Bionic quadruped positioning vibration sensing system and method based on water strider drum structure

Abstract

The present invention proposes a bionic quadruped positioning vibration sensing system based on a water strider drum structure, including a vibration signal acquisition device and a vibration signal processing device; the vibration signal acquisition device includes a first sensor, a second sensor, a third sensor and a fourth sensor deployed on a plane, the first sensor, the second sensor, the third sensor and the fourth sensor are uniformly distributed along a preset circumference in sequence, and the first sensor, the second sensor, the third sensor and the fourth sensor are all sensors that imitate the water strider drum structure; the first sensor, the second sensor, the third sensor and the fourth sensor are all electrically connected to the vibration signal processing device. The detection accuracy of the vibration signal is high, the detection sensitivity is high, and the perception range is wide. In addition, the present invention proposes a vibration sensing positioning method based on the above-mentioned vibration sensing positioning system.

Description

Technical Field

[0001] The invention relates to the fields of engineering bionics and sensor technology, and in particular to a bionic quadruped positioning vibration sensing system and method based on a water strider drum structure. Background Art

[0002] With the continuous advancement of science and technology and the increasing detection needs in various fields, bionic sensors based on arthropod surface vibration receptors have entered various fields, such as flexible perception, information positioning technology, robotics, real-time detection of engineering equipment, etc. The sensors currently on the market can detect the size of vibration signals, but the sensitivity is not high and the measurement range is narrow.

[0003] The vibration positioning system can be applied in the fields of indoor vibration detection, engineering equipment fault detection, structural dynamic characteristics test of machine tools, train running vibration detection, aircraft operating environment monitoring, military remote positioning system and other national economy and people's livelihood technology fields. In the field of engineering application technology, real-time health detection of high-end equipment can avoid safety accidents, take preventive measures in time to avoid engineering disasters, protect high-end equipment and facilities, and improve the service life and post-maintenance of equipment. However, most of the currently known positioning systems use sonar and radar positioning, and the structure of the positioning system is complex and costly.

[0004] Organisms gradually evolve along with their habitats, and each organism has evolved a unique body shape and sensory structure based on its habitat and survival needs. In order to adapt to the living environment on the water surface and complete group intelligent communication, avoid natural enemies, and locate prey, the water strider's body has evolved into an ingenious and efficient structure. Compared with other animals that have evolved four or more pairs of legs to sense vibration signals and move their bodies, water striders only use two pairs of long legs and a pair of pincers to achieve prey capture, highly sensitive detection of vibration signals, and rapid body movement. Water striders can not only sense prey and natural enemies, but also locate prey and natural enemies through their dispersed limbs.

[0005] Therefore, there is an urgent need for a water strider-like sensor, a vibration sensing and positioning system, and a vibration sensing and positioning method. Summary of the invention

[0006] 1. Technical issues to be resolved

[0007] In view of the problems existing in the above technologies, the present invention solves the problems to a certain extent. To this end, the first object of the present invention is to provide a sensor imitating water strider, which has high detection accuracy, high detection sensitivity and wide sensing range for vibration signals.

[0008] The second object of the present invention is to propose a vibration sensing and positioning system based on the above-mentioned sensor, which improves the accuracy and sensitivity of vibration signal detection while effectively reducing unnecessary sensors in the traditional sensor array and saving costs.

[0009] The third object of the present invention is to propose a vibration sensing and positioning method based on the above-mentioned vibration sensing and positioning system, which realizes ultra-sensitive perception, rapid identification and precise positioning of the vibration excitation source.

[0010] (II) Technical solution

[0011] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0012] The first object of the present invention is to provide a water strider-like sensor, comprising a sealed cavity, a vibration element, a first wire and a second wire; the vibration element is fixed in the sealed cavity, the vibration element comprises a substrate, a flexible film and a vibration block, the first end of the flexible film is fixedly connected to the upper surface of the substrate, the second end of the flexible film is fixedly connected to the upper surface of the substrate, the vibration block is located between the flexible film and the substrate, and the flexible film is in a tensioned state; a conductive layer formed by metal ion stacking is attached to the upper surface of the flexible film, and a plurality of cracks are provided on the surface of the conductive layer; the first end of the first wire is welded to the first end of the conductive layer, the second end of the first wire extends out of the sealed cavity and is exposed outside the sealed cavity, the first end of the second wire is welded to the second end of the conductive layer, and the second end of the second wire extends out of the sealed cavity and is exposed outside the sealed cavity.

[0013] Optionally, a guide groove opening upward is provided on the upper surface of the substrate, and the vibration block is connected in the guide groove for sliding up and down. The bottom of the vibration block contacts the upper surface of the substrate, and the top of the vibration block contacts the lower surface of the flexible film. There is a gap between the guide groove and the flexible film.

[0014] Optionally, the vibration block is spherical and the guide groove is cylindrical.

[0015] Optionally, the vibration block is located at a center position between the flexible film and the substrate.

[0016] Optionally, the vibration block is fixedly connected to the substrate.

[0017] The second object of the present invention is to provide a vibration sensing and positioning system, comprising a vibration signal acquisition device and a vibration signal processing device; the vibration signal acquisition device comprises a first sensor, a second sensor, a third sensor and a fourth sensor deployed on a plane, the first sensor, the second sensor, the third sensor and the fourth sensor are uniformly distributed along a preset circle in sequence, and the first sensor, the second sensor, the third sensor and the fourth sensor are all sensors as described above; the first sensor, the second sensor, the third sensor and the fourth sensor are all electrically connected to the vibration signal processing device.

[0018] Optionally, the vibration signal processing device includes a control unit and a computer; the first sensor, the second sensor, the third sensor and the fourth sensor are all electrically connected to the control unit, and the control unit is communicatively connected to the computer.

[0019] The third object of the present invention is to provide a method for performing vibration sensing positioning by the vibration sensing positioning system as described above, characterized in that it includes:

[0020] S1. Establish a coordinate system with the first sensor and the third sensor as the X-axis and the second sensor and the fourth sensor as the Y-axis, and calibrate the vibration excitation source at the origin of the coordinate system; obtain the propagation speed of the vibration signal according to the distribution of sensors in the vibration sensing and positioning system and the pre-calibrated vibration excitation source;

[0021] S2, collecting the vibration signal of the vibration excitation source to be measured felt by each sensor in the vibration sensing and positioning system;

[0022] S3, determining the rough position of the vibration excitation source to be measured according to the time when each sensor in the vibration sensing and positioning system starts to collect the vibration signal of the vibration excitation source to be measured;

[0023] The rough position includes the positive direction of the X axis, the negative direction of the X axis, the positive direction of the Y axis, the negative direction of the Y axis, the first quadrant, the second quadrant, the third quadrant and the fourth quadrant within the preset area, and the positive direction of the X axis, the negative direction of the X axis, the positive direction of the Y axis, the negative direction of the Y axis, the first quadrant, the second quadrant, the third quadrant and the fourth quadrant outside the preset area; the preset area is the circular area where the first sensor, the second sensor, the third sensor and the fourth sensor are located;

[0024] S4. If the vibration excitation source to be measured is located on the coordinate axis, then according to the propagation speed of the vibration signal, an equation relationship is established with the difference in signal propagation distance and signal propagation time from the vibration excitation source to the two sensors on the coordinate axis where the vibration excitation source to be measured is located, so as to obtain the precise position of the vibration excitation source to be measured on the coordinate axis;

[0025] If the vibration excitation source to be measured is located in the quadrant, any three sensors are selected as target sensors, and the signal propagation distance from the vibration excitation source to be measured to each target sensor is used as the hypotenuse, and the line segment parallel to the X-axis and the line segment parallel to the Y-axis are used as the right-angled sides to construct three right-angled triangles; each right-angled triangle is described according to the Pythagorean theorem, and according to the propagation speed of the vibration signal, an equation relationship is established with the difference in signal propagation distance and signal propagation time from the vibration excitation source to the two target sensors to obtain the precise position of the vibration excitation source to be measured on the coordinate axis.

[0026] As an improvement of the method of the present invention, according to the time when each sensor in the vibration perception positioning system starts to collect the vibration signal of the vibration excitation source to be measured, the rough position of the vibration excitation source to be measured is determined, including:

[0027] If T2 < T1 = T3 < T4, then the vibration excitation source to be measured is located on the positive Y-axis within the preset area;

[0028] If T2 < T1 < T3 < T4 or T2 = T1 < T3 = T4 or T1 < T2 < T3 = T4, then the vibration excitation source to be measured is located in the first quadrant within the preset area;

[0029] If T2 < T1 = T3 < T4, and T4 > 2*T 04 , then the vibration excitation source to be measured is located on the positive Y-axis outside the preset area;

[0030] If T2 < T1 < T3 < T4, or T1 < T2 < T4 < T3, or T1 < T2 < T3 = T4 and T4 > 2*T 04 , then the vibration excitation source to be measured is located in the first quadrant outside the preset area.

[0031] As an improvement of the method of the present invention, when the vibration excitation source A to be measured is located on the positive Y-axis within the preset area, S4 includes:

[0032] v = S 02 / T 02

[0033]

[0034] When the vibration excitation source A to be measured is located in the first quadrant within the preset area, S4 includes:

[0035] v = S 02 / T 02

[0036]

[0037]

[0038]

[0039] When the vibration excitation source A to be measured is located on the positive Y-axis outside the preset area, S4 includes:

[0040] v = S 02 / T 02

[0041]

[0042] When the vibration excitation source A to be measured is located in the first quadrant outside the preset area, S4 includes:

[0043] v=S 02 / T 02

[0044]

[0045]

[0046]

[0047] Where, v is the propagation speed of the vibration signal, S 0i , i = 1, 2, 3, 4, is the signal propagation distance from the calibration excitation source to the i-th sensor; S Ai , i = 1, 2, 3, 4, is the signal propagation distance from the vibration excitation source A to the i-th sensor; T 0i , i = 1, 2, 3, 4, is the signal propagation time from the calibration excitation source to the i-th sensor; T i is the time when the i-th sensor starts to collect the vibration signal of the vibration excitation source to be measured; a is the distance between the vibration excitation source to be measured and the Y axis; b is the distance between the vibration excitation source to be measured and the X axis; α is the angle between the straight line OA and the positive direction of the X axis.

[0048] (III) Beneficial effects

[0049] The beneficial effects of the present invention are:

[0050] 1. The water strider-like sensor provided by the present invention is designed according to the special appearance of the drum-like structure of the leg joints of the water strider, and bionic reproduces the drum-like structure of the leg joints of the water strider. It can detect vibration signals with high precision and high sensitivity, has a wide sensing range, and has the advantages of simple structure, low cost, small size, and easy mass production.

[0051] 2. In the vibration sensing and positioning system provided by the present invention, the distribution of sensors is made according to the distribution law of vibration receptors on the long legs of water striders, bionic reproduction of the efficient sensing function of water striders, while ensuring the accuracy and sensitivity of vibration signal detection, effectively reducing unnecessary sensors in traditional sensor arrays, thereby saving the operation and maintenance costs of sensor arrays, and providing a basis for realizing the perception, identification and positioning of weak vibration sources with the least number of sensors and the best arrangement.

[0052] 3. On the basis of the vibration sensing and positioning system, the present invention also proposes a vibration sensing and positioning method. Based on the vibration excitation source positioning scheme within the preset area and the vibration excitation source positioning scheme outside the preset area, the present invention can efficiently and accurately obtain the distance and direction of the vibration excitation source, reduce the cumulative error, and can be widely used in fault diagnosis of high-end equipment such as engineering equipment, precision machine tools, aerospace, etc. It has the advantages of easy production, small size, high sensitivity, high precision and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The present invention is described with the aid of the following drawings:

[0054] Figure 1 is a schematic diagram of the body structure of a water strider according to an embodiment of the present invention;

[0055] Figure 2 is a schematic diagram of the morphology of the leg joint of a water strider under an ultra-depth-of-field optical microscope according to Example 1 of the present invention;

[0056] Figure 3 is a schematic structural diagram of a semi-thin section of a water strider mid-leg joint according to Example 1 of the present invention;

[0057] Figure 4 yes Figure 3 A partial enlarged schematic diagram of the middle leg joint of a water strider;

[0058] Figure 5 1 is a schematic diagram of the principle of detecting vibration signals by a water strider drum structure according to Embodiment 1 of the present invention;

[0059] Figure 6 is an exploded schematic diagram of a water strider-like sensor according to Example 1 of the present invention;

[0060] Figure 7 is a schematic diagram of the overall structure of a water strider-like sensor according to Example 1 of the present invention;

[0061] Figure 8 is a schematic diagram of the manufacturing process of the vibration element in the water strider imitation sensor according to Example 1 of the present invention;

[0062] Fig. 9 is a schematic structural diagram of a vibration sensing positioning system according to Embodiment 2 of the present invention;

[0063] Fig.10 is a schematic diagram of the working process of the vibration sensing positioning system according to Embodiment 2 of the present invention;

[0064] Fig.11 It is a schematic diagram showing the positioning of the vibration excitation source to be measured in the positive direction of the Y axis within the preset area;

[0065] Fig.12It is a schematic diagram of positioning the vibration excitation source to be measured in the first quadrant of the preset area;

[0066] Fig.13 It is a schematic diagram showing the positioning of the vibration excitation source to be measured in the positive direction of the Y axis outside the preset area;

[0067] Fig.14 It is a schematic diagram of positioning the vibration excitation source to be measured in the first quadrant outside the preset area.

[0068] [Description of Reference Numerals]

[0069] 11: First sensor;

[0070] 12: Second sensor;

[0071] 13: The third sensor;

[0072] 14: the fourth sensor;

[0073] 21: base plate; 211: guide groove;

[0074] 22: Flexible film;

[0075] 23: vibration block;

[0076] 24: conductive layer;

[0077] 32: control unit; 321: acquisition and modulation module; 322: information processing module;

[0078] 33: Signal adapter cable;

[0079] 34: Computer;

[0080] 41: femur;

[0081] 42: tibia;

[0082] 43: film;

[0083] 44: bulge. DETAILED DESCRIPTION

[0084] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below in conjunction with the accompanying drawings through specific embodiments. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a clearer and more thorough understanding of the present invention and to be able to fully convey the scope of the present invention to those skilled in the art.

[0085] The inventors have found that water striders can achieve high-sensitivity detection of vibration signals and precise positioning of vibration excitation sources with only two pairs of long legs and a pair of pincers. This is due to the distribution of the long legs of water striders and the joints of the middle legs of water striders (such as Figure 1 The drum-like structure (shown) efficiently senses the vibration ripples of the water matrix.

[0086] Example 1

[0087] Inspired by the drum-like structure of the leg joints of water striders, the present invention proposes a water strider-like sensor. The water strider-like sensor prepared based on the drum-like structure is described below with reference to the accompanying drawings.

[0088] Among them, the drum-like structure of the leg joints in water striders is introduced as follows:

[0089] like Figure 2 The following is a morphological diagram of the leg joint of a water strider. Figure 1 The longitudinal sections of the mid-leg joints of water striders were stained with toluidine blue and carefully observed under an optical microscope. Figure 3 As shown in the figure, it was found that there is a special structure in the joint of the water strider that connects the femur 41 and the tibia 42. The staining difference between this special structure and the nearby structures is large. Then the probe of the single sensor was inserted into the corresponding position of the special structure of the leg of the living water strider, and it was found that the electrophysiological changes near the structure to the vibration signal responded significantly. After analysis, it was found that the femur 41 and the tibia 42 are connected by a thin film, such as Figure 3 and Figure 4 As shown in Figure 4, we combined the patella and the membrane43 and proposed a “drum”-like model using a structural bionics approach to explain the high sensitivity of the membrane to detect vibration signals. Figure 5 As shown, the protrusion 44 on the patella is similar to a small hammer, and the membrane is similar to a drum skin. When the water strider moves on the water surface, the legs are straight. At this time, the protrusion on the patella should be attached to the membrane, and vibration is generated on the water surface, which is transmitted to the membrane through the patella. In this process, the protrusion on the patella is like a small hammer hitting the membrane to transmit vibration. The membrane is struck by the protrusion, receives the vibration and amplifies the vibration signal to achieve high-sensitivity detection of the vibration signal.

[0090] Drums are common tools in life, and they can amplify mechanical strength. At present, drums are only widely used in acoustics, and their main function is to amplify the loudness of sound. Drums are rarely used in engineering and sensing fields. Combining the characteristics of "no need to hit a heavy hammer to make a loud drum", the present invention provides a new bionic vibration sensor solution, which has a positive effect on improving the detection accuracy and sensitivity of vibration.

[0091] like Figure 6 and Figure 7As shown, the water strider-like sensor proposed in the present invention includes a sealed cavity, a vibration element, a first wire and a second wire; the vibration element is fixed in the sealed cavity, the vibration element includes a substrate 21, a flexible film 22 and a vibration block 23, the first end of the flexible film 22 is fixedly connected to the upper surface of the substrate 21, the second end of the flexible film 22 is fixedly connected to the upper surface of the substrate 21, the vibration block 23 is located between the flexible film 22 and the substrate 21, and the flexible film 22 is in a tensioned state; a conductive layer 24 formed by stacking of metal ions is attached to the upper surface of the flexible film 22, and a plurality of cracks are provided on the surface of the conductive layer 24, the first end of the first wire is welded to the first end of the conductive layer 24, the second end of the first wire extends out of the sealed cavity and is exposed outside the sealed cavity, the first end of the second wire is welded to the second end of the conductive layer 24, and the second end of the second wire extends out of the sealed cavity and is exposed outside the sealed cavity.

[0092] The working principle of the water strider-like sensor is as follows: when an external vibration signal reaches the sensor, the vibration is transmitted to the flexible film 22 through the substrate 21 and the vibration block 23 and the vibration signal is amplified. The flexible film 22 and the conductive layer 24 attached thereto are slightly deformed. Benefiting from the tunneling effect between the metal ions on the conductive layer 24, the conductive path of the conductive layer 24 is changed, that is, the resistance of the conductive layer 24 is changed. Finally, different resistance values ​​can be measured with a multimeter, thereby achieving the purpose of sensing the vibration signal and identifying the strength of the vibration signal.

[0093] In this way, the vibration element in the sensor is designed according to the special appearance of the drum-like structure of the leg joints of the water strider, which biomimetically reproduces the drum-like structure of the leg joints of the water strider. It can detect vibration signals with high precision and high sensitivity, has a wide perception range, and has the advantages of simple structure, low cost, small size, and easy mass production.

[0094] Preferably, the vibration block 23 is located at the center of the flexible film 22 and the substrate 21 .

[0095] Preferably, a guide groove 211 with an opening facing upward is provided on the upper surface of the substrate 21, and the vibration block 23 is slidably connected in the guide groove 211 up and down, the bottom of the vibration block 23 contacts the upper surface of the substrate 21, and the top of the vibration block 23 contacts the lower surface of the flexible film 22, and there is a gap between the guide groove 211 and the flexible film 22. In this way, the guide groove 211 is provided to constrain the movement of the ball, so that the ball can only move up and down along the guide groove 211 to transmit the vibration to the flexible film 22, thereby improving the stability of the vibration transmission.

[0096] Further preferably, in this embodiment, the vibration block 23 is spherical, and the guide groove 211 is cylindrical.

[0097] Furthermore, the conductive layer 24 is made of one or more materials selected from the group consisting of copper, silver, titanium, gold, aluminum, indium tin oxide, graphene and graphite.

[0098] Furthermore, the material of the flexible film 22 is one or more of polydimethylsiloxane, biaxially oriented polypropylene, polypropylene, polyethylene, silicone rubber, fluorosilicone rubber, polymethyl methacrylate, polyethylene terephthalate, polyurethane, epoxy resin, polyethyl acrylate, polybutyl acrylate, polystyrene, polybutadiene and polyacrylonitrile.

[0099] Furthermore, the vibration block 23 is made of a material that is not prone to elastic deformation, such as hard plastic.

[0100] Furthermore, the method for manufacturing the vibration element includes: Figure 8 As shown, first, the vibration block 23 is placed at the center of the upper surface of the substrate 21, and then the flexible film 22 is covered on the upper surface of the substrate 21, and the first end of the flexible film 22 and the first end of the substrate 21 are bonded with glue, and the second end of the flexible film 22 and the second end of the substrate 21 are bonded, so that the flexible film 22 is in a tensioned state, and then a metal conductive layer 24 is sputtered on the upper surface of the flexible film 22 by an ion sputtering device, and finally a plurality of tiny cracks are made on the surface of the metal conductive layer 24 by a pre-stretching method.

[0101] Of course, using an ion sputtering device to sputter a metal conductive layer 24 on the upper surface of the flexible film 22 is only a preferred method. It is conceivable that a metal conductive layer 24 can be attached to the upper surface of the flexible film 22 by deposition, evaporation, sputtering or brushing to achieve a similar effect.

[0102] Example 2

[0103] The main difference between this embodiment and embodiment 1 is that the guide groove 211 is eliminated, and the vibration block 23 is fixedly connected to the substrate 21. In this way, when the external vibration signal reaches the sensor, the vibration is transmitted to the flexible film 22 through the substrate 21 and the vibration block 23, and the vibration signal is amplified. The flexible film 22 and the conductive layer 24 attached thereto are slightly deformed. Benefiting from the tunneling effect between the metal ions on the conductive layer 24, the conductive path of the conductive layer 24 is changed, that is, the resistance of the conductive layer 24 is changed. Finally, different resistance values ​​can be measured by a multimeter, thereby achieving the purpose of sensing the vibration signal and identifying the strength of the vibration signal, and realizing high-precision and high-sensitivity detection of the vibration signal.

[0104] The rest is the same as Example 1 and will not be described again here.

[0105] Example 3

[0106] Water striders have three pairs of feet, including a pair of front feet for clamping prey, a pair of middle feet and a pair of hind feet for moving the body forward. Studies have found that the vibration receptors distributed on the middle and hind feet can sense the vibration signals on the water surface and locate the vibration excitation source. The vibration receptors on the middle and hind feet of water striders are distributed on a circle with the water strider body as the center and the foot length as the radius. The angle between the vibration receptors is 90 degrees when the water strider is stationary.

[0107] By referring to the natural distribution of vibration receptors in the hind feet of water striders, the present invention proposes a vibration sensing and positioning system imitating water striders. The vibration sensing and positioning system imitating water striders proposed according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

[0108] Fig. 9 and Fig.10 Schematic diagram of the structure of the water strider-like vibration sensing and positioning system of this embodiment.

[0109] like Fig. 9 and Fig.10 As shown, the vibration sensing positioning system includes a vibration signal acquisition device and a vibration signal processing device. The vibration signal acquisition device includes a first sensor 11, a second sensor 12, a third sensor 13 and a fourth sensor 14 deployed on a plane. The first sensor 11, the second sensor 12, the third sensor 13 and the fourth sensor 14 are uniformly distributed along a preset circumference in sequence. The first sensor 11, the second sensor 12, the third sensor 13 and the fourth sensor 14 are all sensors described in Example 1 or Example 2. The first sensor 11, the second sensor 12, the third sensor 13 and the fourth sensor 14 are all electrically connected to the vibration signal processing device. Among them, the size of the preset circumference is determined according to the specific application scenario.

[0110] In the vibration sensing and positioning system provided in this embodiment, the distribution of sensors is made according to the distribution pattern of vibration receptors on the long legs of water striders, bionic reproduction of the efficient sensing function of water striders, while ensuring the accuracy and sensitivity of vibration signal detection, effectively reducing unnecessary sensors in traditional sensor arrays, thereby saving the operation and maintenance costs of the sensor array, and providing a basis for realizing the perception, identification and positioning of weak vibration sources with the least number of sensors and the best arrangement.

[0111] Specifically, the vibration signal processing device includes a control unit 32 and a computer 34; the first sensor 11, the second sensor 12, the third sensor 13 and the fourth sensor 14 are all electrically connected to the control unit 32, and the control unit 32 is communicatively connected to the computer 34. Among them, the control unit 32 adopts a common single-chip microcomputer chip in the market (such as an STM 32 development board). Further, the control unit 32 includes a data acquisition modulation module 321 and an information processing module 322.

[0112] Specifically, the vibration signal processing device also includes a wiring module and a signal adapter 33; the first sensor 11, the second sensor 12, the third sensor 13 and the fourth sensor 14 are all electrically connected to the control unit 32 through the wiring module; the control unit 32 is communicatively connected to the computer 34 through the signal adapter 33.

[0113] In the vibration sensing and positioning system provided in the embodiment of the present invention, the complex circuit is clearly organized through the wiring module, and the signal is transmitted to the control unit 32 in real time. The control unit 32 processes and analyzes the collected vibration signal, and transmits the signal amplitude and frequency to the computer 34 in real time through the signal adapter 33. Finally, the computer 34 comprehensively considers and evaluates the vibration signal, analyzes and compares the time difference and distance of the vibration signal arriving at each sensor, so as to locate the vibration excitation source, realize the signal perception, distance measurement and direction positioning of the vibration excitation source.

[0114] In this embodiment, the communication connection between the control unit 32 and the computer 34 via the signal adapter 33 is only a preferred embodiment. It can be imagined that the control unit 32 is provided with a wireless transmission module and the computer 34 is provided with a wireless receiving module, which can also realize the communication connection between the control unit 32 and the computer 34.

[0115] Example 4

[0116] This embodiment proposes a method for vibration sensing and positioning by the water strider-like vibration sensing and positioning system in Embodiment 3. The vibration sensing and positioning method proposed in this embodiment is described below with reference to the accompanying drawings.

[0117] The vibration sensing positioning method comprises:

[0118] Step S1, establish a coordinate system with the first sensor and the third sensor as the X-axis and the second sensor and the fourth sensor as the Y-axis, and calibrate the vibration excitation source at the origin of the coordinate system; obtain the propagation speed of the vibration signal according to the distribution of sensors in the vibration sensing and positioning system and the pre-calibrated vibration excitation source.

[0119] Generally speaking, in the application scenario of the vibration sensing and positioning system, the propagation speed of the vibration signal sensed by the vibration sensing and positioning system remains unchanged. Therefore, by calibrating the vibration excitation source within the standard sensing range of the vibration sensing and positioning system, at this time, the time T0 of the vibration signal of the calibrated excitation source reaching each sensor is known, and the distance S0 of the vibration signal of the calibrated excitation source reaching each sensor is known. According to T0 and S0, the propagation speed of the vibration signal is obtained.

[0120] Step S2: collecting the vibration signal of the vibration excitation source to be measured sensed by each sensor in the vibration sensing and positioning system.

[0121] Step S3: Determine the rough position of the vibration excitation source to be measured according to the time when each sensor in the vibration perception positioning system starts to collect the vibration signal of the vibration excitation source to be measured.

[0122] The rough position includes the positive X-axis direction, negative X-axis direction, positive Y-axis direction, negative Y-axis direction, first quadrant, second quadrant, third quadrant, and fourth quadrant within the preset area, as well as the positive X-axis direction, negative X-axis direction, positive Y-axis direction, negative Y-axis direction, first quadrant, second quadrant, third quadrant, and fourth quadrant outside the preset area. The preset area is the circular area where the first sensor, second sensor, third sensor, and fourth sensor are located.

[0123] Specifically, determining the rough position of the vibration excitation source to be measured according to the time (i.e., T1, T2, T3, T4) when each sensor in the vibration perception positioning system starts to collect the vibration signal of the vibration excitation source to be measured includes:

[0124] If T2 < T1 = T3 < T4, then the vibration excitation source to be measured is located on the positive Y-axis direction within the preset area, as Fig.11 shown; if T2 < T1 < T3 < T4 or T2 = T1 < T3 = T4 or T1 < T2 < T3 = T4, then the vibration excitation source to be measured is located in the first quadrant within the preset area, as Fig.12 shown. It should be noted that, for the sake of simplifying the discussion, only the cases where the vibration excitation source to be measured is located on the positive Y-axis direction within the preset area and in the first quadrant within the preset area are given in this embodiment. For the cases where the vibration excitation source to be measured is located on the negative Y-axis direction within the preset area, positive X-axis direction within the preset area, negative X-axis direction within the preset area, second quadrant within the preset area, third quadrant within the preset area, and fourth quadrant within the preset area, similar inferences can be obtained.

[0125] If T2 < T1 = T3 < T4, and T4 > 2*T 04 , then the vibration excitation source to be measured is located on the positive Y-axis direction outside the preset area, as Fig.13 shown; if T2 < T1 < T3 < T4, or T1 < T2 < T4 < T3, or T1 < T2 < T3 = T4 and T4 > 2*T 04 , then the vibration excitation source to be measured is located in the first quadrant outside the preset area, as Fig.14 shown. It should be noted that, for the sake of simplifying the discussion, only the cases where the vibration excitation source to be measured is located on the positive Y-axis direction outside the preset area and in the first quadrant outside the preset area are given in this embodiment. For the cases where the vibration excitation source to be measured is located on the negative Y-axis direction outside the preset area, positive X-axis direction outside the preset area, negative X-axis direction outside the preset area, second quadrant outside the preset area, third quadrant outside the preset area, and fourth quadrant outside the preset area, similar inferences can be obtained.

[0126] Step S4, if the vibration excitation source to be measured is located on the coordinate axis, then according to the propagation speed of the vibration signal, an equation relationship is established with the difference in signal propagation distance and signal propagation time from the vibration excitation source to the two sensors on the coordinate axis where the vibration excitation source to be measured is located, so as to obtain the precise position of the vibration excitation source to be measured on the coordinate axis;

[0127] If the vibration excitation source to be measured is located in the quadrant, any three sensors are selected as target sensors, and the signal propagation distance from the vibration excitation source to be measured to each target sensor is used as the hypotenuse, and the line segment parallel to the X-axis and the line segment parallel to the Y-axis are used as the right-angled sides to construct three right-angled triangles; each right-angled triangle is described according to the Pythagorean theorem, and according to the propagation speed of the vibration signal, an equation relationship is established with the difference in signal propagation distance and signal propagation time from the vibration excitation source to the two target sensors to obtain the precise position of the vibration excitation source to be measured on the coordinate axis.

[0128] The precise position includes the distance b between the vibration excitation source to be measured and the X-axis, the distance a between the vibration excitation source to be measured and the Y-axis, and the angle α between the straight line OA and the positive direction of the X-axis.

[0129] Specifically, when the vibration excitation source A to be measured is located in the positive direction of the Y axis within the preset area, Fig.11 As shown, step S4 includes:

[0130] v=S 02 / T 02

[0131]

[0132] Where, v is the propagation speed of the vibration signal; S 0i , i = 1, 2, 3, 4, is the signal propagation distance from the calibration excitation source to the i-th sensor; T 0i , i = 1, 2, 3, 4, is the signal propagation time from the calibration excitation source to the i-th sensor; T i is the time when the i-th sensor starts to collect the vibration signal of the vibration excitation source to be measured; b is the distance between the vibration excitation source to be measured and the X-axis.

[0133] Specifically, when the vibration excitation source A to be measured is located in the first quadrant of the preset area, Fig.12 As shown, step S4 includes:

[0134] v=S 02 / T 02

[0135]

[0136]

[0137]

[0138] Among them, S Ai , i = 1, 2, 3, 4, is the signal propagation distance from the vibration excitation source A to be measured to the i-th sensor; a is the distance from the vibration excitation source to be measured to the Y axis; α is the angle between the straight line OA and the positive direction of the X axis.

[0139] It should be noted that, in order to simplify the discussion, this embodiment only cites the case where the vibration excitation source to be measured is located in the positive direction of the Y-axis within the preset area and in the first quadrant within the preset area. Similar reasoning can be used to obtain the case where the vibration excitation source to be measured is located in the negative direction of the Y-axis within the preset area, the positive direction of the X-axis within the preset area, the negative direction of the X-axis within the preset area, the second quadrant within the preset area, the third quadrant within the preset area, and the fourth quadrant within the preset area.

[0140] Specifically, when the vibration excitation source A to be measured is located in the positive direction of the Y axis outside the preset area, Fig.13 As shown, step S4 includes:

[0141] v=S 02 / T 02

[0142]

[0143] Specifically, when the vibration excitation source A to be measured is located in the first quadrant outside the preset area, such as Fig.14 As shown, step S4 includes:

[0144] v=S 02 / T 02

[0145]

[0146]

[0147]

[0148] It should be noted that, in order to simplify the discussion, this embodiment only cites the case where the vibration excitation source to be measured is located in the positive direction of the Y-axis outside the preset area and in the first quadrant outside the preset area. Similar reasoning can be used to obtain the case where the vibration excitation source to be measured is located in the negative direction of the Y-axis outside the preset area, the positive direction of the X-axis within the preset area, the negative direction of the X-axis within the preset area, the second quadrant outside the preset area, the third quadrant within the preset area, and the fourth quadrant within the preset area.

[0149] In summary, the vibration sensing and positioning method proposed in the embodiment of the present invention realizes ultra-sensitive perception, rapid identification and precise positioning of the vibration excitation source.

[0150] It should be noted that the water strider-like sensor, vibration sensing and positioning system and vibration sensing and positioning method proposed in the present invention can be applied to national defense and engineering technology fields such as dynamic characteristics monitoring of the human body, crack detection of bridge structures, dynamic characteristics testing of machine tool structures, vehicle operation vibration measurement, aircraft operation environment monitoring, and positioning of hostile long-range weapons.

[0151] It should be understood that the above description of the specific embodiments of the present invention is only for illustrating the technical route and features of the present invention, and its purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly, but the present invention is not limited to the above specific implementation methods. Any changes or modifications made within the scope of the claims of the present invention should be included in the protection scope of the present invention.

Claims

1. A water strider-like sensor, characterized in that: It includes a sealed cavity, a vibration element, a first wire and a second wire; The vibration element is fixed in the sealed cavity, and comprises a substrate (21), a flexible film (22) and a vibration block (23); the first end of the flexible film (22) is fixedly connected to the upper surface of the substrate (21); the second end of the flexible film (22) is fixedly connected to the upper surface of the substrate (21); the vibration block (23) is located between the flexible film (22) and the substrate (21); the flexible film (22) is in a tensioned state; a conductive layer (24) formed by metal ion stacking is attached to the upper surface of the flexible film (22); and a plurality of cracks are provided on the surface of the conductive layer (24); The first end of the first wire is welded to the first end of the conductive layer (24), the second end of the first wire extends out of the sealed cavity and is exposed outside the sealed cavity, the first end of the second wire is welded to the second end of the conductive layer (24), and the second end of the second wire extends out of the sealed cavity and is exposed outside the sealed cavity.

2. The water strider-like sensor according to claim 1, characterized in that: A guide groove (211) opening upward is provided on the upper surface of the substrate (21), and the vibration block (23) is connected to the guide groove (211) by sliding up and down. The bottom of the vibration block (23) contacts the upper surface of the substrate (21), and the top of the vibration block (23) contacts the lower surface of the flexible film (22), and there is a gap between the guide groove (211) and the flexible film (22).

3. The water strider-like sensor according to claim 2, characterized in that: The vibration block (23) is spherical, and the guide groove (211) is cylindrical.

4. The water strider-like sensor according to claim 1, characterized in that: The vibration block (23) is located at the center of the flexible film (22) and the substrate (21).

5. The water strider-like sensor according to claim 1, characterized in that: The vibration block (23) is fixedly connected to the base plate (21).

6. A vibration sensing positioning system, characterized in that: It includes a vibration signal collecting device and a vibration signal processing device; The vibration signal acquisition device comprises a first sensor (11), a second sensor (12), a third sensor (13) and a fourth sensor (14) which are deployed on a plane, wherein the first sensor (11), the second sensor (12), the third sensor (13) and the fourth sensor (14) are uniformly distributed along a preset circumference in sequence, and the first sensor (11), the second sensor (12), the third sensor (13) and the fourth sensor (14) are all sensors according to any one of claims 1 to 5; The first sensor (11), the second sensor (12), the third sensor (13) and the fourth sensor (14) are all electrically connected to the vibration signal processing device.

7. The vibration sensing positioning system according to claim 6, characterized in that: The vibration signal processing device includes a control unit (32) and a computer (34); The first sensor (11), the second sensor (12), the third sensor (13), and the fourth sensor (14) are all electrically connected to the control unit (32), and the control unit (32) is communicatively connected to the computer (34).

8. A method for performing vibration sensing positioning using the vibration sensing positioning system according to claim 6 or 7, characterized in that: Including: S1. Taking the first sensor and the third sensor as the X-axis, and the second sensor and the fourth sensor as the Y-axis to establish a coordinate system, and calibrating that the vibration excitation source is located at the origin of the coordinate system; obtaining the propagation speed of the vibration signal according to the distribution of the sensors in the vibration perception positioning system and the pre-calibrated vibration excitation source. S2. Collecting the vibration signals of the to-be-detected vibration excitation source sensed by each sensor in the vibration perception positioning system. S3. Determining the rough position of the to-be-detected vibration excitation source according to the time when each sensor in the vibration perception positioning system starts to collect the vibration signals of the to-be-detected vibration excitation source. The rough position includes the positive direction of the X-axis, the negative direction of the X-axis, the positive direction of the Y-axis, the negative direction of the Y-axis, the first quadrant, the second quadrant, the third quadrant, and the fourth quadrant within the preset area, as well as the positive direction of the X-axis, the negative direction of the X-axis, the positive direction of the Y-axis, the negative direction of the Y-axis, the first quadrant, the second quadrant, the third quadrant, and the fourth quadrant outside the preset area; the preset area is the circular area where the first sensor, the second sensor, the third sensor, and the fourth sensor are located. S4. If the to-be-detected vibration excitation source is located on the coordinate axis, then according to the propagation speed of the vibration signal, an equation relationship is established with the difference in signal propagation distance and the difference in signal propagation time between the to-be-detected vibration excitation source and the two sensors on the coordinate axis where the to-be-detected vibration excitation source is located, so as to obtain the accurate position of the to-be-detected vibration excitation source on the coordinate axis. If the to-be-detected vibration excitation source is located within the quadrant, any 3 sensors are selected as the target sensors. Taking the signal propagation distance from the to-be-detected vibration excitation source to each target sensor as the hypotenuse, and the line segment parallel to the X-axis and the line segment parallel to the Y-axis as the right-angle sides, 3 right-angled triangles are constructed; each right-angled triangle is described according to the Pythagorean theorem, and an equation relationship is established according to the propagation speed of the vibration signal, the difference in signal propagation distance and the difference in signal propagation time between the to-be-detected vibration excitation source and the two target sensors, so as to obtain the accurate position of the to-be-detected vibration excitation source on the coordinate axis.

9. The vibration sensing positioning method according to claim 8, characterized in that: Determining the rough position of the to-be-detected vibration excitation source according to the time when each sensor in the vibration perception positioning system starts to collect the vibration signals of the to-be-detected vibration excitation source includes: If T2 < T1 = T3 < T4, then the to-be-detected vibration excitation source is located on the positive direction of the Y-axis within the preset area. If T2 < T1 < T3 < T4 or T2 = T1 < T3 = T4 or T1 < T2 < T3 = T4, then the to-be-detected vibration excitation source is located in the first quadrant within the preset area. If T2 < T1 = T3 < T4, and T4 > 2*T 04 , then the vibration excitation source to be measured is located on the positive Y-axis outside the preset area; If T2 < T1 < T3 < T4, or T1 < T2 < T4 < T3, or T1 < T2 < T3 = T4 and T4 > 2*T 04 , then the vibration excitation source to be measured is located in the first quadrant outside the preset area.

10. The vibration perception positioning method according to claim 8, wherein when the to-be-detected vibration excitation source A is located on the positive direction of the Y-axis within the preset area, S4 includes: v=S 02 / T 02 when the to-be-detected vibration excitation source A is located in the first quadrant within the preset area, S4 includes: v=S 02 / T 02 when the to-be-detected vibration excitation source A is located on the positive direction of the Y-axis outside the preset area, S4 includes: v=S 02 / T 02 when the to-be-detected vibration excitation source A is located in the first quadrant outside the preset area, S4 includes: v=S 02 / T 02 Where, v is the propagation speed of the vibration signal, S 0i , i = 1, 2, 3, 4, is the signal propagation distance from the calibration excitation source to the i-th sensor; S Ai , i = 1, 2, 3, 4, is the signal propagation distance from the vibration excitation source A to the i-th sensor; T 0i , i = 1, 2, 3, 4, is the signal propagation time from the calibration excitation source to the i-th sensor; T i is the time when the i-th sensor starts to collect the vibration signal of the vibration excitation source to be measured; a is the distance between the vibration excitation source to be measured and the Y axis; b is the distance between the vibration excitation source to be measured and the X axis; α is the angle between the straight line OA and the positive direction of the X axis.

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