CN113514800B - Water strider-imitated vibration sensing and positioning system and vibration sensing and positioning method - Google Patents
Water strider-imitated vibration sensing and positioning system and vibration sensing and positioning method Download PDFInfo
- Publication number
- CN113514800B CN113514800B CN202110442694.4A CN202110442694A CN113514800B CN 113514800 B CN113514800 B CN 113514800B CN 202110442694 A CN202110442694 A CN 202110442694A CN 113514800 B CN113514800 B CN 113514800B
- Authority
- CN
- China
- Prior art keywords
- sensor
- vibration
- foot
- signal
- forefoot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Abstract
The invention provides a water strider vibration imitating sensing and positioning system, which comprises a first front foot sensor, a second front foot sensor, a first middle foot sensor, a second middle foot sensor, a first rear foot sensor and a second rear foot sensor, wherein the first front foot sensor, the second front foot sensor, the first middle foot sensor, the second middle foot sensor, the first rear foot sensor and the second rear foot sensor are arranged on a plane; the first forefoot sensor and the second forefoot sensor are close to each other, and the first forefoot sensor and the second forefoot sensor are located between the first midfoot sensor and the circle center of the preset circumference and close to the circle center of the preset circumference; the sensors are all electrically connected with the vibration signal processing device. Unnecessary sensors in the traditional sensor array are effectively reduced. The invention also provides a method for sensing and positioning by the water strider vibration imitating sensing and positioning system.
Description
Technical Field
The invention relates to the technical field of engineering bionics and sensors, in particular to a water strider imitating vibration sensing and positioning system and a vibration sensing and positioning method.
Background
In the technical field of engineering application, safety accidents can be avoided by detecting the vibration excitation source in real time and in time, and preventive measures are implemented in advance, so that the method has important significance for engineering application. At present, the known sensor system can only detect the magnitude of the vibration signal, can only carry out rough positioning on the vibration excitation source, and has the defects of sensor redundancy and high cost in a sensor array.
The water strider is characterized in that the water strider is designed to adapt to the living environment, avoid natural enemies and capture preys, the body of each living being is developed into a skillful and efficient structure, compared with other animals, the water strider develops five pairs of feet and four pairs of feet to sense signals and move the body, the water strider realizes high-sensitivity detection of vibration signals and quick movement of the body only through three pairs of feet, and the water strider can sense preys and natural enemies and can position preys and natural enemies through four limbs which are distributed dispersedly.
Therefore, a vibration sensing and positioning system and a vibration sensing and positioning method imitating the water strider are needed.
Disclosure of Invention
Technical problem to be solved
In view of the problems in the art described above, the present invention is at least partially addressed. Therefore, a first objective of the present invention is to provide a water strider imitating vibration sensing and positioning system, which can effectively reduce unnecessary sensors in the conventional sensor array while ensuring the detection accuracy and sensitivity of the vibration signal.
The second purpose of the invention is to provide a vibration sensing and positioning method, which realizes hypersensitive sensing, quick identification and accurate positioning of a vibration excitation source.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that:
the invention aims to provide a water strider-imitated vibration sensing and positioning system, which comprises a vibration signal acquisition device and a vibration signal processing device, wherein the vibration signal acquisition device is connected with the vibration signal processing device;
the vibration signal acquisition device comprises a long-foot sensor and a short-foot sensor which are arranged on a plane, the long-foot sensor comprises a first middle-foot sensor, a second middle-foot sensor, a first rear-foot sensor and a second rear-foot sensor, and the short-foot sensor comprises a first front-foot sensor and a second front-foot sensor;
the first forefoot sensor and the second forefoot sensor are close to each other, and the first forefoot sensor and the second forefoot sensor are located between the first midfoot sensor and the circle center of the preset circumference and close to the circle center of the preset circumference;
the first forefoot sensor, the second forefoot sensor, the first middle foot sensor, the second middle foot sensor, the first rear foot sensor and the second rear foot sensor are all electrically connected with the vibration signal processing device.
Alternatively, the long foot sensor and the short foot sensor are both sensor elements that mimic the seam receptors at the water strider leg joint.
Optionally, the sensor element imitating the seam receptor at the water strider leg joint comprises a sealed cavity, a vibration film, a first lead and a second lead, wherein the vibration film is fixed in the sealed cavity, the first end of the first lead is welded at the first end of the vibration film, the second end of the first lead extends out of the sealed cavity and is exposed outside the sealed cavity, the first end of the second lead is welded at the second end of the vibration film, and the second end of the second lead extends out of the sealed cavity and is exposed outside the sealed cavity. Embedding grooves are distributed on the vibration film, each embedding groove comprises an elliptical groove and a vertical groove, and the vertical grooves are positioned in the elliptical grooves and move along the long axis of the elliptical grooves; the upper surface of the embedding groove is inwards concave relative to the plane in the upper surface of the vibration film, and the lower surface of the embedding groove is outwards convex relative to the plane in the lower surface of the vibration film.
Optionally, in the nested trench, the vertical trench is separated from the elliptical trench.
Optionally, the nesting grooves are uniformly arranged from the first end of the vibration film to the second end of the vibration film, and the vertical grooves in adjacent nesting grooves are parallel.
Optionally, the vibration signal processing apparatus includes a control unit and a computer; the first forefoot sensor, the second forefoot sensor, the first middle foot sensor, the second middle foot sensor, the first rear foot sensor and the second rear foot sensor are all electrically connected with the control unit, and the control unit is in communication connection with the computer.
Optionally, the vibration signal processing device further includes a wiring module and a signal patch cord; the first forefoot sensor, the second forefoot sensor, the first midfoot sensor, the second midfoot sensor, the first hindfoot sensor and the second hindfoot sensor are all electrically connected with the control unit through the wiring module; the control unit is in communication connection with the computer through a signal transfer line.
A second object of the present invention is to provide a method for vibration-sensing and locating the water strider vibration-imitating positioning system, as described above, comprising:
s1, collecting vibration signals sensed by the long-foot sensor and the short-foot sensor in a preset period;
s2, determining a reference sensor from the long-foot sensors according to the acquired vibration signals, and calculating the signal receiving time difference and the signal propagation efficiency between the sensors;
s3, calculating the signal propagation efficiency between the reference sensor and the vibration excitation source according to the signal propagation efficiency between the sensors based on the equal ratio of any two propagation efficiencies to obtain the signal value of the vibration excitation source and the distance between the vibration excitation source and the reference sensor;
and S4, determining the direction of the vibration excitation source relative to the reference sensor according to the signal receiving time difference between any two adjacent long-foot sensors except the reference sensor and the reference sensor.
Optionally, in S2, determining a reference sensor from the sensors of the long foot according to the collected vibration signal includes: and according to the acquired vibration signals, searching a first sensor which senses the vibration signals from the long foot sensors as a reference sensor.
Optionally, in S2, calculating the signal receiving time difference and the signal propagation efficiency between the sensors includes:
calculating a signal receiving time difference and a signal propagation efficiency between each long-foot sensor except the reference sensor and the reference sensor, and calculating a signal receiving time difference and a signal propagation efficiency between the first front-foot sensor and the second front-foot sensor;
accordingly, S3 includes:
where Δ V1, Δ V2, and Δ V3 are signal propagation efficiencies between the 3 forefoot sensors other than the reference sensor and the reference sensor, Δ V4 is a signal propagation efficiency between the first forefoot sensor and the second forefoot sensor, and Δ V0 is a signal propagation efficiency between the forefoot sensor corresponding to the left side of the equation and the vibration excitation source; m is a difference in signal value between the vibration excitation source and the reference sensor, S is a difference in signal propagation distance between the vibration excitation source and the reference sensor, Δ M1, Δ M2, and Δ M3 are differences in signal reception value between the 3 podium sensors other than the reference sensor and the reference sensor, and Δ S1, Δ S2, and Δ S3 are differences in signal propagation distance between the 3 podium sensors other than the reference sensor and the reference sensor.
Optionally, S4 includes:
sina＝Δt2 y /(Δt1 x 2 +Δt2 y 2 )
in the formula,. DELTA.t 1 x Is a long-foot sensor and a reference sensorThe component of the signal reception time difference between them on the x-axis, Δ t2 y The component of the signal receiving time difference between the long-foot sensor adjacent to the corresponding long-foot sensor and the reference sensor on the y axis is shown, the x axis is the vector direction of the first middle-foot sensor and the second middle-foot sensor, and the y axis is the vector direction of the first middle-foot sensor and the second rear-foot sensor; using the reference sensor as a right-angle vertex and using delta t1 x And Δ t2 y Drawing a right-angled triangle for two right-angled sides, and determining sina as delta t2 according to the trigonometric function of the right-angled triangle y /(Δt1 x 2 +Δt2 y 2 ) And a is an included angle of the vibration excitation source relative to the reference sensor on the y axis.
(III) advantageous effects
The invention has the beneficial effects that:
1. in the vibration sensing and positioning system provided by the embodiment of the invention, the long-foot sensors and the short-foot sensors are distributed according to the distribution rule of the water strider leg vibration sensor, so that the high-efficiency sensing function of the water strider is biomimetically reproduced, unnecessary sensors in the traditional sensor array are effectively reduced while the detection precision and sensitivity of a vibration signal are ensured, the operation and maintenance cost of the sensor array is saved, and a foundation is provided for realizing the sensing, the identification and the positioning of a weak vibration source by using the minimum number of sensors and an optimal arrangement mode.
2. According to the special appearance of the seam sensor at the water strider leg joint, a vibration film in the sensor element is designed to bionic reproduce the seam sensor at the water strider leg joint, so that the vibration signal can be efficiently sensed.
3. The vibration sensing and positioning method provided by the embodiment of the invention realizes hypersensitive sensing, quick identification and accurate positioning of a vibration excitation source.
Drawings
The invention is described with the aid of the following figures:
FIG. 1 is a special appearance of a suture receptor at the joint of a water strider leg according to an embodiment of the present invention;
FIG. 2 is a body structure view of three pairs of feet of the water strider according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the structure of a vibration sensing and locating system in one embodiment of the present invention;
FIG. 4 is a schematic diagram of the structure of a vibrating membrane in one embodiment of the present invention;
FIG. 5 is a flow chart of a method of making a vibrating membrane in accordance with one embodiment of the present invention;
FIG. 6 is a flow chart of a vibration-aware localization method in one embodiment of the present invention;
FIG. 7 is a first schematic diagram of a vibration-aware localization method in accordance with an embodiment of the present invention;
fig. 8 is a second schematic diagram of a vibration sensing and positioning method according to an embodiment of the invention.
[ description of reference ]
11: a first forefoot sensor;
12: a second forefoot sensor;
13: a first midfoot sensor;
14: a second midfoot sensor;
15: a first rear foot sensor;
16: a second rear foot sensor;
21: vibrating the membrane; 211: an elliptical groove; 212: a vertical trench;
22: a first conductive line;
23: a second conductive line;
31: a wiring module;
32: a control unit;
33: a signal patch cord;
34: and (4) a computer.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The water strider has three pairs of front, middle and rear long feet, including a pair of front feet for sensing water surface vibration signals and holding a prey, a pair of middle feet and a pair of rear feet for controlling the body to move forward and sensing water surface vibration signals. The inventor has found that the vibration sensor of the front foot of the water strider is highly sensitive to vibration waves of the substrate due to the special appearance of the slot sensor at the joint of the leg of the water strider (see fig. 1), and that the vibration sensor of the rear foot is distributed on the circumference of the water strider body centered on the center of the body and having the foot length as a radius, and the angle between each sensor is 90 degrees in a static state, the vibration sensor of the front foot of the water strider is distributed directly in front of the body of the water strider in the middle of the pair of the middle foot (see fig. 2), so that the water strider achieves highly sensitive detection of vibration signals only by the three pairs of the feet. That is, the inventors have found through their studies that the water strider achieves highly sensitive detection of vibration signals by only three pairs of feet thanks to the regular distribution of the vibration receptors on the legs and the efficient sensing of the vibration ripples of the substrate by the slot receptors on the joints of the water strider legs.
Therefore, the invention provides a vibration sensing and positioning system imitating a water strider. The vibration sensing and locating system according to an embodiment of the present invention will be described with reference to the accompanying drawings.
FIG. 3 is a schematic structural view of a vibration sensing and positioning system imitating a water strider according to an embodiment of the present invention.
As shown in FIG. 3, the system comprises a vibration signal acquisition device and a vibration signal processing device. The vibration signal acquisition device comprises a long-foot sensor and a short-foot sensor which are arranged on a plane, wherein the long-foot sensor comprises a first middle-foot sensor 13, a second middle-foot sensor 14, a first rear-foot sensor 15 and a second rear-foot sensor 16, and the short-foot sensor comprises a first front-foot sensor 11 and a second front-foot sensor 13. The first middle foot sensor 13, the second middle foot sensor 14, the first rear foot sensor 15 and the second rear foot sensor 16 are sequentially and uniformly distributed along a preset circumference, the first front foot sensor 11 and the second front foot sensor 12 are distributed on two sides of a symmetry axis of the first middle foot sensor 13 and the second middle foot sensor 14, the first front foot sensor 11 and the second front foot sensor 12 are close to each other, and the first front foot sensor 11 and the second front foot sensor 12 are located between the first middle foot sensor 13 and the circle center of the preset circumference and close to the circle center of the preset circumference. The first forefoot sensor 11, the second forefoot sensor 12, the first midfoot sensor 13, the second midfoot sensor 14, the first hindfoot sensor 15 and the second hindfoot sensor 16 are all electrically connected to the vibration signal processing device. The size of the preset circumference is determined according to a specific application scene.
In the vibration sensing and positioning system provided by the embodiment of the invention, the long-foot sensors and the short-foot sensors are distributed according to the distribution rule of the water strider leg vibration sensor, so that the high-efficiency sensing function of the water strider is biomimetically reproduced, unnecessary sensors in the traditional sensor array are effectively reduced while the detection precision and sensitivity of a vibration signal are ensured, the operation and maintenance cost of the sensor array is saved, and a foundation is provided for realizing the sensing, the identification and the positioning of a weak vibration source by using the minimum number of sensors and an optimal arrangement mode.
Preferably, the long foot sensor and the short foot sensor are both sensor elements that mimic the seam receptors at the water strider leg joint.
Further, the sensor element imitating the seam sensor at the joint of the water strider leg comprises a sealed cavity, a vibration film 21, a first lead 22 and a second lead 23, wherein the vibration film 21 is fixed in the sealed cavity, the first end of the first lead 22 is welded at the first end of the vibration film 21, the second end of the first lead 22 extends out of the sealed cavity and is exposed outside the sealed cavity, the first end of the second lead 23 is welded at the second end of the vibration film 21, and the second end of the second lead 23 extends out of the sealed cavity and is exposed outside the sealed cavity; the embedded grooves are distributed on the vibration film 21, as shown in fig. 4, the embedded grooves include an elliptical groove 211 and a vertical groove 212, and the vertical groove 212 is located in the elliptical groove 211 and runs along the long axis of the elliptical groove 211; the upper surface of the nesting groove is recessed inward with respect to the plane in the upper surface of the vibration film 21, and the lower surface of the nesting groove is raised inward and outward with respect to the plane in the lower surface of the vibration film 21.
According to the special appearance of the seam sensor at the water strider leg joint, a vibration film in the sensor element is designed to bionic reproduce the seam sensor at the water strider leg joint, so that the vibration signal can be efficiently sensed. The operating principle of the sensor element of the strider leg joint seam receptor is as follows: when an external vibration signal reaches the sensor element, the vibration film slightly deforms, so that the curvature of the embedding groove changes, different deformation of the vibration film can generate different conductive paths, the resistance of the sensor element changes, and finally different current signals can be measured by a universal meter, and the purposes of sensing the vibration signal and identifying the strength of the vibration signal are achieved.
Further, in the nesting groove, the vertical groove 212 is separated from the elliptical groove 211.
Further, the nesting grooves are uniformly arranged from the first end of the vibration film 21 to the second end of the vibration film 21, and the vertical grooves 212 in adjacent nesting grooves are parallel.
Further, the manufacturing method of the vibration film comprises the following steps: as shown in fig. 5, firstly, a laser printer is used to process a nesting groove on an aluminum foil, then a secondary mold-reversing method is used to process a nesting groove on a PDMS (polydimethylsiloxane) flexible substrate, and finally an ion sputtering apparatus is used to sputter a layer of metal film on the surface of the PDMS flexible substrate, and the metal film is removed to obtain a vibrating film. Wherein, then adopt the secondary mode-reversing method to process the embedded groove on the PDMS flexible substrate, include: 1. dripping epoxy resin on the surface of the aluminum foil, vacuumizing and curing at high temperature, and removing an epoxy resin layer; 2. and dropwise adding PDMS on the epoxy resin layer, vacuumizing and curing at high temperature, and then removing the PDMS layer to obtain the PDMS flexible substrate.
Specifically, the vibration signal processing apparatus includes a control unit 32 and a computer 34; the first forefoot sensor 11, the second forefoot sensor 12, the first midfoot sensor 13, the second midfoot sensor 14, the first rearfoot sensor 15 and the second rearfoot sensor 16 are all electrically connected with the control unit 32, and the control unit 32 is in communication connection with the computer 34. The control unit 32 is a common single chip (e.g., STM 32 development board) in the market.
Specifically, the vibration signal processing apparatus further includes a wiring module 31 and a signal patch cord 33; the first forefoot sensor 11, the second forefoot sensor 12, the first midfoot sensor 13, the second midfoot sensor 14, the first hindfoot sensor 15 and the second hindfoot sensor 16 are all electrically connected with the control unit 32 through the wiring module 31; the control unit 32 is communicatively connected to a computer 34 via a signal transfer line 33.
In the vibration sensing and positioning system provided by the embodiment of the invention, the complex circuit is cleared up through the wiring module, the signal is transmitted to the control unit in real time, the control unit processes and analyzes the acquired vibration signal, and the signal amplitude and frequency are transmitted to the computer in real time through the signal transfer line.
The invention also provides a method for carrying out vibration sensing and positioning by using the water strider imitating vibration sensing and positioning system. The vibration sensing and positioning method proposed according to the embodiment of the present invention is described below with reference to the accompanying drawings.
Fig. 6 is a flowchart of a vibration sensing and positioning method performed by the vibration sensing and positioning system according to an embodiment of the present invention.
As shown in fig. 6, the vibration sensing and positioning method includes:
and step S1, acquiring vibration signals sensed by the long-foot sensor and the short-foot sensor in a preset period.
And step S2, determining a reference sensor from the long-foot sensors according to the collected vibration signals, and calculating the signal receiving time difference and the signal propagation efficiency between the sensors.
Specifically, according to the acquired vibration signal, a reference sensor is determined from the long-foot sensor, and the method comprises the following steps: and according to the acquired vibration signals, searching a first sensor which senses the vibration signals from the long foot sensors as a reference sensor.
Specifically, calculating the signal receiving time difference and the signal propagation efficiency between the sensors comprises the following steps: the signal reception time difference and the signal propagation efficiency between each of the sensors other than the reference sensor and the reference sensor are calculated, and the signal reception time difference and the signal propagation efficiency between the first forefoot sensor and the second forefoot sensor are calculated.
Specifically, the calculation of the signal propagation efficiency between the sensors includes: acquiring a difference delta M between signal receiving values of the two sensors and a difference delta S between signal propagation distances according to the acquired vibration signals; and acquiring the signal propagation efficiency delta V between the two sensors according to the difference delta M between the signal receiving values of the two sensors and the difference delta S between the signal propagation distances.
As an example, in step S2, if the first midfoot sensor is found to be the first sensor which senses the vibration signal, i.e., the reference sensor, the signal receiving time difference, the signal receiving value difference, the signal propagation distance difference and the signal propagation efficiency between the second midfoot sensor, the first hindfoot sensor and the second hindfoot sensor and the reference sensor are calculated, and the signal receiving time difference, the signal receiving value difference, the signal propagation distance difference and the signal propagation efficiency between the first forefoot sensor and the second forefoot sensor are calculated, respectively, as shown in fig. 7.
If the second middle foot sensor is found to be the first sensor which senses the vibration signal, namely the reference sensor, the signal receiving time difference, the signal receiving value difference, the signal propagation distance difference and the signal propagation efficiency between the first middle foot sensor, the first rear foot sensor and the reference sensor are respectively calculated, and the signal receiving time difference, the signal receiving value difference, the signal propagation distance difference and the signal propagation efficiency between the first front foot sensor and the second front foot sensor are respectively calculated.
If the first rear foot sensor is found to be the first sensor which senses the vibration signal, namely the reference sensor, the signal receiving time difference, the signal receiving value difference, the signal propagation distance difference and the signal propagation efficiency between the first middle foot sensor, the second middle foot sensor and the reference sensor are respectively calculated, and the signal receiving time difference, the signal receiving value difference, the signal propagation distance difference and the signal propagation efficiency between the first front foot sensor and the second front foot sensor are respectively calculated.
If the second rear foot sensor is found to be the first sensor which senses the vibration signal, namely the reference sensor, the signal receiving time difference, the signal receiving value difference, the signal propagation distance difference and the signal propagation efficiency between the first middle foot sensor, the second middle foot sensor and the first rear foot sensor and the reference sensor are respectively calculated, and the signal receiving time difference, the signal receiving value difference, the signal propagation distance difference and the signal propagation efficiency between the first front foot sensor and the second front foot sensor are respectively calculated.
And step S3, calculating the signal propagation efficiency between the reference sensor and the vibration excitation source according to the signal propagation efficiency between the sensors based on the equal ratio of any two propagation efficiencies, so as to obtain the signal value of the vibration excitation source and the distance between the vibration excitation source and the reference sensor.
Specifically, step S3 includes:
the composite material is obtained by finishing the raw materials,
in the formula, Δ V1, Δ V2, and Δ V3 are signal propagation efficiencies between the 3 forefoot sensors other than the reference sensor and the reference sensor, Δ V4 is a signal propagation efficiency between the first forefoot sensor and the second forefoot sensor, and Δ V0 is a signal propagation efficiency between the forefoot sensor corresponding to the left side of the equation and the vibration excitation source.
Since Δ V ═ Δ M/Δ S, as seen in fig. 7, the results were collated,
where M is a difference in signal value between the vibration excitation source and the reference sensor, S is a difference in signal propagation distance between the vibration excitation source and the reference sensor, Δ M1, Δ M2, and Δ M3 are differences in signal reception value between the 3 podium sensors other than the reference sensor and the reference sensor, and Δ S1, Δ S2, and Δ S3 are differences in signal propagation distance between the 3 podium sensors other than the reference sensor and the reference sensor.
By the above formula, the signal value M of the vibration exciting source and the signal propagation distance S between the vibration exciting source and the reference sensor can be obtained.
And step S4, determining the direction of the vibration excitation source relative to the reference sensor according to the signal receiving time difference between any two adjacent long-foot sensors except the reference sensor and the reference sensor.
By utilizing the equilateral right-triangle equiangular relationship, the angular relationship between the excitation source A/B/C and the reference sensor can be equivalent to the time difference between the adjacent long-foot sensors to establish the right-triangle angular relationship. As shown in fig. 8, for the first midfoot sensor as the first sensor sensing vibration signals, the angular relationship between the excitation source a/B/C and the reference sensor is equivalent to the right triangle angular relationship established by the time difference between the adjacent forefoot sensors.
Further, S4 includes:
sina＝Δt2 y /(Δt1 x 2 +Δt2 y 2 )
in the formula,. DELTA.t 1 x Is the component of the time difference between the reception of the signal of one of the sensors of the foothold and the reference sensor on the x-axis, at 2 y The component of the signal receiving time difference between the long-foot sensor adjacent to the corresponding long-foot sensor and the reference sensor on the y axis is shown, the x axis is the vector direction of the first middle-foot sensor and the second middle-foot sensor, and the y axis is the vector direction of the first middle-foot sensor and the second rear-foot sensor; using reference sensor as right angle vertex and using delta t1 x And Δ t2 y Drawing a right triangle for two right-angle sides, and determining sina as delta t2 according to the trigonometric function of the right triangle y /(Δt1 x 2 +Δt2 y 2 ) And a is an included angle of the vibration excitation source relative to the reference sensor on the y axis.
The vibration perception positioning method provided by the embodiment of the invention realizes hypersensitive perception, quick identification and accurate positioning of the vibration excitation source.
It should be noted that the vibration sensing and positioning system and the vibration sensing and positioning method provided by the invention can be applied to the technical fields of national defense and engineering, such as monitoring of dynamic characteristics of a human body, detecting cracks of a bridge structure, testing of dynamic characteristics of a machine tool structure, measuring of running vibration of a vehicle set, monitoring of an airplane running environment, positioning of enemy remote weapons and the like.
It should be understood that the above description of specific embodiments of the present invention is only for the purpose of illustrating the technical lines and features of the present invention, and is intended to enable those skilled in the art to understand the contents of the present invention and to implement the present invention, but the present invention is not limited to the above specific embodiments. It is intended that all such changes and modifications as fall within the scope of the appended claims be embraced therein.
Claims (9)
1. A water strider-imitated vibration sensing and positioning system is characterized by comprising a vibration signal acquisition device and a vibration signal processing device;
the vibration signal acquisition device comprises a long-foot sensor and a short-foot sensor which are arranged on a plane, the long-foot sensor comprises a first middle-foot sensor (13), a second middle-foot sensor (14), a first rear-foot sensor (15) and a second rear-foot sensor (16), and the short-foot sensor comprises a first front-foot sensor (11) and a second front-foot sensor (12);
the first forefoot sensor (13), the second forefoot sensor (14), the first rearfoot sensor (15) and the second rearfoot sensor (16) are sequentially and uniformly distributed along a preset circumference, the first forefoot sensor (11) and the second forefoot sensor (12) are distributed on two sides of a symmetry axis of the first midfoot sensor (13) and the second midfoot sensor (14), the first forefoot sensor (11) and the second forefoot sensor (12) are close to each other, and the first forefoot sensor (11) and the second forefoot sensor (12) are located between the first midfoot sensor (13) and the circle center of the preset circumference and close to the circle center of the preset circumference;
the first forefoot sensor (11), the second forefoot sensor (12), the first middle foot sensor (13), the second middle foot sensor (14), the first rear foot sensor (15) and the second rear foot sensor (16) are all electrically connected with the vibration signal processing device;
the long foot sensor and the short foot sensor are sensor elements simulating a seam sensor at the joint of the water strider leg;
the sensor element imitating the seam receptor at the joint of the water strider leg comprises a sealed cavity, a vibration film (21), a first lead (22) and a second lead (23), wherein the vibration film (21) is fixed in the sealed cavity, the first end of the first lead (22) is welded at the first end of the vibration film (21), the second end of the first lead (22) extends out of the sealed cavity to be exposed outside the sealed cavity, the first end of the second lead (23) is welded at the second end of the vibration film (21), and the second end of the second lead (23) extends out of the sealed cavity to be exposed outside the sealed cavity;
the embedded grooves are distributed on the vibration film and comprise elliptical grooves (211) and vertical grooves (212), and the vertical grooves (212) are positioned in the elliptical grooves (211) and run along the long axis of the elliptical grooves (211); the upper surface of the nesting groove is recessed inward relative to a plane in the upper surface of the diaphragm (21), and the lower surface of the nesting groove is raised inward and outward relative to a plane in the lower surface of the diaphragm (21).
2. The simulated water strider vibration sensing and positioning system according to claim 1, wherein the vertical groove (212) is separated from the oval groove (211) in the nested groove.
3. The simulated water strider vibration sensing and positioning system according to claim 1 or 2, wherein the embedded grooves are uniformly arranged from the first end of the vibration film (21) to the second end of the vibration film (21), and the vertical grooves (212) in adjacent embedded grooves are parallel.
4. The simulated water strider vibration sensing and locating system of claim 1, wherein the vibration signal processing device comprises a control unit (32) and a computer (34);
the first forefoot sensor (11), the second forefoot sensor (12), the first middle foot sensor (13), the second middle foot sensor (14), the first rear foot sensor (15) and the second rear foot sensor (16) are electrically connected with the control unit (32), and the control unit (32) is in communication connection with the computer (34).
5. The simulated water strider vibration sensing and locating system according to claim 4, wherein the vibration signal processing device further comprises a wiring module (31) and a signal patch cord (33);
the first forefoot sensor (11), the second forefoot sensor (12), the first middle foot sensor (13), the second middle foot sensor (14), the first rear foot sensor (15) and the second rear foot sensor (16) are electrically connected with the control unit (32) through the wiring module (31); the control unit (32) is connected with the computer (34) in a communication way through a signal transfer line (33).
6. A vibration-sensing location method using the simulated water strider vibration-sensing location system according to any one of claims 1 to 5, comprising:
s1, collecting vibration signals sensed by the long-foot sensor and the short-foot sensor in a preset period;
s2, determining a reference sensor from the sensors according to the collected vibration signals, and calculating the signal receiving time difference and the signal propagation efficiency between the sensors;
calculation of signal propagation efficiency between sensors, comprising: acquiring a difference delta M between signal receiving values of the two sensors and a difference delta S between signal propagation distances according to the acquired vibration signals; acquiring signal propagation efficiency delta V between the two sensors according to the difference delta M between signal receiving values of the two sensors and the difference delta S between signal propagation distances;
s3, calculating the signal propagation efficiency between the reference sensor and the vibration excitation source according to the signal propagation efficiency between the sensors based on the equal ratio of any two propagation efficiencies to obtain the signal value of the vibration excitation source and the distance between the vibration excitation source and the reference sensor;
and S4, determining the direction of the vibration excitation source relative to the reference sensor according to the signal receiving time difference between any two adjacent long-foot sensors except the reference sensor and the reference sensor.
7. The vibration sensing and positioning method according to claim 6, wherein in step S2, determining a reference sensor from the sensors of the long foot according to the collected vibration signals comprises:
and according to the acquired vibration signals, searching a first sensor which senses the vibration signals from the long foot sensors as a reference sensor.
8. The vibration sensing and positioning method according to claim 7, wherein in step S2, calculating the signal receiving time difference and the signal propagation efficiency between the sensors includes:
calculating a signal receiving time difference and a signal propagation efficiency between each of the sensors except the reference sensor and the reference sensor, and calculating a signal receiving time difference and a signal propagation efficiency between the first forefoot sensor and the second forefoot sensor;
accordingly, S3 includes:
where Δ V1, Δ V2, and Δ V3 are signal propagation efficiencies between the 3 forefoot sensors excluding the reference sensor and the reference sensor, Δ V4 is a signal propagation efficiency between the first forefoot sensor and the second forefoot sensor, and Δ V0 is a signal propagation efficiency between the corresponding forefoot sensor and the vibration excitation source on the left side of the equation; m is a difference in signal value between the vibration excitation source and the reference sensor, S is a difference in signal propagation distance between the vibration excitation source and the reference sensor, Δ M1, Δ M2, and Δ M3 are differences in signal reception value between the 3 podium sensors other than the reference sensor and the reference sensor, and Δ S1, Δ S2, and Δ S3 are differences in signal propagation distance between the 3 podium sensors other than the reference sensor and the reference sensor.
9. The vibration sensing and positioning method according to claim 6, wherein S4 includes:
sina＝Δt2 y /(Δt1 x 2 +Δt2 y 2 )
in the formula,. DELTA.t 1 x Is the component of the time difference between the reception of the signal of one of the sensors of the foothold and the reference sensor on the x-axis, at 2 y The component of the signal receiving time difference between the long-foot sensor adjacent to the corresponding long-foot sensor and the reference sensor on the y axis is shown, the x axis is the vector direction of the first middle-foot sensor and the second middle-foot sensor, and the y axis is the vector direction of the first middle-foot sensor and the second rear-foot sensor; using reference sensor as right angle vertex and using delta t1 x And Δ t2 y Drawing a right triangle for two right-angle sides, and determining sina as delta t2 according to the trigonometric function of the right triangle y /(Δt1 x 2 +Δt2 y 2 ) And a is an included angle of the vibration excitation source relative to the reference sensor on the y axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110442694.4A CN113514800B (en) | 2021-04-23 | 2021-04-23 | Water strider-imitated vibration sensing and positioning system and vibration sensing and positioning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110442694.4A CN113514800B (en) | 2021-04-23 | 2021-04-23 | Water strider-imitated vibration sensing and positioning system and vibration sensing and positioning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113514800A CN113514800A (en) | 2021-10-19 |
| CN113514800B true CN113514800B (en) | 2022-09-09 |
Family
ID=78061179
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110442694.4A Active CN113514800B (en) | 2021-04-23 | 2021-04-23 | Water strider-imitated vibration sensing and positioning system and vibration sensing and positioning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113514800B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1911730A (en) * | 2006-08-25 | 2007-02-14 | 清华大学 | Floating bionic terrapin robot on water |
| CN103451688A (en) * | 2013-09-04 | 2013-12-18 | 吉林大学 | Method for preparing super-hydrophobic biomimetic surface on copper substrate |
| CN103879537A (en) * | 2014-04-21 | 2014-06-25 | 哈尔滨工业大学 | Water-skipper-imitation waterborne skipping robot |
| CN104176223A (en) * | 2014-08-25 | 2014-12-03 | 哈尔滨工业大学 | Water-skipper-imitated water sports robot |
| CN104943832A (en) * | 2015-06-08 | 2015-09-30 | 浙江大学 | Bionic wind-proof and wave-proof type water strider robot with schema translation function |
| JP2015198731A (en) * | 2014-04-07 | 2015-11-12 | シャープ株式会社 | Beauty appliance |
| CN109921679A (en) * | 2019-03-08 | 2019-06-21 | 吉林大学 | A kind of Bionic flexible actuator and preparation method thereof having Real-time Feedback function |
| CN110763132A (en) * | 2019-11-06 | 2020-02-07 | 吉林大学 | Omnidirectional sensing bionic strain sensor and preparation method thereof |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015200844A2 (en) * | 2014-06-26 | 2015-12-30 | President And Fellows Of Harvard College | Pneumatic insect robots |
| CN104434084B (en) * | 2014-12-19 | 2016-08-17 | 吉林大学 | Arthropod seam sensor micro-vibration perception energy force checking device |
| US10787259B2 (en) * | 2018-11-08 | 2020-09-29 | Colorado State University Research Foundation | Compliant bistable gripper for aerial perching and grasping |
-
2021
- 2021-04-23 CN CN202110442694.4A patent/CN113514800B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1911730A (en) * | 2006-08-25 | 2007-02-14 | 清华大学 | Floating bionic terrapin robot on water |
| CN103451688A (en) * | 2013-09-04 | 2013-12-18 | 吉林大学 | Method for preparing super-hydrophobic biomimetic surface on copper substrate |
| JP2015198731A (en) * | 2014-04-07 | 2015-11-12 | シャープ株式会社 | Beauty appliance |
| CN103879537A (en) * | 2014-04-21 | 2014-06-25 | 哈尔滨工业大学 | Water-skipper-imitation waterborne skipping robot |
| CN104176223A (en) * | 2014-08-25 | 2014-12-03 | 哈尔滨工业大学 | Water-skipper-imitated water sports robot |
| CN104943832A (en) * | 2015-06-08 | 2015-09-30 | 浙江大学 | Bionic wind-proof and wave-proof type water strider robot with schema translation function |
| CN109921679A (en) * | 2019-03-08 | 2019-06-21 | 吉林大学 | A kind of Bionic flexible actuator and preparation method thereof having Real-time Feedback function |
| CN110763132A (en) * | 2019-11-06 | 2020-02-07 | 吉林大学 | Omnidirectional sensing bionic strain sensor and preparation method thereof |
Non-Patent Citations (2)
| Title |
|---|
| The hydrodynamics of water strider locomotion;David L. Hu 等;《NATURE》;20030807;第424卷;第663-666页 * |
| 四电极含芯压电纤维简谐振动传感特性研究;边义祥 等;《压电与声光》;20170831;第39卷(第4期);第510-519页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113514800A (en) | 2021-10-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Blanco et al. | A collection of outdoor robotic datasets with centimeter-accuracy ground truth | |
| CN104729665A (en) | Flexible cantilever slab vibration detection device and method based on binocular vision | |
| CN101387546B (en) | Space sailboard bend and torsion low frequency mode detecting method and apparatus based on vision | |
| CN107110953A (en) | Underwater positioning system | |
| CN101907448B (en) | Depth measurement method based on binocular three-dimensional vision | |
| CN102645173A (en) | Multi-vision-based bridge three-dimensional deformation monitoring method | |
| CN102859317A (en) | Object Inspection With Referenced Volumetric Analysis Sensor | |
| CN210719199U (en) | Multi-equipment combined navigation system of underwater robot | |
| JP6333396B2 (en) | Method and apparatus for measuring displacement of mobile platform | |
| CN110806209A (en) | Underwater robot multi-device combined navigation system and method | |
| CN106774350A (en) | The robot of double infrared accurate calibration robots and charging platform docking angle | |
| CN108398091B (en) | Accurate visual measurement method for three-dimensional displacement of blade tip | |
| CN103576202A (en) | A streamer for seismic prospection comprising tilt compensation of directional sensors | |
| CN107664758A (en) | Deep-sea navigation positioning system and method based on Long baselines or ultra-short baseline networking | |
| CN104034261A (en) | Surface normal measurement device and method | |
| CN113514800B (en) | Water strider-imitated vibration sensing and positioning system and vibration sensing and positioning method | |
| CN110920824A (en) | Ship model attitude measurement system and method based on binocular stereo vision | |
| Billeschou et al. | A low-cost, compact, sealed, three-axis force/torque sensor for walking robots | |
| CN101793905B (en) | Optical fiber type two-dimensional wind speed/direction measuring device and method | |
| CN105572671A (en) | Spatial positioning device based on local coordinate system and system and method thereof | |
| CN108227744A (en) | A kind of underwater robot location navigation system and positioning navigation method | |
| CN206638819U (en) | Omnidirectional's ultrasonic signal receiving unit and omnidirectional's ranging system | |
| CN106323587B (en) | The monocular video high-precision measuring method of wing model in wind tunnel flexible deformation | |
| CN104034333A (en) | System and method for detecting three-dimensional real-time posture of well logging exploration tube | |
| CN114114361B (en) | Offshore platform precise positioning auxiliary system based on GNSS and working method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |