CN112903179B - High-sensitivity bionic lateral-line water flow and water pressure sensing array structure - Google Patents
High-sensitivity bionic lateral-line water flow and water pressure sensing array structure Download PDFInfo
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- CN112903179B CN112903179B CN202110084314.4A CN202110084314A CN112903179B CN 112903179 B CN112903179 B CN 112903179B CN 202110084314 A CN202110084314 A CN 202110084314A CN 112903179 B CN112903179 B CN 112903179B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L13/00—Devices or apparatus for measuring differences of two or more fluid pressure values
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L19/00—Details of, or accessories for, apparatus for measuring steady or quasi-steady pressure of a fluent medium insofar as such details or accessories are not special to particular types of pressure gauges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
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Abstract
The invention discloses a high-sensitivity bionic lateral-line water flow water pressure sensing array structure, wherein a cilium structure on the upper part of a substrate is nested in a cavity of a support, a bionic sensitive top coats and connects the cilium structure on the upper part of the substrate and the support, at least 5 bionic sensors are respectively attached to the upper part of an upper cover plate of a pipeline and the cavity of a bionic local contraction pipeline and are distributed in an array along the length direction to correspondingly form a bionic surface neural hill sensing array and a bionic pipeline neural hill sensing array which are respectively used for sensing water flow change and pressure gradient difference. The upper cover plate of the pipeline is provided with a through hole along the length direction, and the bottom of the upper cover plate of the pipeline is combined with the upper part of the bionic local contraction pipeline through waterproof sealant. The bionic sensitive roof structure is made of porous hydrogel materials with strong water absorbability, and is combined with the tree crown-shaped framework support, so that the interaction force of water and the sensing unit structure can be effectively improved to improve the sensing response signal, and the detection sensitivity and precision of the bionic sensitive roof structure are effectively improved.
Description
Technical Field
The invention belongs to the technical field of underwater sensors, and particularly relates to a high-sensitivity bionic lateral-line water flow water pressure sensing array.
Background
The continuous progress of the underwater equipment technology and the complexity of the underwater environment where the underwater equipment is located strengthen the requirement of the underwater equipment on the environment sensing capability, and the traditional detection method of the underwater vehicle or the underwater robot has some defects, such as a sonar detection mode which easily generates a detection blind area, a camera shooting and laser detection mode which is easily restricted by vision, a sensing signal which is single and cannot sense near-distance disturbance, and better judge the change of the surrounding environment, however, the underwater detection technology is also an important means of equipment needed by sea warfare and the like.
The fish have evolved for billions of millions of years, and the fish can avoid natural enemies and capture prey by virtue of extremely strong sensing capability, so that the fish have ultra-sensitive underwater sensing capability. The lateral line system is an important sensing organ of fishes, and attracts high attention of scholars in various fields, wherein the lateral line organ comprises a surface neural hill and a pipeline neural hill, the surface neural hill mainly senses surface water flow information, and the pipeline neural hill senses water pressure difference and other information, so that changes of surrounding environments are comprehensively judged. The bionic lateral line sensor has very critical significance for the detection research of the underwater vehicle, but the existing bionic lateral line sensors are used for independently researching surface neural dunes or pipeline neural dunes, the detection sensitivity and the detection precision of the bionic lateral line sensors are different from those of real fishes, the detection precision of the modern underwater vehicle needs to be further improved, and therefore a high-precision and high-sensitivity water flow pressure detection sensor needs to be researched to supplement the research fields of a non-acoustic detection technology and a novel underwater sensor to a certain extent, the development of the future detection technology of the underwater vehicle is promoted, and the bionic lateral line sensor is widely applied to civil and military industries.
Disclosure of Invention
In view of the above problems, the present invention aims to simulate a lateral line sensing organ of fish, and provide a bionic lateral line water flow water pressure sensing array with simple structure and high-precision detection capability, i.e. a surface neural hill and a pipeline neural hill with a local contraction structure of fish are simulated and designed and integrated into an integral structure, so as to supplement the defect that only a single study is performed on the surface neural hill structure or the pipeline neural hill structure in the early stage, and the water flow water pressure change is sensed with high precision to realize the function of target detection more comprehensively.
In order to achieve the aim, the invention provides a high-sensitivity bionic lateral line water flow water pressure sensing array,
including bionical local contraction pipeline, pipeline upper cover plate, bionic sensor includes perception unit, support, bionical sensitive top, the perception unit includes base member and electrode, the base member upper portion cilium structure nestification is in the cavity of support to rather than fixed connection, bionical sensitive top will the base member upper portion cilium structure with the support cladding is connected. At least every 5 bionic sensor is fixed in respectively pipeline upper cover plate upper portion and bionic local contraction pipeline intracavity all become array distribution along length direction, correspond to constitute bionic surface neurosul perception array and bionic pipeline neurosul perception array, are used for perception rivers change and pressure gradient difference respectively. The pipeline upper cover plate is provided with a through hole along the length direction. The bottom of the upper cover plate of the pipeline is combined with the upper part of the bionic local contraction pipeline through waterproof sealant.
Furthermore, the bionic local contraction pipeline structure is rectangular, and can also be semicircular, trapezoidal and the like.
Furthermore, the local protruding structures in the bionic local contraction pipeline cavity are semi-cylindrical, cuboid or trapezoidal, the longest dimension of each protruding structure is one fifth to three eighths of the width of the pipeline, the local protruding structures in the bionic local contraction pipeline cavity keep the same shape and size along the two sides of the length direction and are designed in relative positions, and the local protruding structures on each side are at least 5 and are arranged in an array.
Further, the number of the array through holes of the upper cover plate of the pipeline is at least 6.
Furthermore, the bionic surface neural dune sensing array is respectively attached and fixed between every two through holes of the pipeline upper cover plate by at least 5 bionic sensors.
Furthermore, the bionic pipeline neural dune perception array is respectively attached and fixed between the local protruding structures opposite along the two sides of the length of the bionic local contraction pipeline by at least 5 bionic sensors.
Further, the biomimetic sensor is preferably made of ionic polymer material.
Furthermore, 4 unconnected electrodes are plated on the substrate in a circumferential array, and a pair of sensing signal output groups are formed in pairs respectively.
Further, the sensory top is a porous hydrophilic hydrogel material prepared by a drop casting process.
Further, the support is of a tree crown-shaped framework structure.
Compared with the prior art, the invention has the following advantages:
(1) the bionic local contraction pipeline is designed by simulating the pipeline contraction structure of the fish side pipeline neural dune and changing the form of the side pipeline to influence the sensing performance of a pipeline side system, so that the local flow velocity can be effectively increased, and the sensing sensitivity and precision of a bionic sensor in the pipeline neural dune are enhanced;
(2) according to the invention, the bionic sensitive roof structure is made of the porous hydrogel material with strong water absorbability, so that the interaction force of water and the sensing unit structure can be effectively increased to improve the sensing response characteristic of the bionic sensitive roof structure, and the crown-shaped skeleton structure is adopted to help the porous hydrogel solution to form a long spherical structure with a large top and a small bottom in the dripping casting process, so that the contact surface area of the whole bionic sensitive roof structure and water is increased, and the detection sensitivity of the bionic sensitive roof structure is further enhanced;
(3) the invention integrates the surface neural dune and the pipeline neural dune into a whole, can simultaneously measure the water flow velocity and the pressure difference, can more accurately acquire the flow field information through the detected flow velocity and pressure difference information, and ensures the effectiveness of information detection.
Drawings
FIG. 1 is an exploded view of a high-sensitivity bionic lateral water flow water pressure sensing array structure combination and a single bionic sensor according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a biomimetic sensor without a biomimetic sensitive roof according to an embodiment of the present invention: (a) a three-dimensional perspective view (b) in a plan view and a partially enlarged view;
FIG. 3 is a schematic view of a local protrusion structure in a bionic local contraction pipeline cavity according to an embodiment of the invention: (a) semicircular (b) square (c) and half trapezoid;
number designation in the figures:
1. the bionic local contraction pipeline comprises a bionic local contraction pipeline body 2, a pipeline upper cover plate 3, a bionic sensor 31, a sensing unit 32, a support 33, a bionic sensitive top 31-1, a base body 31-2, electrodes 3-1, a bionic surface neural hill sensing array 3-2 and a bionic pipeline neural hill sensing array.
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.
The invention aims to simulate a fish lateral line sensing organ and provide a bionic lateral line water flow water pressure sensing array which is simple in structure, easy to manufacture and high in precision, namely, a local contraction structure of a pipeline of a fish lateral line neural dune and a bionic sensitive top structure on a fish lateral line cilium structure are simulated at the same time so as to effectively improve sensing sensitivity and precision, and the pipeline neural dune and a surface neural dune are integrated on one structure, so that the change of water flow water pressure can be sensed at the same time.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1-2 are schematic diagrams of a structure combination of a bionic lateral line perception array, an enlarged view of a single bionic sensor and a bionic sensor without a bionic sensitive top, the array structure mainly comprises a bionic local contraction pipeline 1, a pipeline upper cover plate 2 and a bionic sensor 3, the bionic sensor 3 comprises a perception unit 31, a support 32 and a bionic sensitive top 33, the perception unit comprises a substrate 31-1 and an electrode 31-2, an upper part cilium structure of the substrate 31-1 is nested in a cavity of the support 32 and is fixedly connected with the substrate, and the bionic sensitive top 33 connects the upper part cilium structure of the substrate 31-1 and the support 32 in a covering manner. At least every 5 bionic sensors 3 are respectively attached to the upper part of the pipeline upper cover plate 2 and the cavity of the bionic local contraction pipeline 1, are distributed in an array along the length direction, correspondingly form a bionic surface neural hill perception array 3-1 and a bionic pipeline neural hill perception array 3-2, and are respectively used for perceiving water flow change and pressure gradient difference. The pipeline upper cover plate 2 is provided with through holes along the length direction, and when surrounding water flows into the pipeline through the through holes, the electric response of the bionic sensing unit in the pipeline can be caused. The bottom of the pipeline upper cover plate 2 and the upper portion of the bionic local contraction pipeline 1 are combined by painting waterproof sealant, the pipeline upper cover plate 2 and the bionic local contraction pipeline 1 are sealed through the waterproof sealant, the pipeline upper cover plate and the bionic local contraction pipeline 1 can be covered, water can be prevented from entering from a pipe edge gap, and interference is reduced so as to increase the accuracy of a measuring result in the pipe. The design of the lateral line pipeline can not only protect the sensor structure from being damaged, but also be used as a mechanical filter to filter low-frequency noise and obtain response gain under higher frequency. According to the invention, the pipeline neural dune and the surface neural dune are integrated in an integral structure, and the flow velocity and the pressure difference can be respectively measured, so that the flow field information can be more comprehensively and accurately obtained, and the effectiveness of information detection is ensured.
The bionic local contraction pipeline 2 is rectangular, and can also be semicircular, trapezoidal and the like.
As shown in fig. 3, the local protruded structure in the cavity of the bionic local contraction pipeline 1 is semi-cylindrical, and may also be rectangular or trapezoidal, etc., the longest vertical dimension of each side protruded structure and the side surface in the length direction of the current side should be selected between one fifth and three eighths of the width of the pipeline, and the local protruded structures in the cavity of the bionic local contraction pipeline keep the same shape and size along the two sides in the length direction and are designed in opposite positions, and the local protruded structures on each side are at least 5 positions and are arranged in an array. The local protruding structure in the cavity of the bionic local contraction pipeline 1 is mainly expected to increase the flow speed at the contraction part of the pipeline by simulating the side pipeline structure of fish so as to increase the resistance in the pipeline and enhance the sensitivity, however, if the contraction size design at the local flow limiting part of the pipeline is small, the influence on the flow speed is not obvious, and meanwhile, the sensitivity of the pipeline cannot be improved; in addition, if the size of the constriction is too large, the flow rate of the pipe is drastically reduced by the viscoelastic effect, so that the flow of water therethrough is hindered, and the detection sensitivity is rather lowered. Therefore, the detection sensitivity and precision can be obviously improved by designing the pipeline local reduction structure with a proper scale.
The number of the array through holes of the pipeline upper cover plate 2 is at least 6.
The bionic surface neural dune sensing array 3-1 is attached between every two through holes of the pipeline upper cover plate by at least 5 bionic sensors respectively and used for detecting the flow velocity of a surface environment.
The bionic pipeline neural dune perception array 3-2 is attached respectively by 5 bionic sensors at least between the relative local bulge structure of bionic local shrink pipeline 1 along length both sides for survey the outside pressure differential size of pipeline, promptly when the target arouses the flow of fluid, rivers follow inside getting into the pipeline in the array through-hole of pipeline upper cover plate 2, because the target has certain difference apart from the position of through-hole, consequently when the output signal of the bionic sensor in the pipeline at the same moment can produce the sensing signal that has the difference owing to the difference of the pressure differential that receives, can judge the direction of attack of target object.
The bionic sensor 3 is preferably made of an ionic polymer material, because the material contains water molecules inside, the material can be directly applied to an underwater environment and can deform under the action of external force, internal cations can migrate to cause unbalanced distribution of ions to generate an electric signal, and the sensing principle of a fish lateral line organ is that when a lateral line receptor contacts fluctuation of surrounding fluid, a sensitive top drives a vertical cilium structure inside the lateral line receptor to directionally deflect, so that an ion channel in a hair cell membrane of the lateral line receptor is opened to cause change of internal and external potential differences of cells, and finally mechanical information of the fluctuating fluid is converted into a nerve electric signal.
The substrate 32 is coated with 4 unconnected electrodes 32 in a circumferential array, and a pair of sensing signal outputs are formed in pairs. When the fluid around the bionic sensor 3 flows, friction force and resistance are applied to the rigid cilia of the upper part cilia structure of the substrate 31-1 to bend the cilia, so that an output voltage signal is generated.
The sensing top 33 is a hydrogel material with a porous hydrophilic structure prepared by a drop casting process, the porous hydrogel material is a cross-linked network of hydrophilic polymers, a large amount of water can be absorbed to cause hydrogel swelling, and a certain swelling force is provided inside the hydrogel material, so that the interaction force between the hydrogel polymer material and water is helpful for expanding the polymer network structure, and a sensing unit can generate a higher sensing response signal when the flow speed is detected.
The support 32 is a tree crown-shaped framework structure, soft silica gel materials with good flexibility can be selected as the materials, large deformation can be guaranteed when fluid around the bionic sensitive top flows, the support structure is not only beneficial to the slow flowing and shaping of porous hydrogel solution along the support under the action of gravity in the dripping casting process, but also guarantees the formation of a long spherical bionic sensitive top structure with a large top and a small bottom so as to increase the contact surface area of the whole bionic sensitive top structure and water, and therefore the sensitivity of the support is enhanced.
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 (9)
1. A high-sensitivity bionic lateral-line water flow water pressure sensing array structure comprises a bionic local contraction pipeline, a pipeline upper cover plate and a bionic sensor, wherein the bionic sensor comprises a sensing unit, a bracket and a bionic sensitive top, the sensing unit comprises a substrate and an electrode, it is characterized in that the cilia structure on the upper part of the substrate is nested in the cavity of the bracket and is fixedly connected with the cavity, the cilia structure on the upper part of the substrate is connected with the bracket in a coating way by the bionic sensitive top, at least 5 bionic sensors are respectively fixed on the upper part of the upper cover plate of the pipeline and in the cavity of the bionic local contraction pipeline and are distributed in an array way along the length direction, correspondingly forming a bionic surface neural hill sensing array and a bionic pipeline neural hill sensing array which are respectively used for sensing water flow change and pressure gradient difference, wherein a through hole is formed in the upper pipeline cover plate along the length direction of the upper pipeline cover plate, and the bottom of the upper pipeline cover plate is combined with the upper part of the bionic local contraction pipeline through waterproof sealant;
the bionic local contraction pipeline cavity is characterized in that the local protrusion structures in the bionic local contraction pipeline cavity are semi-cylindrical, cuboid or trapezoidal, the longest dimension of each side protrusion structure is one fifth to three eighths of the width of the pipeline, the shape and the size of the local protrusion structures in the bionic local contraction pipeline cavity are completely the same along the two sides of the length direction, and the local protrusion structures on each side are at least 5 and are arranged in an array.
2. The high-sensitivity bionic lateral line water flow water pressure sensing array structure as claimed in claim 1, wherein the bionic local contraction pipeline structure is rectangular, semicircular or trapezoidal.
3. The high-sensitivity bionic lateral line water flow and water pressure sensing array structure as claimed in claim 1, wherein the number of the array through holes of the upper cover plate of the pipeline is at least 6.
4. The high-sensitivity bionic lateral line water flow and water pressure sensing array structure as claimed in claim 1, wherein the bionic surface neural hill sensing array is at least 5 bionic sensors respectively attached and fixed between every two through holes of the upper cover plate of the pipeline.
5. The high-sensitivity bionic lateral line water flow and water pressure sensing array structure as claimed in claim 1, wherein the bionic pipeline neural dune sensing array is at least 5 bionic sensors respectively attached and fixed between the opposite local protruding structures on two sides of the bionic local contraction pipeline along the length.
6. The high-sensitivity bionic lateral line water flow water pressure sensing array structure as claimed in claim 1, wherein the bionic sensor is made of ionic polymer materials.
7. The high-sensitivity bionic lateral line water flow water pressure sensing array structure as claimed in claim 1, wherein the substrate is coated with 4 electrodes which are not connected with each other in a circumferential array, and a pair of sensing signal output groups are formed in pairs respectively.
8. The high-sensitivity bionic lateral line water flow water pressure sensing array structure as claimed in claim 1, wherein the bionic sensitive roof is a porous hydrophilic hydrogel material prepared by a drop casting process.
9. The high-sensitivity bionic lateral line water flow water pressure sensing array structure as claimed in claim 1, wherein the support is of a tree crown-shaped skeleton structure.
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