A biomimetic positioning sensor and detection device

Abstract

The application discloses a bionic positioning sensor and a detection device, and relates to the field of sensors.The bionic positioning sensor comprises a base, a mounting hole arranged at the center of the base, a plurality of piezoresistive sensing units arranged on the upper surface of the base, and uniformly distributed along the periphery of the mounting hole.The piezoresistive sensing units are arranged along the radial direction of the base and are electrically connected with a multi-channel lead circuit to form a resistance detection loop.There is a gap between two adjacent piezoresistive sensing units, and the gap is arranged in a non-linear manner along the radial direction.A movable rod unit is inserted into the mounting hole and can be offset relative to the base to press the piezoresistive sensing units, convert the direction of external disturbance into the asymmetric distribution of multi-channel resistance signals, realize directional characteristic acquisition, eliminate the blind area through the non-linear gap, and realize 360-degree omnidirectional, continuous and high-resolution identification of the disturbance source.

Description

Technical Field

[0001] This application relates to the field of sensor technology, and in particular to a biomimetic positioning sensor and detection device. Background Technology

[0002] With the development of intelligent robots, environmental monitoring, and security systems, higher demands are being placed on sensors capable of identifying the direction of disturbance sources in complex environments. Existing biomimetic sensor designs often struggle to distinguish the spatial direction of disturbances, especially exhibiting detection blind spots across the entire circumferential range, making it difficult to identify disturbance sources in all 360° directions.

[0003] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0004] The technical problem to be solved by this application is to provide a biomimetic positioning sensor and detection device to address the above-mentioned deficiencies of the prior art, which aims to solve the technical problem that the prior art has blind spots in the identification of disturbance direction and is difficult to achieve 360° omnidirectional identification.

[0005] The technical solution adopted by this application to solve the technical problem is as follows:

[0006] A biomimetic positioning sensor, comprising:

[0007] Base; a mounting hole is provided at the center of the base;

[0008] Multiple piezoresistive sensing elements are disposed on the upper surface of the base and are evenly distributed around the periphery of the mounting holes; the piezoresistive sensing elements are arranged radially along the base and electrically connected to a multi-channel lead circuit to form a resistance detection loop; there is a gap between two adjacent piezoresistive sensing elements, and the gaps are arranged in a non-linear radial direction.

[0009] The movable rod unit is inserted into the mounting hole at its bottom and can be offset relative to the base to compress the piezoresistive sensitive unit.

[0010] The biomimetic positioning sensor, wherein the piezoresistive sensing unit includes:

[0011] The first annular seam; the center of the first annular seam is located on the movable rod unit;

[0012] The second annular seam is located between the first annular seam and the movable rod unit; the second annular seam is parallel to the first annular seam and has the same center; the second annular seam is connected to the first annular seam.

[0013] A conductive layer is disposed within the first and second annular gaps.

[0014] The biomimetic positioning sensor, wherein both the first and second annular slits are V-shaped.

[0015] The biomimetic positioning sensor further includes:

[0016] A capacitor is disposed within the movable rod unit and electrically connected to the multi-channel lead circuit to form a capacitance detection circuit.

[0017] The biomimetic positioning sensor, wherein the movable rod unit includes:

[0018] Hair rod;

[0019] A movable base is fitted onto the bottom of the hair rod; a portion of the movable base is located within the mounting hole to offset with the hair rod and press against the base; the capacitor is located within the movable base and on the periphery of the hair rod.

[0020] The biomimetic positioning sensor includes a hollow cavity inside the hair rod, which is a conical hollow cavity that is wider at the top and narrower at the bottom.

[0021] The biomimetic positioning sensor, wherein the capacitor comprises:

[0022] A fixed spiral electrode is located on the periphery of the hair rod and connected to the bottom wall of the base;

[0023] The movable spiral electrode assembly is located on the periphery of the hair rod and connected to the hair rod and the movable base, so as to overlap with the fixed spiral electrode when the hair rod and the movable base are offset.

[0024] The biomimetic positioning sensor, wherein the movable spiral electrode assembly includes:

[0025] An outer spiral electrode is disposed on the inner wall of the movable base and located around the fixed spiral electrode;

[0026] An inner spiral electrode is disposed on the outer wall of the hair rod and located inside the fixed spiral electrode.

[0027] The biomimetic positioning sensor, wherein the base includes:

[0028] A flexible base is fitted around the movable rod unit; the mounting hole and the piezoresistive sensing unit are both located on the flexible base.

[0029] A fixed base is disposed at the bottom of the flexible base and covers the mounting hole;

[0030] A positioning ring is disposed on the upper surface of the fixed base and inserted into the movable rod unit; the fixed spiral electrode is disposed on the positioning ring, with part of it located inside the positioning ring and part of it located outside the positioning ring.

[0031] A detection device comprising the biomimetic positioning sensor as described in any of the above.

[0032] Beneficial effects: The biomimetic positioning sensor provided in this application sets an offset movable rod unit at the center of the base and arranges multiple radially extending piezoresistive sensitive units evenly around the mounting hole. This allows the direction of external disturbances to be transformed into asymmetrical compression of piezoresistive sensitive units in different orientations, thereby forming a signal distribution with directional characteristics in the multi-channel resistance detection circuit. At the same time, the gaps between adjacent piezoresistive sensitive units are arranged in a non-linear radial direction, avoiding the signal indistinguishability problem caused by the symmetrical force on adjacent sensitive units when the movable rod is offset along a specific radial direction. This effectively eliminates the direction detection blind zone and realizes 360° omnidirectional, continuous and high-resolution identification of the disturbance source direction. Attached Figure Description

[0033] Figure 1 This is a first view of the biomimetic positioning sensor in this application;

[0034] Figure 2 This is a second view of the biomimetic positioning sensor in this application;

[0035] Figure 3 yes Figure 2 A magnified view of a portion of point A in the middle;

[0036] Figure 4 This is a schematic diagram of the internal structure of the biomimetic positioning sensor in this application;

[0037] Figure 5 This is a first view of the assembly of the fixed base, positioning ring, and fixed spiral electrode in this application;

[0038] Figure 6 This is a second assembly view of the fixed base, positioning ring, and fixed spiral electrode in this application;

[0039] Figure 7 This is a schematic diagram of the flexible base in this application;

[0040] Figure 8 This is a schematic diagram of the piezoresistive sensing unit in this application;

[0041] Figure 9 This is a functional principle block diagram of the detection device in this application.

[0042] The numbers in the diagram represent: 1. Base; 11. Flexible base; 110. Mounting hole; 120. Through hole; 12. Fixed base; 13. Positioning ring; 100. Gap; 101. First gap; 102. Second gap; 2. Piezoresistive sensing unit; 21. First circumferential seam; 211. First arc-shaped seam; 212. First radial connecting seam; 22. Second circumferential seam; 221. Second arc-shaped seam; 222. Second radial connecting seam. 23. Seam body; 24. Third radial connecting seam body; 3. Radial extending seam body; 3. Movable rod unit; 31. Hair rod; 311. Hollow cavity; 32. Movable base; 4. Capacitor; 41. Fixed spiral electrode; 42. Movable spiral electrode assembly; 421. Outer spiral electrode; 422. Inner spiral electrode; 5. Circuit module; 51. Multi-channel signal acquisition unit; 52. Direction calculation and processing unit; 53. Bluetooth unit; 6. Multi-channel lead circuit. Detailed Implementation

[0043] To make the objectives, technical solutions, and effects of this application clearer and more explicit, the following detailed description of this application is provided with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining this application and are not intended to limit this application.

[0044] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this application means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or wireless coupling. The term “and / or” as used herein includes all or any units and all combinations of one or more associated listed items.

[0045] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0046] This application provides a biomimetic positioning sensor, such as... Figure 1 and Figure 2As shown, the biomimetic positioning sensor includes: a base 1, multiple piezoresistive sensing units 2, and a movable rod unit 3; a mounting hole 110 is provided at the center of the base 1 (e.g., ...). Figure 7 As shown); multiple piezoresistive sensing elements 2 are disposed on the upper surface of the base 1, and are evenly distributed around the periphery of the mounting holes 110; the piezoresistive sensing elements 2 extend radially along the base 1 and are electrically connected to the multi-channel lead circuit 6 to form a resistance detection loop; there is a gap 100 between two adjacent piezoresistive sensing elements 2 (as shown). Figure 3 As shown), the gap 100 is arranged in a non-linear radial direction; the bottom of the movable rod unit 3 is inserted into the mounting hole 110 and can be offset relative to the base 1 to squeeze the piezoresistive sensitive unit 2.

[0047] Specifically, the base 1 is a cylindrical base 1; the mounting hole 110 provided at the center of the base 1 is used to accommodate the movable rod unit 3, the bottom of the movable rod unit 3 is inserted into the mounting hole 110, so as to assemble with the base 1; the top of the movable rod unit 3 extends upward to the outside of the base 1 and is used to withstand external disturbances, so as to offset relative to the base 1 under the action of external disturbances (such as directional airflow or vibration waves).

[0048] There are multiple piezoresistive sensing units 2, all disposed on the upper surface of the base 1 and distributed around the movable rod unit 3; each piezoresistive sensing unit 2 extends radially along the base 1. When the movable rod unit 3 is disturbed and shifts, the base 1 is located on the moving path of the movable rod unit 3, and the movable rod unit 3 will press against the corresponding position on the base 1 along the shift direction, thereby causing the piezoresistive sensing unit 2 at the corresponding position to be deformed by compression. In this application, multiple piezoresistive sensing units 2 are evenly distributed in a 360° ring along the circumferential direction of the movable rod unit 3 to form an array of piezoresistive sensing units 2, so that disturbances in any direction around the base 1 can act on at least one or more piezoresistive sensing units 2, avoiding the problem that traditional linear or locally arranged sensing units can only sense disturbances in a specific direction, and providing the necessary spatial coverage for 360° omnidirectional detection.

[0049] Each piezoresistive sensing unit 2 is electrically connected to the multi-channel lead circuit 6, thereby forming an independent resistance detection loop. This allows the piezoresistive sensing units 2 in different orientations to output differentiated resistance change signals. When the movable rod unit 3 deflects, the squeezing force it generates on the piezoresistive sensing units 2 in different orientations is different, thereby forming a resistance change distribution with directional characteristics in each resistance detection loop, providing an analytical electrical signal basis for the identification of the disturbance source direction.

[0050] It should be noted that there is a gap 100 between each pair of adjacent piezoresistive sensing units 2. If the gap 100 is a straight structure arranged radially, that is, different piezoresistive sensing units 2 are usually separated by the gap 100 extending in a radial straight direction, if the movable rod unit 3 happens to press at the gap 100 between two piezoresistive sensing units 2, the pressing force is mainly symmetrically shared by the two adjacent piezoresistive sensing units 2. The resistance change amplitude generated by the two piezoresistive sensing units 2 is close or even the same, which makes it impossible for the system to distinguish the direction of force or the area of ​​force, thus forming a detection blind zone in the corresponding direction, which is not conducive to achieving all-directional, high-resolution force detection.

[0051] In this application, adjacent piezoresistive sensitive units 2 are not simply separated by a radial straight gap 100, but rather by a non-linear gap 100 (such as a bent or staggered distribution). This means that there is no through radial straight gap 100 between adjacent piezoresistive sensitive units 2. When the movable rod deflects in any direction, the force path of the movable rod unit 3 will inevitably fall into the effective action area of ​​a certain piezoresistive sensitive unit 2. At least one piezoresistive sensitive unit 2 will be subjected to more significant compression deformation, and the force state between adjacent piezoresistive sensitive units 2 will inevitably present an asymmetrical distribution. This will create a distinguishable difference in resistance change in the corresponding resistance detection circuit, resulting in asymmetrical compression deformation between piezoresistive sensitive units 2 in different orientations. This avoids the signal indistinguishability problem caused by symmetrical force and effectively eliminates the direction detection blind zone.

[0052] The biomimetic positioning sensor provided in this application sets an offset movable rod unit 3 at the center of the base 1, and arranges multiple radially extending piezoresistive sensitive units 2 evenly around the mounting hole 110. This allows the direction of external disturbances to be converted into asymmetrical compression of the piezoresistive sensitive units 2 in different orientations, thereby forming a signal distribution with directional characteristics in the multi-channel resistance detection circuit. At the same time, the gap 100 between adjacent piezoresistive sensitive units 2 is arranged in a non-linear radial direction, avoiding the problem of indistinguishable signals caused by symmetrical forces on adjacent sensitive units when the movable rod is offset along a specific radial direction. This effectively eliminates the direction detection blind zone and realizes 360° omnidirectional, continuous and high-resolution identification of the disturbance source direction.

[0053] In one embodiment of this application, both the first annular slit 21 and the second annular slit 22 are V-shaped. This facilitates the smooth entry and full spreading of conductive materials (such as carbon nanotubes or graphene composite conductive inks) into the slits during the filling process, thereby forming a conductive layer. This reduces the problems of air bubble retention and uneven filling, improves the adhesion and molding consistency between the conductive layer and the substrate material of the base 1, and thus enhances the fabrication yield and electrical stability of the piezoresistive sensitive unit 2. Simultaneously, when the V-shaped slit is compressed or bent, its two inclined surfaces are more likely to move closer together or open, making the slit width change more sensitive to small external displacements. Compared to straight-walled or rectangular slits, the V-shaped structure can generate a larger equivalent cross-sectional area change under a smaller external force, thereby amplifying the resistance change of the conductive layer and improving the response sensitivity to weak disturbances.

[0054] Research has revealed that while scorpions' visual abilities have gradually degenerated during their long biochemical evolution, they have evolved extremely sensitive slit receptors. These receptors can sensitively detect surrounding vibration signals, enabling them to obtain food and avoid predators. Specifically, analysis of the scorpion's slit receptor structure shows that its key structure is a series of groove-like slits. Further research has found that this slit structure significantly improves the receptor's sensitivity and directional selectivity.

[0055] Based on this, in one embodiment of this application, the piezoresistive sensing unit 2 includes a first annular slot 21, a second annular slot 22, and a conductive layer; the center of the first annular slot 21 is located on the movable rod unit 3; the second annular slot 22 is located between the first annular slot 21 and the movable rod unit 3; the second annular slot 22 is parallel to the first annular slot 21 and has the same center; the second annular slot 22 is connected to the first annular slot 21; and the conductive layer is disposed within the first annular slot 21 and the second annular slot 22.

[0056] Specifically, the first annular seam 21 and the second annular seam 22 are designed as a double annular seam structure that is concentric, parallel and interconnected. The second annular seam 22 is located on the side of the first annular seam 21 closer to the movable rod unit 3, that is, the second annular seam 22 is located inside the first annular seam 21. The first annular seam 21 and the second annular seam 22 are arranged radially at intervals, that is, two annular seams are arranged radially at the same azimuth angle, so that the double annular seams form a flexible deformation area that is continuously distributed from the inside to the outside. Thus, the movable rod unit 3 can effectively compress the pressure resistance structure at different radial positions within the azimuth angle range.

[0057] Since the first annular slit 21 and the second annular slit 22 are connected in the radial direction, the effective path length of the conductive layer is significantly increased. When the movable rod unit 3 squeezes any annular slit, the resulting deformation will be transmitted along the connected path. After being compressed, the conductive layer not only has a local cross-sectional area reduced, but also has an overall conductive path lengthened, thereby improving the detection sensitivity of small offsets and weak disturbances, which is especially suitable for locating micro-disturbance sources.

[0058] like Figure 3 As shown, the gap 100 between two adjacent piezoresistive sensitive units 2 includes a first gap 101 between two adjacent first annular slots 21 and a second gap 102 between two adjacent second annular slots 22. The first gap 101 and the second gap 102 are staggered, so that the gap 100 is arranged in a non-linear manner.

[0059] like Figure 8 As shown, the first annular seam 21 includes two first arc-shaped seam bodies 211 and two first radial connecting seam bodies 212. The two first arc-shaped seam bodies 211 are arranged parallel to each other and radially spaced apart. The two first radial connecting seam bodies 212 are distributed at both ends of the first arc-shaped seam bodies 211 and connect the two first arc-shaped seam bodies 211, thus making the first annular seam 21 present an annular structure with a certain angle range. Similarly, the second annular seam 22 includes two second arc-shaped seam bodies 221 and two second radial connecting seam bodies 222. The two second arc-shaped seam bodies 221 are arranged parallel to each other and radially spaced apart. The two second radial connecting seam bodies 222 are distributed at both ends of the second arc-shaped seam bodies 221 and connect the two second arc-shaped seam bodies 221, thus making the second annular seam 22 present an annular structure with a certain angle range. Within the same azimuth angle range, a radially extending fan-shaped circumferential ...

[0060] In the first annular seam 21, the length of the first arc-shaped seam 211 near the movable rod unit 3 is less than the length of the first arc-shaped seam 211 away from the movable rod unit 3; in the second annular seam 22, the length of the second arc-shaped seam 221 near the movable rod unit 3 is less than the length of the second arc-shaped seam 221 away from the movable rod unit 3. Both the arc-shaped seams on opposite sides of the first annular seam 21 and the second annular seam 22 of the piezoresistive sensitive unit 2 have openings, that is, both the oppositely arranged first arc-shaped seam 211 and the opposite arc-shaped seam 221 are provided with openings. The two ends of the openings are connected by a third radial connecting seam 23, thereby achieving communication between the first annular seam 21 and the second annular seam 22. An opening is also provided at the center of the first arc-shaped slit 211 away from the movable rod unit 3. The two ends of the opening are respectively connected to the radially extending slit 24 (the conductive layer extends into the radially extending slit 24). Both radially extending slits 24 are arranged to extend away from the movable rod unit 3 and are electrically connected to the multi-channel lead circuit 6, thereby forming a resistance detection circuit for the piezoresistive sensitive unit 2.

[0061] In the first embodiment of this application, the center of the first circumferential seam 21 is arranged correspondingly to the center of the second circumferential seam 22, so that the two first radial connecting seams 212 and the two second radial connecting seams 222 are staggered, thereby achieving the purpose of the gap 100 between two adjacent piezoresistive sensitive units 2 being arranged in a non-linear radial direction.

[0062] In the second embodiment of this application, the center of the first annular seam 21 is staggered with the center of the second annular seam 22, and there is a first radial connecting seam body and a second radial connecting seam body arranged correspondingly, and another first radial connecting seam body and another second radial connecting seam body are staggered, thereby achieving the purpose of the gap 100 between two adjacent piezoresistive sensitive units 2 being arranged in a non-linear radial direction.

[0063] In the third embodiment of this application, the center of the first annular seam 21 and the center of the second annular seam 22 are staggered, and the corresponding first radial connecting seam 212 and second radial connecting seam 222 on both sides are also staggered, thereby achieving the purpose of the gap 100 between two adjacent piezoresistive sensitive units 2 being arranged in a non-linear radial direction.

[0064] One embodiment of this application, such as Figure 4 As shown, the bionic positioning sensor also includes a capacitor 4, which is disposed in the movable rod unit 3 and electrically connected to the multi-channel lead circuit 6 to form a capacitance detection circuit.

[0065] Specifically, the movable rod unit 3 is the direct force-receiving and transmission component for external disturbance energy, and its offset amplitude and tilt degree can accurately reflect the magnitude of the disturbance. In this application, a capacitor 4 is set inside the movable rod unit 3, so that the offset of the movable rod caused by the external disturbance is directly converted into a change in the relative positional relationship between the electrodes of the capacitor 4, ensuring that the capacitance change generated by the capacitor 4 is highly consistent with the overall motion state of the movable rod unit. The capacitance detection circuit is mainly used to characterize the intensity information of the external disturbance; the stronger the external disturbance, the greater the offset or tilt amplitude generated by the movable rod unit 3, and the more obvious the effective overlap relationship or spacing change between the corresponding electrodes of the capacitor 4, thus causing a more significant capacitance change. By measuring the capacitance change, a quantitative signal related to the disturbance amplitude, energy, or intensity can be obtained to reflect the strength of the disturbance source. Therefore, by setting a capacitor 4 inside the movable rod unit 3 to form a capacitance detection circuit, this application not only reflects the disturbance intensity but also improves the accuracy and response consistency of disturbance intensity detection.

[0066] One embodiment of this application, such as Figure 1 , Figure 2 and Figure 4As shown, the movable rod unit 3 includes a shank 31 and a movable base 32; the movable base 32 is sleeved on the bottom of the shank 31; a portion of the movable base 32 is located in the mounting hole 110 so as to offset with the shank 31 and press against the base 1; the capacitor 4 is located in the movable base 32 and on the periphery of the shank 31.

[0067] Specifically, the movable rod unit 3 is an integral conductive structure, and the slender rod 31 and the movable base 32 are integrally formed. The slender rod 31, as a direct sensing component of external disturbances, shifts under the influence of airflow, vibration, etc. The movable base 32 is fitted onto the bottom of the slender rod 31, with a portion of it located within the mounting hole 110 of the base 1. This allows the shift of the slender rod 31 to be stably converted into an overall shift and tilt of the movable base 32, further exerting a squeezing effect on the corresponding piezoresistive sensing unit 2 on the base 1, thereby forming a force distribution with directional characteristics. This structure avoids the instability caused by the slender slender rod 31 directly acting on the base 1, improving the repeatability of shift transmission and structural reliability.

[0068] Meanwhile, capacitor 4 is placed inside the movable base 32 and surrounds the outer periphery of the rod 31, so that capacitor 4 can always move with the movable base 32 as a whole. When external disturbances increase, the offset and tilt angle of the movable base 32 within the mounting hole 110 increase accordingly, and the relative positional relationship between the electrodes of capacitor 4 changes synchronously, thereby causing a change in capacitance value.

[0069] One embodiment of this application, such as Figure 4 As shown, a hollow cavity 311 is provided inside the hair rod 31. The hollow cavity 311 is a conical hollow cavity that is wider at the top and narrower at the bottom.

[0070] Specifically, the conical hollow cavity allows for a larger material removal rate at the top of the bob 31 and a smaller removal rate at the bottom, thus naturally shifting the overall center of gravity of the bob 31 downwards and closer to its bottom. After the external disturbance is removed, the lowered center of gravity will generate a self-resetting torque on the movable rod unit 3 under the action of gravity, enabling it to actively return to its initial neutral position. This eliminates the need for additional complex springs or reset mechanisms, simplifying the structure and reducing system energy consumption and failure risk.

[0071] Meanwhile, the top-light, bottom-heavy structure makes the rod 31 more prone to deflection when subjected to external disturbances, thus providing higher mechanical response sensitivity to weak airflow, vibration, or sound waves. This application, by incorporating a tapered hollow cavity that is wider at the top and narrower at the bottom within the rod 31, enables the movable rod unit 3 to possess both high-sensitivity deflection capability and reliable gravity self-resetting characteristics. Without requiring an additional reset structure, a rapid and stable deflection-return process is achieved, providing structural assurance for the long-term stable operation of the biomimetic positioning sensor.

[0072] One embodiment of this application, such as Figure 4 As shown, the capacitor 4 includes a fixed spiral electrode 41 and a movable spiral electrode assembly 42; the fixed spiral electrode 41 is located on the periphery of the rod 31 and is connected to the bottom wall of the base 1; the movable spiral electrode assembly 42 is located on the periphery of the rod 31 and is connected to the rod 31 and the movable base 32 respectively, so as to overlap with the fixed spiral electrode 41 when the rod 31 and the movable base 32 are offset.

[0073] Specifically, the fixed spiral electrode 41 remains stationary, while the movable spiral electrode assembly 42 shifts or tilts with the rod 31 and the movable base 32, so that the relative overlap between the fixed spiral electrode 41 and the movable spiral electrode assembly 42 is directly controlled by the motion state of the movable rod unit 3.

[0074] Under external disturbance, the rod 31 and the movable base 32 shift or tilt, and the amount of shift is positively correlated with the magnitude of the disturbance. Since the movable spiral electrode assembly 42 moves as a whole with the rod 31 and the movable base 32, while the fixed spiral electrode 41 remains relatively stationary, the effective overlap area between them changes continuously with the degree of shift, thus causing a change in capacitance. The stronger the disturbance, the greater the shift amplitude of the rod 31 and the movable base 32, the more obvious the change in overlap between the electrodes, and the greater the corresponding change in capacitance. Therefore, the capacitance signal can serve as a quantitative representation of the disturbance intensity. The electrical change of the capacitor 4 can directly reflect the movement amplitude of the movable rod unit 3 under external disturbance, thereby achieving effective detection of the disturbance intensity.

[0075] In this application, the capacitance change is directly linked to the overall motion state of the movable rod unit 3, avoiding the accumulation of errors caused by multi-stage mechanical transmission or indirect calculation of disturbance intensity, thus enabling fast disturbance intensity detection response. Simultaneously, the capacitor 4 is positioned around the outer edge of the rod 31, ensuring consistent sensitivity to the displacement of the movable rod in all directions. This facilitates obtaining stable and comparable disturbance intensity detection results across the entire 360° omnidirectional range using the biomimetic positioning sensor provided in this application.

[0076] In one embodiment of this application, the movable spiral electrode assembly 42 includes an outer spiral electrode 421 and an inner spiral electrode 422; the outer spiral electrode 421 is disposed on the inner wall of the movable base 32 and located around the fixed spiral electrode 41; the inner spiral electrode 422 is disposed on the outer wall of the hair rod 31 and located inside the fixed spiral electrode 41.

[0077] Specifically, the outer spiral electrode 421 and the inner spiral electrode 422 have the same parameters such as pitch, line width and number of turns, and are located on the same horizontal plane, so that when the shank 31 and the movable base 32 are offset, the change in the overlap length between the outer spiral electrode 421 and the fixed spiral electrode 41 is consistent with the change in the overlap length between the inner spiral electrode 422 and the fixed spiral electrode 41.

[0078] The outer spiral electrode 421 moves with the movable base 32, and the inner spiral electrode 422 moves with the rod 31. Under disturbance, the two will produce relative displacement or synchronous offset. Since the fixed spiral electrode 41 is located in the middle position between the outer spiral electrode 421 and the inner spiral electrode 422, when the movable rod unit 3 shifts, the overlapping areas on the inner and outer sides of the fixed spiral electrode 41 will change simultaneously, causing the capacitance changes to be superimposed. This results in a more obvious change in electrical signal under the same disturbance intensity, improving the detection sensitivity to small disturbances.

[0079] This application integrates two movable spiral electrodes on the outer wall of the hair rod 31 and the inner wall of the movable base 32, respectively, and forms a coaxial, multi-layered overlapping structure with the fixed spiral electrode 41. This allows for a larger effective electrode overlap length within a limited radial space, thereby increasing the capacitance variation range without significantly increasing the volume, making it suitable for high-integration, small-size sensor applications.

[0080] It is understandable that the outer spiral electrode 421 and the inner spiral electrode 422 are both staggered in height from the fixed spiral electrode 41 and maintain a non-contact cross-distribution relationship, so that the fixed spiral electrode 41 is not on the same plane as the outer spiral electrode 421 and the inner spiral electrode 422, but its key parameters such as pitch, line width, and number of turns are consistent, so that after axial staggering, the fixed spiral electrode 41 can always form an effective cross-overlap area with the inner and outer spiral electrodes 421 in different height sections.

[0081] It should be noted that during the activity, when the movable rod unit 3 shifts relative to the fixed spiral electrode 41, one side of the fixed spiral electrode 41 overlaps with the outer spiral electrode 421, and the other side overlaps with the inner spiral electrode 422. This allows the fixed spiral electrode 41 to participate in two sets of effective cross-coupling in the same shift. Therefore, under the same shift amount, the fixed spiral electrode 41 no longer overlaps with only a single spiral electrode, but simultaneously generates cross regions on both the inner and outer sides, approximately doubling the effective overlap area involved in capacitance formation. Since capacitance change is directly related to the effective overlap area between electrodes, when the cross area increases exponentially, a more significant capacitance change can occur under conditions of small displacement or slight deflection. This makes the sensor more sensitive to the intensity of external disturbances, which is beneficial for improving the detectability of weak disturbances and the signal-to-noise ratio.

[0082] One embodiment of this application, such as Figure 4 As shown, the base 1 includes: a flexible base 11, a fixed base 12, and a positioning ring 13; the flexible base 11 is sleeved around the movable rod unit 3; as shown... Figure 7As shown, both the mounting hole 110 and the piezoresistive sensing unit 2 are located on the flexible base 11; the fixed base 12 is disposed at the bottom of the flexible base 11 and covers the mounting hole 110; as shown Figure 6 As shown, the positioning ring 13 is disposed on the upper surface of the fixed base 12 and inserted into the movable rod unit 3; as Figure 5 As shown, the fixed spiral electrode 41 is disposed on the positioning ring 13, with part of it located inside the positioning ring 13 and part of it located outside the positioning ring 13.

[0083] Specifically, the flexible base 11 is made of an elastic non-conductive material to support the movable rod unit 3, maintain its neutral position, and provide an elastic restoring force. The flexible base 11 is generally annular, and a circular through hole is formed at the center of the flexible base 11 along the axial direction to form a mounting hole 110, through which the movable rod unit 3 is nested. The piezoresistive sensing unit 2 is located on the upper surface of the flexible base 11 and is arranged around the periphery of the mounting hole 110.

[0084] The flexible non-conductive materials used in the flexible base 11 include, but are not limited to, silicone rubber (PDMS), polyurethane elastomer (PU), thermoplastic elastomer (TPE), natural rubber, nitrile rubber (NBR), fluororubber (FKM), polyolefin elastomer (POE), polyester elastomer (PBT), polyvinyl chloride elastomer (PVC), or polyethylene terephthalate (PET).

[0085] The fixed base 12 is located at the bottom of the flexible base 11 and covers the mounting hole 110. It provides mechanical support and fixed position for the flexible base 11 to prevent the structure from sinking or shifting, and ensures that the direction and range of movement of the movable rod are correct when it deflects, thereby improving the overall stability and durability.

[0086] The fixed base 12 is made of a rigid, non-conductive material, including but not limited to epoxy resin, polycarbonate, polystyrene, phenolic resin, alumina ceramic, silicon nitride ceramic, glass fiber reinforced plastic (GFRP), polytetrafluoroethylene (PTFE), silicate glass, or polyimide (PI). The bottom of the bristle 31 is a smooth arc-shaped surface, which contacts the upper surface of the fixed base 12, so that the bristle 31 can deflect relative to the fixed base 12 when subjected to external force.

[0087] In one embodiment of this application, both the fixed spiral electrode 41 and the piezoresistive sensing unit 2 are connected to the multi-channel lead circuit 6. The multi-channel lead circuit 6 is disposed on the upper surface of the fixed base 12 and located around the positioning ring 13, so that the piezoresistive sensing unit 2 and the capacitor 4 can be connected to the fixed base 12 only through short wires, realizing a modular structure, which facilitates the assembly, debugging and maintenance of the sensor, and also facilitates the signal to be led out to the outside.

[0088] like Figure 7As shown, the flexible base 11 is also provided with a plurality of through holes 120, which penetrate the flexible base 11 axially; the end of the radially extending slit 24 away from the first annular slit 21 is connected to the end of the through hole 120, so each piezoresistive sensitive unit 2 has two through holes 120. The two through holes 120 are used to accommodate wires, so that the conductive layer in the radially extending slit 24 is electrically connected to the multi-channel lead circuit 6 on the upper surface of the fixed base 12 through the wires.

[0089] In one embodiment of this application, there are 8 piezoresistive sensing units 2, which are arranged in a circle, and the center of the circle is located on the central axis of the flexible base 11; the central angle of each piezoresistive sensing unit 2 is 45°.

[0090] This application also provides a detection device, such as... Figure 9 As shown, the detection device includes the bionic positioning sensor described in any of the above embodiments, and also includes a circuit module 5. The circuit module 5 includes a multi-channel signal acquisition unit 51, a direction calculation and processing unit 52, and a Bluetooth unit 53; as shown Figure 4 As shown, circuit module 5 can be located inside the conical hollow cavity (at the bottom of the conical hollow cavity) or outside the sensor; the multi-channel signal acquisition unit 51 is electrically connected to the multi-channel lead circuit 6, and both the multi-channel signal acquisition unit 51 and the Bluetooth unit 53 are electrically connected to the direction calculation and processing unit 52. The multi-channel signal acquisition unit 51 is used to acquire signals from all piezoresistive sensitive units 2 and capacitor 4 in real time; the direction calculation and processing unit 52 is used to process the signals acquired by the multi-channel signal acquisition unit 51 to solve for the incident direction of the disturbance source; the Bluetooth unit 53 is used to wirelessly communicate with an external mobile device (such as a host computer) and wirelessly transmit the direction and intensity information calculated by the direction calculation and processing unit to the host computer to realize remote monitoring and data recording.

[0091] During the deflection process, the movable rod unit 3 compresses the piezoresistive sensitive unit 2 in the corresponding orientation on the base 1, reducing the cross-sectional area of ​​the piezoresistive sensitive unit 2 in that direction and lengthening the conductive path, thereby causing a significant increase in local resistance. Simultaneously, the outer spiral electrode 421 and inner spiral electrode 422 within the movable base 32 deflect with displacement, changing their facing area relative to the fixed spiral electrode 41, resulting in dynamic fluctuations in the capacitance of the capacitor 4, thus reflecting the disturbance intensity. The resistance changes of the eight piezoresistive sensitive units 2 are recorded in real time by a multi-channel signal acquisition module, forming an 8-dimensional azimuth response vector; the capacitance change of the capacitor 4 is used to calculate the disturbance intensity; the azimuth response vector is input into a pre-calibrated Support Vector Machine (SVM) model, combined with Kalman filtering to eliminate noise interference, and finally the incident azimuth angle of the disturbance source (0°~360°) is calculated; the capacitance change is linearly related to the disturbance amplitude. =0.992), which can be used to estimate the distance or energy density of a disturbance source. The calculation result is wirelessly transmitted to the host computer via Bluetooth unit 53, enabling real-time location and monitoring of the micro-disturbance source. At the same time, by utilizing the calibration relationship between the capacitor 4 signal and the deflection amplitude, the disturbance intensity is estimated, and the distance to the disturbance source can be determined, achieving dual sensing of direction and intensity.

[0092] The multi-channel signal acquisition unit 51, the direction calculation and processing unit 52, and the Bluetooth unit 53 all adopt existing structures, and their structures and principles will not be described in detail here.

[0093] This sensor borrows the mechanical amplification and direction selection mechanism of a scorpion crack sensor, achieving high sensitivity and rapid response through the coupling of mechanical deflection and a flexible crack, thus significantly improving the accuracy of direction calculation. Eight piezoresistive sensing units2 enable 360° omnidirectional identification of disturbance sources, ensuring reliable detection of minute disturbances in any direction. Since it does not rely on optical or electromagnetic signals, the mechanical-electric coupling sensing method allows the sensor to operate stably in complex environments such as darkness, underwater, smoke, or strong electromagnetic interference. Furthermore, the application employs flexible materials and a modular design, resulting in a compact sensor structure, simplified manufacturing process, and easy miniaturization and mass production, while reducing material and assembly costs. In addition, the integrated Bluetooth module enables low-power real-time wireless data transmission, facilitating embedding the sensor in micro-robots, wearable devices, or distributed sensor networks for flexible deployment and mobile monitoring.

[0094] Based on any of the above-described biomimetic positioning sensors, the fabrication method of the biomimetic positioning sensor includes the following steps:

[0095] S100. Determine the overall outer diameter of the sensor according to the application scenario, and accordingly determine the specific dimensions of the movable rod unit and the base to ensure that each component is matched and meets the performance requirements.

[0096] The S200 uses 3D printing technology to print the rod and movable base using a composite material of graphene and polydimethylsiloxane, achieving an integrated structure for the movable rod unit.

[0097] The S300 utilizes dual-nozzle 3D printing technology. The first nozzle uses epoxy resin to print a fixed base and positioning ring, while the second nozzle uses conductive polymer to form a fixed spiral electrode on the positioning ring. At the same time, a flexible circuit board is integrated on the upper surface of the fixed base as a multi-channel lead circuit to realize signal acquisition and transmission.

[0098] The S400 uses a flexible base molded from silicone material. Eight double-fan annular slit structures are fabricated on this base using micromachining techniques. The slit structures are filled with a conductive ink composed of carbon nanotubes and graphene to form a conductive layer, thus creating the piezoresistive sensing unit. Then, through-holes are fabricated on the flexible base. Conductive material is directly laid on the inner wall of the through-holes, allowing for electrical connection to a multi-channel lead circuit. Alternatively, wires are inserted into the through-holes, and the piezoresistive sensing unit is electrically connected to the multi-channel lead circuit through these wires.

[0099] The S500 incorporates a miniaturized multi-channel signal acquisition unit, a direction calculation and processing unit, and a Bluetooth unit within a conical hollow cavity of a rod. The multi-channel signal acquisition unit is connected to a multi-channel lead circuit, and the direction calculation and processing unit is electrically connected to both the multi-channel signal acquisition unit and the Bluetooth unit.

[0100] Using the above-described preparation method, this application constructs a compact and high-performance biomimetic positioning sensor that achieves high-precision positioning of micro-disturbance sources in complex environments, while also possessing stability, sensitivity, and ease of manufacture.

[0101] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0102] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0103] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0104] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0105] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0106] Of course, the above description of the embodiments of the present invention is quite detailed, but it should not be construed as a limitation on the scope of protection of the present invention. The present invention may have many other implementations. Based on this implementation, other implementations obtained by those skilled in the art without any creative effort are all within the scope of protection of the present invention. The scope of protection of the present invention is determined by the appended claims.

Claims

1. A biomimetic positioning sensor, characterized in that, It includes: Base; A mounting hole is provided at the center of the base; Multiple piezoresistive sensing elements are disposed on the upper surface of the base and are evenly distributed around the periphery of the mounting holes; the piezoresistive sensing elements are arranged radially along the base and electrically connected to a multi-channel lead circuit to form a resistance detection loop; there is a gap between two adjacent piezoresistive sensing elements, and the gaps are arranged in a non-linear radial direction. The movable rod unit is inserted into the mounting hole at its bottom and can be offset relative to the base to compress the piezoresistive sensitive unit.

2. The biomimetic positioning sensor according to claim 1, characterized in that, The piezoresistive sensing unit includes: The first annular seam; the center of the first annular seam is located on the movable rod unit; The second annular seam is located between the first annular seam and the movable rod unit; the second annular seam is parallel to the first annular seam and has the same center; the second annular seam is connected to the first annular seam. A conductive layer is disposed within the first and second annular gaps.

3. The biomimetic positioning sensor according to claim 2, characterized in that, Both the first and second circumferential seams are V-shaped.

4. The biomimetic positioning sensor according to claim 1, characterized in that, It also includes: A capacitor is disposed within the movable rod unit and electrically connected to the multi-channel lead circuit to form a capacitance detection circuit.

5. The biomimetic positioning sensor according to claim 4, characterized in that, The movable rod unit includes: Hair rod; A movable base is fitted onto the bottom of the hair rod; a portion of the movable base is located within the mounting hole to offset with the hair rod and press against the base; the capacitor is located within the movable base and on the periphery of the hair rod.

6. The biomimetic positioning sensor according to claim 5, characterized in that, The hair rod has a hollow cavity inside, which is a conical hollow cavity that is wider at the top and narrower at the bottom.

7. The biomimetic positioning sensor according to claim 5, characterized in that, The capacitor includes: A fixed spiral electrode is located on the periphery of the hair rod and connected to the bottom wall of the base; The movable spiral electrode assembly is located on the periphery of the hair rod and connected to the hair rod and the movable base, so as to overlap with the fixed spiral electrode when the hair rod and the movable base are offset.

8. The biomimetic positioning sensor according to claim 7, characterized in that, The movable spiral electrode assembly includes: An outer spiral electrode is disposed on the inner wall of the movable base and located around the fixed spiral electrode; An inner spiral electrode is disposed on the outer wall of the hair rod and located inside the fixed spiral electrode.

9. The biomimetic positioning sensor according to claim 7, characterized in that, The base includes: A flexible base is fitted around the movable rod unit; the mounting hole and the piezoresistive sensing unit are both located on the flexible base. A fixed base is disposed at the bottom of the flexible base and covers the mounting hole; A positioning ring is disposed on the upper surface of the fixed base and inserted into the movable rod unit; the fixed spiral electrode is disposed on the positioning ring, with part of it located inside the positioning ring and part of it located outside the positioning ring.

10. A detection device, characterized in that, It includes the biomimetic positioning sensor as described in any one of claims 1-9.

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