Bat-like dynamic sonar device and use method

Abstract

The invention belongs to the technical field of sonar devices, and provides a bat-imitation dynamic sonar device and a method for using the device, comprising: a sonar transmitting device, a bionic nose leaf is arranged on the side, and is used to simulate the movement of the bat nose leaf and transmit ultrasonic signals; a first driving mechanism is connected to the lower nose leaf of the bionic nose leaf, a second driving mechanism is connected to the upper nose leaf, and a third driving mechanism is connected to the leaflets on both sides of the nostril; an echo receiving device, a bionic ear is arranged on the same side as the bionic nose leaf, and is used to simulate the movement of the bat ear and receive echo signals; a fourth driving mechanism for driving the bionic ear to rotate is connected to the bottom of the bionic ear, and a fifth driving mechanism for driving the bionic ear to bend and deform is connected to the upper part of the back side of the bionic ear; and a plurality of driving mechanisms are connected to the bionic nose leaf and the bionic ear to comprehensively simulate the opening and closing movement of the bat nose leaf, the synchronous or alternating rigid rotation movement and non-rigid deformation movement of the two ears, and the combined movement of the nose leaf and the ear.

Description

Technical Field

[0001] The invention belongs to the technical field of sonar devices, and in particular relates to a bat-imitation dynamic sonar device and a use method thereof. Background Art

[0002] The sonar system of bats is highly compact. They can quickly and accurately complete tasks such as environmental detection, target positioning, and prey capture in a completely dark and complex natural environment by only using their mouth or nose to transmit ultrasonic signals and their two ears to receive echo signals and extract useful sensor information. Domestic and foreign scholars have conducted a large number of experimental studies on bat biosonar behavior and found that the nose blades (the baffle-like structure around the nose) and ears of Hippodrome bats can undergo dynamic deformations of varying degrees and in different modes during sonar signal transmission and echo reception. Among them, the nose blade movement mode is mainly opening and closing movement, and the ear movement mode is mainly rigid rotation movement and non-rigid deformation movement. There is a strong correlation between nose blade movement and ear movement. Numerical simulation and bionic simulation studies have found that these dynamic deformations will affect the distribution of the transmitted and received sound fields, add time-varying features to the sound field, and encode more sensor information. For example, non-rigid deformation movement can improve directional accuracy.

[0003] The inventors have found that most of the current bat-like sonar devices are static, that is, the dynamic deformation of the nose and ears is not taken into account. Among them, the sonar transmitter usually does not take the nose structure into consideration and directly uses the ultrasonic transducer to transmit the ultrasonic signal. The echo receivers mostly directly use the ultrasonic transducer or the microphone (array) to receive the echo signal. A few use the rigid bionic ear model or the simplified baffle model. There are relatively few dynamic bat-like sonar devices, which are mainly designed by Rolf Mueller and others based on the horseshoe bat as the prototype. They mainly simulate the opening and closing movement of the bat's nose and the synchronous non-rigid movement of both ears, and do not consider the rigid movement of both ears, the alternating movement and the coordination with the movement pattern of the nose. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes a bat-simulating dynamic sonar device and a method of use. The present invention can comprehensively simulate the opening and closing movement of the bat's nose blade, the synchronous or alternating rigid rotation movement and non-rigid deformation movement of the two ears, and the combined movement of the nose blade and the ears, and then imitate the bat's dynamic emission of ultrasonic signals and dynamic reception of echo signals, thereby more comprehensively and completely simulating the dynamic structural characteristics of the bat sonar system.

[0005] In order to achieve the above-mentioned purpose, in the first aspect, the present invention proposes a bat-like dynamic sonar device, which adopts the following technical solutions:

[0006] A bat-like dynamic sonar device, comprising:

[0007] A sonar transmitting device, with a bionic nose leaf arranged on the side, for simulating the movement of a bat nose leaf and transmitting an ultrasonic signal; the lower nose leaf of the bionic nose leaf is connected to a first driving mechanism, the upper nose leaf is connected to a second driving mechanism, and the leaf lobes on both sides of the nostril are connected to a third driving mechanism;

[0008] An echo receiving device is fixed on the upper part of the sonar transmitting device; a bionic ear is arranged on the side of the echo receiving device, and the bionic ear and the bionic nose are located on the same side, so as to simulate the movement of a bat ear and receive echo signals; a fourth driving mechanism for driving the bionic ear to rotate is connected to the bottom of the bionic ear, and a fifth driving mechanism for driving the bionic ear to bend and deform is connected to the upper part of the dorsal side of the bionic ear.

[0009] Furthermore, the first driving mechanism includes a first transmission mechanism and a first stepper motor, the first transmission mechanism is a crank-rocker mechanism, the crank is connected to the lower nose leaf of the bionic nose leaf, and the rocker is connected to the first stepper motor.

[0010] Furthermore, the second driving mechanism includes a second transmission mechanism and a second stepping motor, the second transmission mechanism is a crank-rocker mechanism, the crank is connected to the upper nose leaf of the bionic nose leaf, and the rocker is connected to the second stepping motor.

[0011] Furthermore, the third driving mechanism includes a third transmission mechanism and a third stepper motor. The third transmission mechanism is a multi-link mechanism, including a first transmission rod, a second transmission rod, a third transmission rod and a slider. The first transmission rod drives the slider to perform reciprocating linear motion under the forward and reverse rotation of the third stepper motor. The second transmission rod and the third transmission rod convert the reciprocating linear motion of the slider into reciprocating swinging. The leaflets on both sides of the nostril of the bionic nose leaf are connected to the second transmission rod and the third transmission rod through thin steel wires.

[0012] Furthermore, the bionic ear includes a first bionic ear and a second bionic ear; the echo receiving device includes a first ultrasonic microphone and a second ultrasonic microphone respectively installed at the bottom of the first bionic ear and the second bionic ear, for receiving echo signals.

[0013] Furthermore, the bionic ear includes a first bionic ear and a second bionic ear, and the fourth driving mechanism includes a fourth stepper motor and a fifth stepper motor, which are respectively connected to the mounting shafts fixed at the bottom of the first bionic ear and the second bionic ear to enable the first bionic ear and the second bionic ear to rotate together with the mounting shaft.

[0014] Furthermore, the fifth driving mechanism includes a sixth stepping motor and a gear rack transmission, and the gear rack realizes the reciprocating linear motion of the first rack push rod and the second rack push rod.

[0015] Furthermore, the output shaft of the sixth stepper motor is fixed to the half gear, the half gear is meshed with the rack push rod, and one end of the rack push rod is connected to the upper part of the back side of the bionic ear.

[0016] Furthermore, the first rack push rod and the second rack push rod are connected to the upper part of the back side of the bionic ear, and a cross bar is detachably connected between the first rack push rod and the second rack push rod.

[0017] In order to achieve the above-mentioned purpose, in a second aspect, the present invention also proposes a method for using a bat-like dynamic sonar device, which adopts the following technical solution:

[0018] A method for using a bat-simulating dynamic sonar device, using the dynamic sonar device as described in the first aspect, comprising:

[0019] By controlling the operating status of each stepper motor, different combined movement modes of the bionic nose leaf and bionic ear are realized, and different working modes of the dynamic sonar device are realized; different working modes are used to collect echo signals of the object under test, and an echo database under different combined movement modes of the nose leaf and ear is established.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The present invention connects a plurality of driving mechanisms to the bionic nose blade and the bionic ear respectively to comprehensively simulate the opening and closing movement of the bat nose blade, the synchronous or alternating rigid rotation movement and non-rigid deformation movement of the ears, and the combined movement of the nose blade and the ear, thereby simulating the dynamic emission of ultrasonic signals and the dynamic reception of echo signals by the bat, thereby more comprehensively and completely simulating the dynamic structural characteristics of the bat sonar system;

[0022] 2. The present invention utilizes a bat-like dynamic sonar device in different bionic nose-ear combined motion modes to collect echo signals from the object under test and establishes an echo database with different motion modes, which is beneficial to comprehensively analyze the influence of the dynamic structural characteristics of the bat sonar system on sensing tasks such as target positioning and recognition. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings in the specification that constitute a part of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments of this embodiment and their descriptions are used to explain this embodiment and do not constitute improper limitations on this embodiment.

[0024] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present invention;

[0025] Figure 2 This is a schematic diagram of a transmitting device according to Embodiment 1 of the present invention;

[0026] Figure 3 The third driving mechanism of embodiment 1 of the present invention;

[0027] Figure 4 This is a partial reference diagram of the third driving mechanism of Example 1 of the present invention;

[0028] Figure 5 Schematic diagram of an echo receiving device according to Embodiment 1 of the present invention;

[0029] Figure 6 This is a schematic diagram of Embodiment 2 of the present invention;

[0030] Figure 7 The ultrasonic signal generated by the computer of Embodiment 2 of the present invention;

[0031] Figure 8 The echo signals and time-frequency diagrams received by the left and right ears when the bionic nose leaf and ear of Example 2 of the present invention are not moving;

[0032] Fig. 9 The echo signals and time-frequency diagrams received by the left and right ears when both the bionic nose leaf and the ear of Example 2 of the present invention are moving;

[0033] Among them, 1. sonar transmitting device; 11. first stepper motor; 12. first transmission mechanism; 13. bionic nose leaf; 14. ultrasonic signal waveguide; 15. second transmission mechanism; 16. second stepper motor; 17. ultrasonic transducer; 18. third transmission mechanism; 19. third stepper motor; 110. first transmission rod; 111. second transmission rod; 112. third transmission rod; 113. slider; 2. echo receiving device; 21. fourth stepper motor; 22. first ultrasonic microphone; 23. first bionic ear; 24. first rack push rod; 25. cross bar; 26. second ultrasonic microphone; 27. second bionic ear; 28. fifth stepper motor; 29. ​​second rack push rod; 210. first half gear; 211. sixth stepper motor; 212. second half gear. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0035] Hippodrome bats, such as Hipposideros pratti, transmit ultrasonic signals through their noses. There is a complex baffle-shaped structure around the nose, called a "nose leaf", and the nose leaf can open and close under muscle control during the transmission of ultrasonic signals. At the same time, the two ears can perform rigid rotation or non-rigid deformation movement separately or simultaneously under the control of ear muscles. Based on this, the present invention proposes a bat-like dynamic sonar device, which comprehensively simulates the structure of the bat's nose leaf and ears and their movement patterns, and then imitates the real bat to dynamically transmit ultrasonic signals and dynamically receive echo signals.

[0036] Embodiment 1:

[0037] like Figure 1 As shown, this embodiment provides a bat-simulating dynamic sonar device, including a sonar transmitter 1 and an echo receiving device 2, wherein the sonar transmitter 1 and the echo receiving device 2 are respectively a dynamic sonar transmitter and an echo receiving device; the sonar transmitter 1 is used to simulate the movement of a bat nose blade and transmit an ultrasonic signal; the echo receiving device 2 is used to simulate the movement of a bat ear and receive an echo signal, and the echo receiving device 2 is arranged directly above the sonar transmitter 1, thereby comprehensively simulating the structure and function of the bat head sonar system; the bat in this embodiment may be a Przewalski's hippocampus.

[0038] like Figure 2 As shown, the transmitting device 1 includes an ultrasonic transducer 17 for transmitting ultrasonic signals; an ultrasonic signal waveguide 14 is emitted from two nostrils of a bionic nose leaf 13; the bionic nose leaf 13 is connected to three driving mechanisms, and the operation of the driving mechanisms drives the bionic nose leaf to move; the time relationship between the emission of the ultrasonic signal and the operation of the driving mechanisms is controlled so that the movement of the bionic nose leaf 13 occurs during the emission of the ultrasonic signal, thereby simulating the dynamic emission of ultrasonic signals by bats.

[0039] The lower nose leaf of the bionic nose leaf 13 is connected to the first driving mechanism to achieve movement; the first driving mechanism includes a first transmission mechanism 12 and a first stepper motor 11, the first transmission mechanism 12 is a crank-rocker mechanism, the crank is connected to the lower nose leaf of the bionic nose leaf 13, and the rocker is connected to the first stepper motor 1; the first stepper motor 1 rotates forward and reversely at a certain angle to drive the lower nose leaf to swing back and forth, thereby simulating the opening and closing movement of the lower nose leaf of the bat.

[0040] The upper nose leaf of the bionic nose leaf 13 is connected to the second driving mechanism to achieve movement; the second driving mechanism includes a second transmission mechanism 15 and a second stepper motor 16, the second transmission mechanism 15 is a crank rocker mechanism, the crank is connected to the upper nose leaf of the bionic nose leaf 3, and the rocker is connected to the second stepper motor 16. The second stepper motor 16 rotates forward and reversely at a certain angle to drive the upper nose leaf to swing back and forth, thereby simulating the opening and closing movement of the upper nose leaf of a bat.

[0041] like Figure 2 and Figure 3As shown, the leaflets on both sides of the nostril of the bionic nose leaf 13 are connected to the third driving mechanism to realize movement; the third driving mechanism includes a third transmission mechanism 18 and a third stepping motor 19, and the third transmission mechanism 18 is a multi-link mechanism, including three groups of slider mechanisms, the first transmission rod 110 converts the forward and reverse rotations of the third stepping motor 19 into the reciprocating linear motion of the slider 113, the second transmission rod 111 and the third transmission rod 112 convert the reciprocating linear motion of the slider 113 into reciprocating swinging, and the leaflets on both sides of the nostril of the bionic nose leaf are connected to the second transmission rod 111 and the third transmission rod 112 through thin steel wires to realize the movement of the leaflets on both sides of the nostril in opposite directions, thereby simulating the opening and closing movement of the leaflets on both sides of the nostril of the bat.

[0042] The first transmission rod 110 is connected to the output shaft of the third stepper motor 19 through a rotating rod, one end of the rotating rod is fixed to the output shaft of the third stepper motor 19, and the other end is hinged to one end of the first transmission rod 110, so that when the third stepper motor 19 rotates, the first transmission rod 110 is driven to reciprocate; the slider 113 is connected to the other end of the first transmission rod 110, and the slide rail corresponding to the slider 113 can be fixed on the frame; the second transmission rod 111 and the third transmission rod 112 can be arranged on a bending rod, which is hinged to the frame or other fixed components in the middle, one end of the second transmission rod 111 and the third transmission rod 112 are connected to the leaflets on both sides of the nostril of the bionic nose leaf through a thin steel wire, and the other end is connected to the first transmission rod 110 through a connecting rod, and the two ends of the connecting rod are respectively hinged to the second transmission rod 111 and the third transmission rod 112 and the first transmission rod 110, so that when the first transmission rod 110 reciprocates, the second transmission rod 111 and the third transmission rod 112 swing.

[0043] like Figure 4 As shown, in this embodiment, the bionic nose leaf 13 can be used to simulate the nose leaf of a bat. The acquisition of the bionic nose leaf 13 includes: performing a three-dimensional scan on the nose leaf of a real Przewalski's Hippocampus bat to obtain a three-dimensional model of the nose leaf of the Przewalski's Hippocampus bat, and then simplifying the three-dimensional model and then 3D printing or directly 3D printing; in this embodiment, the three-dimensional model of the nose leaf is simplified, and then 3D printed after being enlarged 2.5 times, and then the printed model is molded with a flexible material such as silicone to obtain a flexible bionic nose leaf. The product model of the ultrasonic transducer 17 includes but is not limited to the SensComp series 6000; the transmission mechanism includes but is not limited to the connecting rod mechanism; the actuator includes but is not limited to the motor.

[0044] like Figure 5As shown, the echo receiving device 2 includes a first ultrasonic microphone 22 and a second ultrasonic microphone 26 respectively installed at the bottom of a first bionic ear 23 and a second bionic ear 27, for receiving echo signals. The first bionic ear 23 and the second bionic ear 27 are respectively a left ear and a right ear; the bionic ears are connected to two driving mechanisms, and the operation of the driving mechanisms drives the two bionic ears to move; by controlling the time relationship between the reception of the echo signal and the operation of the driving mechanisms, the movement of the bionic ears occurs during the echo reception, thereby simulating the dynamic reception of the echo signal by the bat.

[0045] The fourth driving mechanism includes a fourth stepper motor 21 and a fifth stepper motor 28, which are respectively connected to the mounting shafts fixed at the bottom of the first bionic ear 23 and the second bionic ear 27, so as to realize the rotation of the first bionic ear 23 and the second bionic ear 27 together with the mounting shaft; the two bionic ears are rotated in the same direction or in the opposite direction by controlling the direction of the fourth stepper motor 22 and the fifth stepper motor 28, thereby simulating the synchronous or alternating rigid rotation movement of the two ears of the bat; it can be understood that the mounting shaft can be rotatably connected to the bracket by means of bearings and other components, and teeth can be provided on the outer ring of the mounting shaft, and a reducer is installed on the output shaft of the fourth stepper motor 21 and the fifth stepper motor 28 for changing direction, and a gear can be fixed on the output shaft of the reducer, and the gear is meshed with the mounting shaft with teeth provided on the outer ring, so as to realize the purpose of the fourth stepper motor 21 and the fifth stepper motor 28 driving the mounting shaft to rotate. Of course, in other embodiments, other conventional settings can also be adopted to realize the purpose of the motor driving the mounting shaft to rotate.

[0046] The fifth driving mechanism includes a sixth stepping motor 211 and a gear rack transmission, which realizes the reciprocating linear motion of the first rack push rod 24 and the second rack push rod 29, thereby driving the bionic ear to bend and deform; by adjusting the transmission mechanism, the two bionic ears are synchronously or alternately bent and deformed, thereby simulating the synchronous or alternating non-rigid deformation motion of the bat's ears;

[0047] The sixth stepper motor 211 drives the first half gear 210 to rotate forward and reverse by a certain angle, and the first half gear 210 is meshed with the second rack push rod 29 for transmission, so as to realize the reciprocating linear motion of the second rack push rod 29, and the cross bar 25 fixes the second rack push rod 29 and the first rack push rod 24 to realize synchronous reciprocating linear motion, thereby realizing the synchronous bending deformation of the two bionic ears, thereby simulating the synchronous non-rigid deformation motion of the two ears of the bat;

[0048] It can be understood that the first half gear 210 is provided with external teeth, which mesh with the rack provided on the second rack push rod 29; the first half gear 210 can be fixed on the output shaft of the sixth stepping motor 211;

[0049] The crossbar 25 is removed, and the first half gear 210 and the second half gear 212 are combined into a complete gear, which is meshed with the first rack push rod 24 and the second rack push rod 29 at the same time to achieve reverse reciprocating linear motion of the two rack push rods, thereby achieving reverse bending deformation of the two bionic ears, thereby simulating the alternating non-rigid deformation motion of the bat's ears; it can be understood that Figure 5 In the figure, the second half gear 212 is in a disassembled state, and the second half gear 212 can cooperate with the three protrusions on the upper part of the first half gear 210 through the three openings in the middle to realize the connection between the second half gear 212 and the first half gear 210, and the teeth on the second half gear 212 and the first half gear 210 are respectively meshed with the teeth on the first rack push rod 24 and the second rack push rod 29 for transmission, so as to realize the reverse reciprocating linear motion of the two rack push rods and the reverse bending deformation of the two bionic ears.

[0050] The bionic ear is used to simulate the external ear of the Przewalski's horseshoe bat. The left and right ears of a real Przewalski's horseshoe bat are scanned in three dimensions to obtain a three-dimensional model of the Przewalski's horseshoe bat's ears, which is then simplified and 3D printed or directly 3D printed; the 3D printed model is molded with a flexible material, such as silicone, to produce a flexible bionic ear; the three-dimensional model of the left and right ear can be simplified and enlarged 2.5 times before 3D printing, and then the printed model is molded with silicone to obtain a flexible bionic ear; the product models of the ultrasonic microphone include but are not limited to FG23629; the transmission mechanism includes but is not limited to a rack and pinion transmission mechanism; the actuator includes but is not limited to a motor.

[0051] It can be understood that in this embodiment, the entire device is provided with a frame, and all components such as stepper motors, bionic ears and ultrasonic transducers are fixed to corresponding positions of the frame by bolts, welding and other fixing methods.

[0052] Embodiment 2:

[0053] This embodiment provides a method for using a bat-like dynamic sonar device, which uses the bat-like dynamic sonar device described in Example 1; Figure 6 As shown, the method comprises the following steps:

[0054] Step S1, the computer designs and generates an ultrasonic signal, and sends the ultrasonic signal to a data acquisition system; at the same time, the computer triggers a controller, so that a motor control program loaded in the controller starts running, so that a single or multiple stepper motors start running, thereby driving the bionic nose leaf and bionic ear to move;

[0055] Step S2, the data acquisition system converts the ultrasonic signal from a digital signal to an analog signal and then sends it to the voltage amplifier; the voltage amplifier amplifies the ultrasonic analog signal, and then after passing through a high-voltage bias DC power supply, the ultrasonic analog signal reaches the working voltage of the ultrasonic transducer and is then sent to two ultrasonic transducers;

[0056] Step S3, two ultrasonic transducers simultaneously generate ultrasonic signals, which are emitted from two nostrils of the bionic nose leaf through the waveguide, and the emitted ultrasonic signals are reflected by the target to form echo signals;

[0057] Step S4, two ultrasonic microphones installed at the bottom of the two bionic ears receive echo signals, and send the received echo signals to the data acquisition system;

[0058] Step S5: The data acquisition system converts the echo signal from an analog signal into a digital signal and saves it to a computer. The saved echo signal is used for subsequent analysis.

[0059] The motor control program in step S1 realizes different working modes of the bat-like dynamic sonar device by controlling the operating states of the six stepper motors, as shown in Table 1. The working modes are as follows:

[0060] Working mode 1 M1 means that all stepper motors do not work, the bionic nose and ears do not move, and the sonar device statically transmits ultrasonic signals and statically receives echo signals;

[0061] Working mode 2 M2 means that only the single or multiple stepper motors driving the bionic nose blade work synchronously, and the other motors do not work, so that only the bionic nose blade moves and the ear does not move, and the sonar device dynamically transmits ultrasonic signals and statically receives echo signals;

[0062] Working mode three M3 means that only the single or multiple stepper motors driving the bionic ear work synchronously, and the other motors do not work, so that the bionic nose does not move and only the bionic ear moves M31 / M32 / M33 / M34, and the sonar device can statically transmit ultrasonic signals and dynamically receive echo signals;

[0063] Working mode four M4 means that the stepper motor driving the bionic nose leaf and the stepper motor driving the bionic ear work synchronously to realize the combined movement of the bionic nose leaf and the ear M41 / M42 / M43 / M44, and the sonar device realizes dynamic emission of ultrasonic signals and dynamic reception of echo signals;

[0064] The motor control program in step S1 can control the rotation angle and speed of each motor, and then control the movement amplitude and speed of the bionic nose leaf and ear;

[0065] The motor control program in step S1 can adjust parameters such as the working mode, the movement amplitude and speed of the bionic nose and ears according to the echo signal received in step S5.

[0066] The computer includes but is not limited to a desktop computer or a laptop computer, and a microcomputer such as Raspberry Pi may also be used; the data acquisition system includes but is not limited to the USB 6346 model of National Instrumental; the high-voltage amplifier includes but is not limited to the ATA-2041 model of Aigtek.

[0067] Table 1 Relationship between working mode and motor running state

[0068]

[0069] The ultrasonic signal used in this embodiment is designed and generated by a computer in MATLAB software, such as Figure 7 As shown, the signal frequency is a constant 50kHz, the duration is 150ms, and the amplitude remains unchanged to facilitate the analysis of the impact of bionic nose and ear movements on the echo signal amplitude.

[0070] The data acquisition system, the analog output channel can convert the ultrasonic signal generated by the computer from a digital signal to an analog signal and send it to the high-voltage amplifier; its analog input channel can convert the echo signal received by the ultrasonic microphone from an analog signal to a digital signal and save it to the computer. The sampling frequency used in the experiment is 450kHz.

[0071] In this embodiment, the computer triggers the controller through serial communication, so that the motor control program loaded in the controller starts running. When the motor control program makes all stepper motors stop working, the bionic nose leaves and ears do not move, and the sonar device realizes static emission of ultrasonic signals and static reception of echo signals. At this time, an A4 cardboard is placed directly in front of the device as a target, and the echo signal reflected by the target is received by the ultrasonic microphones placed in the ears. The data acquisition system converts the echo signal from an analog signal to a digital signal and saves it to the computer. Use a bandpass filter to filter the saved echo signal to remove high-frequency noise (>80kHz) and low-frequency noise (<25kHz), and obtain a time domain signal graph and a time-frequency graph, as shown Figure 8 shown.

[0072] Similarly, when the first stepper motor 11, the second stepper motor 16 and the sixth stepper motor 211 work, the synchronous opening and closing movement of the upper nose leaf and the lower nose leaf and the synchronous non-rigid deformation movement of the two ears are realized, and the sonar device realizes the dynamic emission of ultrasonic signals and the dynamic reception of echo signals, and the time domain signal diagram and time-frequency diagram of the filtered echo signal are obtained, as shown in FIG. Fig. 9 shown.

[0073] The model of the ultrasonic transducer may be SensComp series 6000; the model of the ultrasonic microphone may be FG23629; the model of the data acquisition system may be USB 6346 of National Instrumental; the model of the high-voltage amplifier may be ATA-2041 of Aigtek; the model of the controller may be Arduino Mega 2560; the model of the stepper motor driver may be A4988; the models of the stepper motor 11 and the stepper motor 16 may be 20BYGH40; and the model of the stepper motor 211 may be 42BYGH39.

[0074] Compared with the prior art, the bat-imitation dynamic sonar device in this embodiment uses a connecting rod mechanism and a stepper motor to realize the opening and closing movement of the bionic nose leaf, thereby imitating the movement pattern of the nose leaf when the bat transmits an ultrasonic signal; and uses a stepper motor and a gear rack transmission to realize the synchronous or alternating rigid rotation movement and non-rigid deformation movement of the bionic ear, thereby imitating the movement pattern of the ear when the bat receives the echo signal, thereby more comprehensively and completely simulating the dynamic structural characteristics of the bat sonar system.

[0075] The method for using a bat-like dynamic sonar device is to realize different combined motion modes of bionic nose leaves and ears by controlling the operating status of each stepper motor, thereby realizing different working modes of the dynamic sonar device; using different working modes to collect echo signals of the object under test, and establishing an echo database under different combined motion modes of nose leaves and ears, which is conducive to comprehensively analyzing the impact of the dynamic structural characteristics of the bat sonar system on sensing tasks such as target positioning and recognition.

[0076] The above description is only a preferred embodiment of the present embodiment and is not intended to limit the present embodiment. For those skilled in the art, the present embodiment may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment shall be included in the protection scope of the present embodiment.

Claims

1. A bat-like dynamic sonar device, characterized in that: include: A sonar transmitting device, with a bionic nose leaf arranged on the side, for simulating the movement of a bat nose leaf and transmitting an ultrasonic signal; the lower nose leaf of the bionic nose leaf is connected to a first driving mechanism, the upper nose leaf is connected to a second driving mechanism, and the leaf lobes on both sides of the nostril are connected to a third driving mechanism; An echo receiving device is fixed on the upper part of the sonar transmitting device; a bionic ear is arranged on the side of the echo receiving device, and the bionic ear and the bionic nose leaf are located on the same side, so as to simulate the movement of a bat ear and receive echo signals; a fourth driving mechanism for driving the bionic ear to rotate is connected to the bottom of the bionic ear, and a fifth driving mechanism for driving the bionic ear to bend and deform is connected to the upper part of the back side of the bionic ear; The bionic ear comprises a first bionic ear and a second bionic ear, and the fourth driving mechanism comprises a fourth stepping motor and a fifth stepping motor, which are respectively connected to mounting shafts fixed at the bottom of the first bionic ear and the second bionic ear, so as to realize the first bionic ear and the second bionic ear rotating together with the mounting shaft; The fifth driving mechanism includes a sixth stepping motor and a gear rack transmission, the gear rack realizes the reciprocating linear motion of the first rack push rod and the second rack push rod; the gear includes a first half gear fixed to the output shaft of the sixth stepping motor, and a second half gear detachably mounted on the first half gear, the first half gear is meshed with the second rack push rod, and the second half gear is meshed with the first rack push rod; The first rack push rod and the second rack push rod are connected to the upper part of the back side of the bionic ear, and a cross bar is detachably connected between the first rack push rod and the second rack push rod.

2. A bat-like dynamic sonar device as claimed in claim 1, characterized in that: The first driving mechanism includes a first transmission mechanism and a first stepper motor. The first transmission mechanism is a crank-rocker mechanism. The crank is connected to the lower nose leaf of the bionic nose leaf, and the rocker is connected to the first stepper motor.

3. A bat-like dynamic sonar device as claimed in claim 1, characterized in that: The second driving mechanism includes a second transmission mechanism and a second stepping motor. The second transmission mechanism is a crank-rocker mechanism. The crank is connected to the upper nose leaf of the bionic nose leaf, and the rocker is connected to the second stepping motor.

4. A bat-like dynamic sonar device as claimed in claim 1, characterized in that: The third driving mechanism includes a third transmission mechanism and a third stepper motor. The third transmission mechanism is a multi-link mechanism, including a first transmission rod, a second transmission rod, a third transmission rod and a slider. The first transmission rod drives the slider to perform reciprocating linear motion under the forward and reverse rotation of the third stepper motor. The second transmission rod and the third transmission rod convert the reciprocating linear motion of the slider into reciprocating swinging. The leaflets on both sides of the nostril of the bionic nose leaf are connected to the second transmission rod and the third transmission rod through thin steel wires.

5. The bat-like dynamic sonar device according to claim 1, characterized in that: The bionic ear comprises a first bionic ear and a second bionic ear; the echo receiving device comprises a first ultrasonic microphone and a second ultrasonic microphone respectively installed at the bottom of the first bionic ear and the second bionic ear, for receiving echo signals.

6. The bat-like dynamic sonar device according to claim 1, characterized in that: The output shaft of the sixth stepper motor is fixed to the half gear, the half gear is meshed with the rack push rod, and one end of the rack push rod is connected to the upper part of the back side of the bionic ear.

7. A method for using a bat-like dynamic sonar device, characterized in that: The bat-like dynamic sonar device according to any one of claims 1 to 6 is used, comprising: By controlling the operating status of each stepper motor, different combined movement modes of the bionic nose leaf and bionic ear are realized, and different working modes of the dynamic sonar device are realized; different working modes are used to collect echo signals of the object under test, and an echo database under different combined movement modes of the nose leaf and ear is established.

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