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CN-121977656-A - Bionic seal beard type hydrostatic pressure resistant underwater multi-mode sensing sensor

CN121977656ACN 121977656 ACN121977656 ACN 121977656ACN-121977656-A

Abstract

The invention discloses a bionic seal beard type hydrostatic pressure resistant underwater multi-mode sensing sensor, and belongs to the technical field of underwater robot environment sensing. The magnetic-sensitive elastic shell comprises a non-sealed open shell, a substrate positioned at the bottom of the shell, a flexible circuit board arranged on the substrate and an integrally formed magnetic-sensitive elastic body layer, wherein through holes distributed in an array are arranged on the upper surface of the elastic body layer, and a downward ellipsoidal projection is formed below each hole on the lower surface of the elastic body layer. The sensor comprises a fluid sensing unit array corresponding to the through holes one by one, each unit is designed based on a bionic seal beard feeler lever structure, and the root of the bionic seal beard feeler lever is vertically fixed at the center of the cross cantilever beam. The magnetic field detection element is arranged on the flexible circuit board and covered by the supporting layer, the supporting layer is arranged below the ellipsoidal bump and is contacted with the ellipsoidal bump, and the bump and the magnetic field detection element jointly form a touch sensing unit. The sensor balances internal and external water pressure through an open structure, realizes multi-mode environment sensing, and has high sensitivity and strong deep water adaptability.

Inventors

  • ZHENG XINGWEN
  • Yin Rihua
  • XIONG RONG

Assignees

  • 浙江大学

Dates

Publication Date
20260505
Application Date
20260408

Claims (10)

  1. 1. A bionic seal beard-shaped hydrostatic pressure resistant underwater multi-mode sensing sensor, comprising: a non-sealed open type shell (1), wherein the side wall of the shell is provided with a diversion channel (10) which allows an external water body to freely enter and exit, and the top of the shell is provided with an opening corresponding to the position of the internal array; a base (9) fixed to the bottom of the housing; A flexible circuit board (8) disposed on the substrate; the magneto-sensitive elastomer layer (5) is arranged in the shell and is of an integrally formed flat plate structure, through holes (11) distributed in an array are formed in the upper surface of the flat plate structure, and a downward ellipsoidal projection (12) is formed on the lower surface of the flat plate structure at the position right below each through hole; The system comprises a fluid sensing unit array, a flow field information processing unit and a control unit, wherein the fluid sensing unit array is arranged in one-to-one correspondence with through holes, each fluid sensing unit comprises a bionic seal beard feeler lever (2), a cross cantilever beam (4) and a pressure-sensitive sensing element (3) arranged on the cross cantilever beam, the cross cantilever beam is fixed in one through hole of a Yu Cimin elastomer layer, the root of the bionic seal beard feeler lever is vertically fixed at the center cross point of the cross cantilever beam and extends outwards through a corresponding opening at the top of the shell, and the flow field information is solved by detecting deformation signals generated by the cross cantilever beam due to water flow impact; the magnetic field detection element (7) is arranged on the flexible circuit board and covered by the supporting layer (6), the supporting layer is arranged below the ellipsoidal projection and is in contact with the ellipsoidal projection, and the ellipsoidal projection and the magnetic field detection element jointly form a touch sensing unit and are used for converting deformation of the magnetosensitive elastomer caused by external contact pressure into a detectable magnetic field change signal.
  2. 2. The bionic seal beard type hydrostatic pressure resistant underwater multimode sensing sensor according to claim 1, wherein the bionic seal beard feeler lever is a columnar body extending along the axial direction, a cross section perpendicular to the axial direction is an ellipse, the ratio of a major axis to a minor axis of the ellipse is (4-4.5): 1, the length of the major axis and the length of the minor axis of the ellipse both show periodic sine wave-shaped changes along the axial direction, and a phase difference exists between the periodic changes of the major axis and the periodic changes of the minor axis.
  3. 3. The bionic seal beard type hydrostatic pressure resistant underwater multimode sensing sensor according to claim 1, wherein the cross cantilever comprises a first beam arm, a second beam arm, a third beam arm, a fourth beam arm and pressure sensitive sensing elements, wherein the first beam arm and the second beam arm extend along the X-axis direction, the third beam arm and the fourth beam arm extend along the Y-axis direction, the pressure sensitive sensing elements are respectively arranged on the surfaces of the beam arms, and the four pressure sensitive sensing elements on each cross cantilever are connected into a Wheatstone full bridge circuit and are used for outputting differential voltage signals representing the stress state of the cross cantilever.
  4. 4. The bionic seal beard type hydrostatic pressure resistant underwater multimodal sensing sensor according to claim 1, wherein the magneto-sensitive elastomer layer is formed by mixing and solidifying a flexible high polymer matrix material and hard magnetic particles uniformly dispersed in the matrix material, wherein the magneto-sensitive elastomer layer generates an initial static magnetic field when no external force is applied, and generates elastic deformation when pressure transmitted by a bionic seal beard feeler lever or direct contact pressure is applied, so that the spatial distribution density and magnetic moment direction of internal magnetic particles are changed.
  5. 5. The biomimetic seal beard whisker type hydrostatic pressure resistant underwater multimodal sensing sensor of claim 4, wherein the magnetic field detection element is a miniature 3D hall sensor.
  6. 6. A method for preparing the bionic seal beard-shaped hydrostatic pressure resistant underwater multi-mode sensing sensor as claimed in any one of claims 1 to 5, which comprises the following steps: (1) Establishing a three-dimensional digital model of the sensor, and splitting the model into a magneto-sensitive elastomer layer, a flexible structure part and other rigid support parts according to material properties, wherein the flexible structure part comprises a cross cantilever beam and a bionic seal beard feeler lever; (2) Preparing magnetic-sensitive printing slurry, ductile resin slurry and common rigid resin slurry, wherein the magnetic-sensitive printing slurry is prepared by mixing hard magnetic particles into elastic photosensitive resin and performing vacuum defoaming treatment, wherein the mass fraction of the magnetic powder of the hard magnetic particles is 10% -30%; (3) Performing molding and manufacturing by adopting a multi-material photo-curing 3D printing technology according to the slurry configured in the step (2); (4) Integrating a pressure-sensitive sensing element on the surface of the cross cantilever and completing circuit connection; (5) Pulse magnetizing treatment is carried out on the magnetosensitive elastomer layer, waterproof insulating glue is used for packaging, and the assembly of the open type shell is completed, so that the complete sensor structure is obtained.
  7. 7. The method for preparing the bionic seal beard type hydrostatic pressure resistant underwater multimodal sensor according to claim 6, wherein the step (3) comprises: (3.1) printing the remaining rigid support portion, including the substrate, the open housing and the support layer, using a common rigid resin paste; (3.2) installing and fixing the flexible circuit board welded with the magnetic field detection element in the reserved groove of the substrate; (3.3) switching to the magnetic-sensitive printing paste, and integrally printing and curing the paste above the flexible circuit board and the magnetic field detection element to form a magnetic-sensitive elastomer layer; And (3.4) switching to the ductile resin paste, and directly printing and curing at the corresponding through holes of the magneto-sensitive elastomer layer to form the cross cantilever and the bionic seal beard feeler lever.
  8. 8. A method of multimodal measurement of a biomimetic seal beard-type anti-hydrostatic underwater multimodal sensor as claimed in any one of claims 1 to 5, comprising a fluid field measurement process and a tactile measurement process which can be performed independently or simultaneously; The fluid field measurement flow is executed based on the fluid sensing unit array and comprises the steps of synchronously collecting multichannel analog voltage signals output by the pressure-sensitive sensing elements on each cross cantilever in the fluid sensing unit array, performing analog-to-digital conversion, extracting bimodal characteristics of the converted channel time sequence signals, wherein the bimodal characteristics comprise static time domain mean values and dynamic vibration characteristics of the channel time sequence signals; The touch sense measurement flow is executed based on the touch sense sensing unit and comprises the steps of collecting three-dimensional orthogonal magnetic field components which are output by a magnetic field detection element and represent the resultant magnetic field change caused by all ellipsoidal bulge deformation on a magneto-sensitive elastomer layer in real time, inputting time sequence signals of the three-dimensional orthogonal magnetic field components into a pre-trained touch sense measurement model, and predicting three-dimensional net contact force vectors and spatial orientations acting on a sensor.
  9. 9. The multi-mode measurement method of the bionic seal beard type hydrostatic pressure resistant underwater multi-mode sensing sensor, according to claim 8, wherein the pre-trained fluid field measurement model is a multi-layer sensing machine model, training data are derived from fluid field measurement sample data acquired by the sensor under the impact of different flow rates and different flow directions in a controllable water tank, and the fluid field measurement sample data comprise multichannel analog voltage signals and corresponding real water flow speed vector data, wherein the multichannel analog voltage signals are synchronously acquired by each pressure sensitive sensing element.
  10. 10. The multi-mode measurement method of the bionic seal beard type hydrostatic pressure resistant underwater multi-mode sensing sensor is characterized in that the pre-trained touch measurement model is a convolutional neural network or a cyclic neural network model, training data are derived from touch measurement sample data acquired by calibrating experiments on touch forces of different positions, different sizes and directions on the surface of the sensor, and the touch measurement sample data comprise time sequence signals of three-dimensional orthogonal magnetic field components acquired by a magnetic field detection element, real three-dimensional net touch force vector data and calibration information of touch force application positions.

Description

Bionic seal beard type hydrostatic pressure resistant underwater multi-mode sensing sensor Technical Field The invention relates to the technical field of underwater robot environment sensing, in particular to a bionic seal beard type hydrostatic pressure resistant underwater multi-mode sensing sensor. Background With the development of ocean exploration to deep sea, autonomous underwater robots (AUVs) and remote-controlled underwater vehicles (ROVs) have put extremely high demands on environmental awareness when performing complex tasks such as submarine pipeline inspection, biological capture, deep sea archaeology and the like. Traditional underwater sensing means mainly depend on acoustics (sonar) and vision (video camera) to form a foundation of the current underwater robot environment sensing technology field. However, in turbid waters, close-range operations or confined spaces, there are blind areas of acoustics and vision, making the development of finer, more bioenergy-approaching perception means an urgent need in this field. In the prior art, some technical solutions aimed at achieving near-field fine sensing have been developed in the art. For example, underwater flow sensing typically employs doppler flowmeters (DVLs), while tactile or pressure sensing relies on conventional sensors that employ sealed oil filled structures or pressure resistant housing protection. These prior art solutions attempt to mimic the biological sensing capabilities in a specific way, the technology of which consists essentially in protecting the core sensing element from the high pressure environment under water by means of physical encapsulation, thus enabling the measurement of a single physical quantity (such as flow rate or contact pressure). The prior art solutions described above have significant drawbacks. Firstly, in a deep sea environment, huge hydrostatic pressure (1 atmosphere is increased every 10 meters of diving) can directly act on a sensor sensitive element, so that a reference signal can drift greatly, and the sensor can not distinguish the contact force of the depth pressure and an object, namely, the problem of serious hydrostatic pressure interference exists. Secondly, in order to withstand voltage, the sensor is often made very thick and heavy, which results in huge volume, high power consumption, incapability of being integrated at the tail end of the manipulator, and reduced sensitivity. Most notably, existing sensors typically only sense flow rate or contact force singly, and cannot sense minute changes in water flow (wake tracking) and contact detection of objects simultaneously. How to simultaneously realize multi-modal fusion of anti-hydrostatic interference, high-sensitivity flow field sensing and tactile sensing in a miniaturized structure is a key technical problem in the field. Disclosure of Invention Aiming at the problems, the invention provides a bionic seal beard type hydrostatic pressure resistant underwater multi-mode sensing sensor, which eliminates hydrostatic pressure interference through an open shell design, integrates a bionic beard-based fluid sensing unit array and a magnetic-sensitive touch sensing unit into a miniature package, and realizes compression resistance, multi-mode fusion and broadband sensing. The technical scheme adopted by the invention is as follows: in a first aspect, the present invention provides a bionic seal beard-shaped anti-hydrostatic underwater multimodal sensor, comprising: The non-sealed open type shell is provided with a diversion channel allowing an external water body to freely enter and exit, and the top of the shell is provided with an opening corresponding to the position of the internal array; A base fixed to the bottom of the housing; The flexible circuit board is arranged on the substrate; the magneto-sensitive elastomer layer is arranged in the shell and is of an integrally formed flat plate structure, through holes distributed in an array are formed in the upper surface of the flat plate structure, and a downward ellipsoidal projection is formed on the lower surface of the flat plate structure at a position right below each through hole; the fluid sensing unit array is arranged in one-to-one correspondence with the through holes, and each fluid sensing unit comprises a bionic seal beard feeler lever, a cross cantilever beam and a pressure-sensitive sensing element arranged on the cross cantilever beam, wherein the cross cantilever beam is fixed in one through hole of the Yu Cimin elastomer layer, the root of the bionic seal beard feeler lever is vertically fixed at the center cross point of the cross cantilever beam and extends outwards through a corresponding opening at the top of the shell, and flow field information is resolved by detecting deformation signals generated by the cross cantilever beam due to water flow impact; The magnetic field detection element is arranged on the flexible circuit board and covered by the supporting lay