetic waves, generates a thermal effect on dermis tissues, promotes the contraction and tightening of subcutaneous collagen and the growth and regeneration of collagen, thereby achieving the effects of eliminating wrinkles, tightening skin and growing in reverse age. However, the current thermal field distribution research of the Radio Frequency (RF) cosmetic instrument can be basically obtained only by software simulation, and the simulation result is inaccurate.
Disclosure of Invention
Based on the problems, the invention provides a bionic skin temperature control method and a bionic skin temperature control device, and solves the technical problems that in the prior art, the thermal field distribution research of a Radio Frequency (RF) cosmetic instrument is basically obtained only by software simulation, and the simulation result is inaccurate. According to the invention, the temperature of the bionic skin is controlled by controlling the temperature and the flow rate of the liquid flowing through the bionic skin, so that the temperature of the bionic skin is close to that of human skin, and meanwhile, the influence of the flow of human body fluid on the radio frequency heating dermis can be studied.
The invention provides a control method of bionic skin temperature, comprising the following steps:
acquiring a current temperature value of the bionic skin;
judging whether the current temperature value reaches a preset temperature threshold value, if not, calculating a theoretical heat value required by the bionic skin to reach the preset temperature threshold value, and if so, re-acquiring the current temperature value of the bionic skin;
calculating the current actual heat absorption value of the bionic skin;
calculating the temperature control time required by the bionic skin to reach the temperature corresponding to the theoretical heat value from the temperature corresponding to the actual heat absorption value according to the theoretical heat value and the actual heat absorption value;
calculating the maximum power required by the temperature control device for adjusting the temperature according to the temperature control time;
judging whether the maximum power is larger than the preset limiting power, if so, calculating a flow increasing value under the maximum power, controlling the flow of the liquid flowing through the bionic skin according to the flow increasing value, controlling the temperature of the liquid under the preset limiting power by the temperature control device, and if not, controlling the temperature of the liquid under the maximum power by the temperature control device.
In addition, calculating the theoretical heat value required by the bionic skin to reach the preset temperature threshold includes:
Q suction 1 ＝C 0 m 0 (t Preset temperature threshold -t Current temperature value )；
Wherein Q is Suction 1 Theoretical heat value required for the bionic skin to reach a preset temperature threshold;
C 0 specific heat capacity of bionic skin is given in j/kg ℃;
m 0 is the quality of bionic skin.
In addition, calculating the current actual endothermic value of the bionic skin includes:
Q suction 2 ＝C 1 ×|t 2 -t 1 |×Q Flow of ×T 1 ×ρ Liquid ；
Wherein Q is Suction 2 The current actual heat absorption value of the bionic skin;
C 1 is the specific heat capacity of the liquid;
Q flow of Is the flow rate of liquid through the biomimetic skin;
T 1 is the liquid flow time;
ρ liquid Is the density of the liquid;
t 1 the temperature of the liquid before flowing through the bionic skin;
t 2 is the temperature of the liquid after it has passed through the biomimetic skin.
In addition, according to the theoretical heat value and the actual heat absorption value, calculating the temperature control time T required by the bionic skin to reach the temperature corresponding to the theoretical heat value from the temperature corresponding to the actual heat absorption value Is required to Comprising the following steps:
in addition, calculating the maximum power required by the temperature control device to adjust the temperature according to the temperature control time comprises:
firstly, judging whether the temperature control time is greater than a preset temperature control time threshold, if so, calculating the maximum power required by the temperature control device for adjusting the temperature, and if not, waiting for T Is required to Then re-judging the currentWhether the temperature value reaches a preset temperature threshold.
In addition, the maximum power W required by the temperature control device for regulating the temperature is calculated Limiting the limit Comprising the following steps:
calculating a preset temperature control time threshold T Limiting the limit Internal bionic skin absorption heat value Q Suction 3 ；
a Rotation Is the heat conversion efficiency of the temperature control device.
In addition, a flow rate increase value Q at the maximum power is calculated Flow of Comprising the following steps:
Q suction 4 ＝Q Suction 3 -W Limiting the limit ×U Rotation ×T Limiting the limit ；
Wherein C is 1 Is the specific heat capacity of the liquid;
t 1 the temperature of the liquid before flowing through the bionic skin;
t 2 is the temperature of the liquid after it has passed through the biomimetic skin.
The invention also provides a bionic skin temperature control device adopting the bionic skin temperature control method, which comprises the following steps:
the liquid pump, the temperature control device, the flow sensor, the bionic skin temperature measuring element, the first temperature sensor and the second temperature sensor are all connected with the control unit, and the liquid pump, the temperature control device, the flow sensor, the bionic skin temperature measuring element, the first temperature sensor and the second temperature sensor are also connected with the control unit;
the heating pipeline is arranged in the outside bionic skin, the water inlet end of the heating pipeline is connected with the water outlet end of the liquid pump, a temperature control device and a first temperature sensor are further arranged between the heating pipeline and the water outlet end of the liquid pump, a second temperature sensor and a flow sensor are further arranged between the heating pipeline and the water inlet end of the liquid pump, and the bionic skin temperature measuring element is arranged in the bionic skin.
In addition, the bionic skin temperature measuring element is a thermistor, and the thermistor is arranged at the dermis layer position of the bionic skin.
In addition, the heating tube is arranged in a multiple-curved shape inside the bionic skin.
The invention also provides a calculation method for taking away heat when the liquid flows through the bionic skin, which comprises the following steps:
Q suction pipe ＝C 1 ×|t 2 -t 1 |×Q Flow of ×T 1 ×ρ Liquid ；
Wherein Q is Suction pipe The current actual heat absorption value of the bionic skin;
C 1 is the specific heat capacity of the liquid;
Q flow of Is the flow rate of liquid through the biomimetic skin;
T 1 is the liquid flow time;
ρ liquid Is the density of the liquid;
t 1 the temperature of the liquid before flowing through the bionic skin;
t 2 is the temperature of the liquid after it has passed through the biomimetic skin.
The invention solves the technical problems that the thermal field distribution research of the Radio Frequency (RF) beauty instrument in the prior art can be basically obtained only by software simulation, and the simulation result is inaccurate. According to the invention, the temperature of the bionic skin is controlled by controlling the temperature and the flow rate of the liquid flowing through the bionic skin, so that the temperature of the bionic skin is close to that of human skin, and meanwhile, the influence of the flow of human body fluid on the radio frequency heating dermis can be studied.
Drawings
FIG. 1 is a flow chart of a method for controlling the temperature of a simulated skin according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a bionic skin temperature control apparatus according to an embodiment of the present invention;
fig. 3 is a control schematic diagram of a bionic skin temperature control device according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the specific embodiments and the accompanying drawings. It is intended that the invention be limited only by the specific embodiments illustrated and not by any means, but that it is intended that the invention be limited only by the terms of the appended claims.
Referring to fig. 1, the present invention proposes a control method of bionic skin temperature, comprising:
step S001, obtaining the current temperature value of the bionic skin;
step S002, judging whether the current temperature value reaches a preset temperature threshold, if not, entering step S003, calculating a theoretical heat value required by the bionic skin to reach the preset temperature threshold, and if so, re-acquiring the current temperature value of the bionic skin;
step S004, calculating the current actual heat absorption value of the bionic skin;
step S005, calculating the temperature control time required for the bionic skin to reach the temperature corresponding to the theoretical heat value from the temperature corresponding to the actual heat absorption value according to the theoretical heat value and the actual heat absorption value;
step S006, calculating the maximum power required by the temperature control device for adjusting the temperature according to the temperature control time;
step S007, judging whether the maximum power is greater than a preset limit power, if yes, entering step S008, calculating a flow increase value under the maximum power, controlling the flow of the liquid flowing through the bionic skin according to the flow increase value, controlling the temperature of the liquid under the preset limit power by the temperature control device, and if not, entering step S009, controlling the temperature of the liquid under the maximum power by the temperature control device.
The bionic skin can simulate actual thermal field distribution of real skin under the action of the radio frequency beauty instrument, and the bionic skin is adopted to simulate the real skin to debug optimal thermal field distribution of the skin, so that the efficacy of the beauty instrument is evaluated.
In the invention, the current temperature value of the bionic skin is firstly obtained and compared with the preset temperature threshold, for example, the preset temperature threshold is 36.8 ℃, and if the temperature value is not reached, the theoretical heat value required by the bionic skin to reach the preset temperature threshold is calculated, so that the corresponding power is prepared for the required heat value. Calculating the current actual heat absorption value of the bionic skin, calculating the temperature control time required by the bionic skin to reach the temperature corresponding to the theoretical heat absorption value from the temperature corresponding to the actual heat absorption value according to the theoretical heat absorption value and the actual heat absorption value, calculating the maximum power required by the temperature control device to adjust the temperature according to the temperature control time, judging whether the maximum power is larger than the preset limiting power, and setting the preset limiting power to be: preventing the power from being too high results in a too fast temperature rise of the liquid, which would decrease the stability of the overall control system. When the maximum power is larger than the preset limiting power, calculating a flow increasing value under the maximum power, controlling the flow of the liquid flowing through the bionic skin according to the flow increasing value, and controlling the temperature of the liquid under the preset limiting power by the temperature control device.
The invention solves the technical problems that the thermal field distribution research of the Radio Frequency (RF) beauty instrument in the prior art can be basically obtained only by software simulation, and the simulation result is inaccurate. According to the invention, the temperature of the bionic skin is controlled by controlling the temperature and the flow rate of the liquid flowing through the bionic skin, so that the temperature of the bionic skin is close to that of human skin, and meanwhile, the influence of the flow of human body fluid on the radio frequency heating dermis can be studied.
In one embodiment, calculating the theoretical caloric value required for the simulated skin to reach the preset temperature threshold comprises:
Q suction 1 ＝C 0 m 0 (t Preset temperature threshold -t Current temperature value )；
Wherein Q is Suction 1 Theoretical heat value required for the bionic skin to reach a preset temperature threshold;
C 0 specific heat capacity of bionic skin is given in j/kg ℃;
m 0 is the quality of bionic skin.
The theoretical heat value required by the bionic skin to reach the preset temperature threshold is calculated to prepare for subsequent calculation.
In one embodiment, calculating the current actual endothermic value of the biomimetic skin comprises:
Q suction 2 ＝C 1 ×|t 2 -t 1 |×Q Flow of ×T 1 ×ρ Liquid ；
Wherein Q is Suction 2 The current actual heat absorption value of the bionic skin;
C 1 is the specific heat capacity of the liquid;
Q flow of Is the flow rate of liquid through the biomimetic skin;
T 1 is the liquid flow time;
ρ liquid Is the density of the liquid;
t 1 the temperature of the liquid before flowing through the bionic skin;
t 2 is the temperature of the liquid after it has passed through the biomimetic skin.
In one embodiment, the temperature control time T required for the bionic skin to reach the temperature corresponding to the theoretical heat value from the temperature corresponding to the actual heat absorption value is calculated according to the theoretical heat value and the actual heat absorption value Is required to Comprising the following steps:
the purpose of calculating the temperature control time is to calculate the maximum power required by the control device to regulate the temperature.
In one embodiment, calculating the maximum power required by the temperature control device to adjust the temperature based on the temperature control time includes:
firstly, judging whether the temperature control time is greater than a preset temperature control time threshold, if so, calculating the maximum power required by the temperature control device for adjusting the temperature, and if not, waiting for T Is required to And then judging whether the current temperature value reaches a preset temperature threshold value or not again. The preset temperature control time threshold is, for example, 60s. And adjusting the power of the temperature control device according to the temperature control time.
In one embodiment, the maximum power W required by the temperature control device to regulate temperature is calculated Limiting the limit Comprising the following steps:
calculating the preset temperature control timeThreshold T Limiting the limit Internal bionic skin absorption heat value Q Suction 3 ；
a Rotation Is the heat conversion efficiency of the temperature control device.
Here T 1 For example 10ms, per unit time.
In one embodiment, a flow increment value Q at maximum power is calculated Flow of Comprising the following steps:
Q suction 4 ＝Q Suction 3 -W Limiting the limit ×U Rotation ×T Limiting the limit ；
Wherein C is 1 Is the specific heat capacity of the liquid;
t 1 the temperature of the liquid before flowing through the bionic skin;
t 2 is the temperature of the liquid after it has passed through the biomimetic skin.
In order to prevent unstable operation of the device caused by excessive temperature rise of the liquid due to excessive power of the temperature control device, the temperature is controlled by increasing the flow rate of the liquid. Optionally, the liquid flow is regulated by a liquid pump, and the liquid flow is regulated by regulating the power of the liquid pump.
Optionally, the fluid pump is adjusted to the corresponding power by looking up a table of fluid flow versus fluid pump power.
Referring to fig. 2 and 3, the present invention further provides a bionic skin temperature control apparatus using the bionic skin temperature control method according to any one of the above, including:
the liquid pump, the temperature control device, the flow sensor, the bionic skin temperature measuring element, the first temperature sensor and the second temperature sensor are all connected with the control unit, and the liquid pump, the temperature control device, the flow sensor, the bionic skin temperature measuring element, the first temperature sensor and the second temperature sensor are also connected with the control unit;
the heating pipeline is arranged in the outside bionic skin, the water inlet end of the heating pipeline is connected with the water outlet end of the liquid pump, a temperature control device and a first temperature sensor are further arranged between the heating pipeline and the water outlet end of the liquid pump, a second temperature sensor and a flow sensor are further arranged between the heating pipeline and the water inlet end of the liquid pump, and the bionic skin temperature measuring element is arranged in the bionic skin.
Optionally, the control device further comprises an operation display unit. The operation display unit is connected with the control unit, receives external instructions and receives the instructions of the control unit to display data, such as temperature data of bionic skin.
The flow sensor is used for acquiring the flow rate of the liquid flowing through the bionic skin. The temperature control device is used for adjusting the temperature of the liquid, and can be used for heating or refrigerating. The bionic skin temperature measuring element is used for testing the temperature inside the bionic skin and feeding back the temperature to the control unit. The first temperature sensor and the second temperature sensor test the temperature of the liquid before and after flowing through the bionic skin, respectively. The liquid pump is used for the input and output of the circulating liquid. The heating pipeline is used for heating or cooling the temperature of the bionic skin.
The invention solves the technical problems that the thermal field distribution research of the Radio Frequency (RF) beauty instrument in the prior art can be basically obtained only by software simulation, and the simulation result is inaccurate. According to the invention, the temperature of the bionic skin is controlled by controlling the temperature and the flow rate of the liquid flowing through the bionic skin, so that the temperature of the bionic skin is close to that of human skin, and meanwhile, the influence of the flow of human body fluid on the radio frequency heating dermis can be studied.
In one embodiment, the bionic skin temperature measuring element is a thermistor, and the thermistor is arranged at the dermis layer position of the bionic skin. The thermistor is tested more accurately, can provide more accurate results, and has high cost performance. The thermistor is mainly used for testing the temperature rise condition of the dermis layer skin position, so the thermistor is arranged at the dermis layer position of the bionic skin.
In one embodiment, the heating conduit is disposed in a multiple bend within the biomimetic skin.
The heating pipeline is arranged in a multiple bending shape inside the bionic skin. The heating pipeline is arranged in a multiple bending mode, so that the temperature in the released skin is uniformly increased, and the temperature at each place is balanced.
The invention also provides a calculation method for taking away heat when the liquid flows through the bionic skin, which comprises the following steps:
Q suction pipe ＝C 1 ×|t 2 -t 1 |×Q Flow of ×T 1 ×ρ Liquid ；
Wherein Q is Suction pipe The current actual heat absorption value of the bionic skin;
C 1 is the specific heat capacity of the liquid;
Q flow of Is the flow rate of liquid through the biomimetic skin;
T 1 is the liquid flow time;
ρ liquid Is the density of the liquid;
t 1 the temperature of the liquid before flowing through the bionic skin;
t 2 is the temperature of the liquid after it has passed through the biomimetic skin.
According to the invention, the temperature of the bionic skin is controlled by controlling the temperature and the flow rate of the liquid flowing through the bionic skin, so that the temperature of the bionic skin is close to that of human skin, and the influence of the flow of human body fluid on the radio frequency heating dermis is studied.
What has been described above is merely illustrative of the principles and preferred embodiments of the present invention. It should be noted that several other variants are possible to those skilled in the art on the basis of the principle of the invention and should also be considered as the scope of protection of the present invention.
Claims (9)
1. A method for controlling the temperature of a bionic skin, comprising:
acquiring a current temperature value of the bionic skin;
judging whether the current temperature value reaches a preset temperature threshold value, if not, calculating a theoretical heat value required by the bionic skin to reach the preset temperature threshold value, and if so, re-acquiring the current temperature value of the bionic skin;
calculating the current actual heat absorption value of the bionic skin;
calculating the temperature control time required by the bionic skin to reach the temperature corresponding to the theoretical heat value from the temperature corresponding to the actual heat absorption value according to the theoretical heat value and the actual heat absorption value:Q suction 1 For theoretical heat value, Q Suction 2 T is the actual heat absorption value 1 Is the liquid flow time;
calculating the maximum power required by the temperature control device for adjusting the temperature according to the temperature control time: firstly, judging whether the temperature control time is greater than a preset temperature control time threshold, if so, calculating the maximum power required by the temperature control device for adjusting the temperature, and if not, waiting for T Is required to Then judging whether the current temperature value reaches a preset temperature threshold value again;
judging whether the maximum power is larger than the preset limiting power, if so, calculating a flow increasing value under the maximum power, controlling the flow of the liquid flowing through the bionic skin according to the flow increasing value, controlling the temperature of the liquid under the preset limiting power by the temperature control device, and if not, controlling the temperature of the liquid under the maximum power by the temperature control device.
2. The method for controlling the temperature of a bionic skin according to claim 1, wherein,
calculating a theoretical heat value required by the bionic skin to reach a preset temperature threshold comprises:
Q suction 1 ＝C 0 m 0 (t Preset temperature threshold -t Current temperature value )；
Wherein Q is Suction 1 Theoretical heat value required for the bionic skin to reach a preset temperature threshold;
C 0 specific heat capacity of bionic skin is given in j/kg ℃;
m 0 is the quality of bionic skin.
3. The method for controlling the temperature of a bionic skin according to claim 2, wherein,
the calculating of the current actual endothermic value of the bionic skin comprises the following steps:
Q suction 2 ＝C 1 ×|t 2 -t 1 |×Q Flow of ×T 1 ×ρ Liquid ；
Wherein Q is Suction 2 The current actual heat absorption value of the bionic skin;
C 1 is the specific heat capacity of the liquid;
Q flow of Is the flow rate of liquid through the biomimetic skin;
T 1 is the liquid flow time;
ρ liquid Is the density of the liquid;
t 1 the temperature of the liquid before flowing through the bionic skin;
t 2 is the temperature of the liquid after it has passed through the biomimetic skin.
4. The method for controlling the temperature of a bionic skin according to claim 1, wherein,
calculating the maximum power W required by the temperature control device for regulating the temperature Limiting the limit Comprising the following steps:
calculating a preset temperature control time threshold T Limiting the limit Internal bionic skin absorption heat value Q Suction 3 ；
a Rotation Is the heat conversion efficiency of the temperature control device.
5. The method for controlling a bionic skin temperature according to claim 4, wherein,
calculating the flow increment value Q under the maximum power Flow of Comprising the following steps:
Q suction 4 ＝Q Suction 3 -W Limiting the limit ×a Rotation ×T Limiting the limit ；
Wherein C is 1 Is the specific heat capacity of the liquid;
t 1 the temperature of the liquid before flowing through the bionic skin;
t 2 is the temperature of the liquid after it has passed through the biomimetic skin.
6. A control device for a bionic skin temperature employing the control method for a bionic skin temperature according to any one of claims 1 to 5, comprising:
the liquid pump, the temperature control device, the flow sensor, the bionic skin temperature measuring element, the first temperature sensor and the second temperature sensor are all connected with the control unit, and the liquid pump, the temperature control device, the flow sensor, the bionic skin temperature measuring element, the first temperature sensor and the second temperature sensor are also connected with the control unit;
the heating pipeline is arranged in the outside bionic skin, the water inlet end of the heating pipeline is connected with the water outlet end of the liquid pump, a temperature control device and a first temperature sensor are further arranged between the heating pipeline and the water outlet end of the liquid pump, a second temperature sensor and a flow sensor are further arranged between the heating pipeline and the water inlet end of the liquid pump, and the bionic skin temperature measuring element is arranged in the bionic skin.
7. The bionic skin temperature control apparatus according to claim 6, wherein,
the bionic skin temperature measuring element is a thermistor, and the thermistor is arranged at the dermis layer position of the bionic skin.
8. The bionic skin temperature control apparatus according to claim 6, wherein,
the heating pipeline is arranged in a multiple bending shape inside the bionic skin.
9. A method of calculating heat removal when a liquid, which uses the method of controlling temperature of a biomimetic skin according to any one of claims 1 to 5, flows through the biomimetic skin, comprising:
Q suction pipe ＝C 1 ×|t 2 -t 1 |×Q Flow of ×T 1 ×ρ Liquid ；
Wherein Q is Suction pipe The current actual heat absorption value of the bionic skin;
C 1 is the specific heat capacity of the liquid;
Q flow of Is the flow rate of liquid through the biomimetic skin;
T 1 is the liquid flow time;
ρ liquid Is the density of the liquid;
t 1 the temperature of the liquid before flowing through the bionic skin;
t 2 is the temperature of the liquid after it has passed through the biomimetic skin.
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