Cross-medium flow sensing device based on magnetic cantilever beam

Abstract

The invention discloses a cross-medium flow sensing device based on a magnetic cantilever beam, the cross-medium flow sensing device is applied to an aircraft, the cross-medium flow sensing device comprises a cantilever beam and a magnetic sensor, the cantilever beam is arranged on a mounting assembly and provided with a magnetic component, and the structure of the mounting assembly enables the surrounding environment of the magnetic sensor to be a sealed environment. The whole magnetic sensing device can adapt to two use environments of water and air; the cantilever beam can deform under the action of flowing; the deformation drives a magnetic component on the cantilever beam to deflect, so that a magnetic field around the cantilever beam is changed; the magnetic sensor is used for detecting magnetic field changes generated by deformation of the cantilever beam and converting the magnetic field changes into electric signals so as to accurately reflect and sense flow field characteristics such as the speed and the flowing direction of the aircraft in two media (air and water) in real time.

Description

Technical Field

[0001] The present invention relates to the technical field of cross-medium flight technology for aircraft, and particularly to a cross-medium flow sensing device based on a magnetic cantilever beam. Background Art

[0002] With the progress of technology, aircraft technology has developed from traditional aerial aircraft to cross-medium aircraft in multiple fields and media; a cross-medium aircraft refers to an aircraft that can switch between at least two different physical media (such as water, air, etc.) and perform tasks. The emergence of such aircraft has solved many problems that traditional aircraft cannot efficiently perform tasks in complex environments, especially in the fields of amphibious flight, ocean exploration, deep-sea operation, emergency rescue, etc., which have important application values.

[0003] Although the application prospects of cross-medium aircraft are broad, to achieve efficient switching of an aircraft between two or more different media, a series of technical problems still need to be faced, including:

[0004] Compatibility problems of the sensor system: Traditional aircraft are usually equipped with sensor systems adapted to a specific environment (such as pressure sensors, angle sensors, etc.), but the environmental parameters such as air pressure and flow velocity in water and air are very different. Existing sensors can often only work efficiently in a single medium and are difficult to provide real-time and multi-dimensional environmental perception data required for cross-medium flight.

[0005] Cross-medium flight complex flow sensing problem: Since the flow environment underwater is significantly different from the atmospheric environment, existing flow sensing systems often cannot be applied to both media at the same time, resulting in severe control problems when the aircraft crosses different media.

[0006] To break through these limitations, it is necessary to develop a sensor device that can sense complex flows during cross-medium flight and provide the key flow parameters required for flight control. Summary of the Invention

[0007] The purpose of the present invention is to provide a cross-medium flow sensing device based on a magnetic cantilever beam. Through the magnetic field change caused by the deformation of the magnetic cantilever beam under the action of different hydrodynamic characteristics in water and air, the flow field characteristics such as the speed and flow direction of the aircraft in two media (air and water) can be sensed in real time, so as to solve the technical problems existing in the prior art.

[0008] To solve the above technical problems, the present invention specifically provides the following technical solutions:

[0009] A cross-media flow sensing device based on a magnetic cantilever beam, comprising: a cantilever beam with a magnetic component, the cantilever beam deforming under the action of an air flow; the magnetic component on the cantilever beam causing a change in the magnetic field around the cantilever beam; a magnetic sensor for detecting the magnetic field change generated by the deformation of the cantilever beam and converting it into an electrical signal to reflect the intensity and direction of the flow field around the cantilever beam; and a mounting assembly for mounting and fixing the cantilever beam and the magnetic sensor, and the structure of the mounting assembly making the environment around the magnetic sensor a sealed environment, so that the entire magnetic sensing device can adapt to two usage environments, namely in water and in air.

[0010] Further, the main body of the cantilever beam is a carbon fiber rod, and the magnetic component is a ring-shaped permanent magnet sleeved on the carbon fiber rod.

[0011] Further, positioning sleeves are respectively provided at both ends of the permanent magnet on the carbon fiber rod, and the positioning sleeves are in transitional fit with the carbon fiber rod for limiting the permanent magnet; and the permanent magnet is wrapped in a copper tube for protecting the permanent magnet.

[0012] Further, the mounting assembly includes a mounting base and a cover plate. A first groove for mounting the magnetic sensor is formed on the mounting base, and the cover plate is used to cover the first groove, and an external force for fitting the cover plate to the first groove is applied, so that a sealed cavity is formed between the first groove and the cover plate;

[0013] A through hole for fixing the carbon fiber rod is provided on the cover plate, so that the magnetic component is located directly above the sensor.

[0014] Further, the distance between the magnetic component and the magnetic sensor is 4 - 6 mm.

[0015] Further, the magnetic sensor is integrated on a base, and a wiring module connected to the magnetic sensor is integrated on the back of the base relative to the sensor, for serving as the power supply interface and the signal line interface of the magnetic sensor;

[0016] The base is arranged between the first groove and the cover plate, the size of the base can be stuck in the first groove, and the side of the base integrated with the magnetic sensor faces the cover plate.

[0017] Further, an inner groove is formed at the position of the cover plate facing the magnetic sensor. When an external force is applied to the cover plate, it fits with the base, so that a space for accommodating the magnetic sensor exists between the cover plate and the base.

[0018] Further, a second groove is formed in the first groove of the mounting base to form a space for accommodating the wiring module;

[0019] A through slot communicating with the second groove is formed in the side wall of the mounting base for the power line and signal line of the magnetic sensor to pass through the through slot and be connected to the wiring module.

[0020] The present invention has the following beneficial effects compared with the prior art:

[0021] The cross-media flight magnetic sensing device based on a magnetic cantilever beam provided by the present invention combines the technologies of a magnetic cantilever beam and a magnetic sensor, and can real-time sense flow field characteristics such as the speed and flow direction of an aircraft in two media (air and water).

[0022] Through the magnetic field change caused by the deformation of the magnetic cantilever beam under the hydrodynamic actions of different characteristics in water and air, the device can accurately feedback flight data to the aircraft; it has high precision, high reliability and low cost, and is applicable to cross-media aircraft such as underwater drones, amphibious aircraft and aerial drones. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only exemplary, and for those of ordinary skill in the art, other implementation drawings can be obtained according to the provided drawings without creative efforts.

[0024] Figure 1 It is a schematic diagram of the result of a cross-media flow sensing device based on a magnetic cantilever beam;

[0025] Figure 2 It is a schematic diagram of the structure of the cantilever beam;

[0026] Figure 3 It is a schematic diagram of the result of one embodiment of the installation of the magnetic sensor;

[0027] Figure 4 For Figure 1 the exploded view of the magnetic sensing device shown;

[0028] Figure 5 It is a schematic diagram of the magnetic field magnitude at different distances between the magnetic component and the distance sensor.

[0029] The reference numerals in the drawings are respectively represented as follows:

[0030] 1 - cantilever beam, 11 - magnetic component, 12 - carbon fiber rod, 13 - permanent magnet, 14 - positioning sleeve, 15 - copper tube;

[0031] 2 - magnetic sensor, 21 - base, 22 - wiring module;

[0032] 3 - mounting component, 31 - mounting base, 32 - cover plate, 311 - first groove, 312 - second groove, 313 - through groove, 321 - through hole. Specific Embodiment

[0033] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0034] As Figure 1 shown, the present invention provides a specific embodiment of a cross - medium flow sensing device based on a magnetic cantilever beam, including a cantilever beam 1 and a magnetic sensor 2 disposed on a mounting component 3.

[0035] The toughness and rigidity of the material forming the cantilever beam 1 enable the cantilever beam 1 to deform under the action of air flow.

[0036] Specifically, in this embodiment, a carbon fiber rod 12 is selected as the main body of the cantilever beam.

[0037] The cantilever beam 1 is provided with a magnetic component 11, such that during the process of the air flow causing the cantilever beam 1 to deform, the magnetic field around the cantilever beam 1 will change.

[0038] The magnetic sensor 2 is used to detect the magnetic field change generated due to the deformation of the cantilever beam 1 and convert it into an electrical signal for output, so as to accurately reflect the intensity and direction of the air flow around the cantilever beam 1, and further reflect the intensity and direction of the air flow around the entire aircraft.

[0039] Specifically, in this embodiment, the magnetic sensor 2 selected is a three - dimensional magnetic sensor 2, specifically the MLX90393 three - dimensional magnetic sensor, which can detect magnetic field changes in three directions X, Y, and Z in space, and the flow direction information can be obtained through vector synthesis; the accuracy and sensitivity of the three - dimensional magnetic field sensor enable it to capture the tiny signals in the air flow change and convert them into electrical signals for subsequent data processing.

[0040] The mounting component is used to install and fix the cantilever beam and the magnetic sensor, and the structure of the mounting component makes the environment around the magnetic sensor a sealed environment, enabling the entire magnetic sensing device to adapt to two usage environments: underwater and airborne.

[0041] In addition to installing and fixing the cantilever beam 1 and the magnetic sensor 2, the installation component 3 is also used to install and fix the entire magnetic sensing device on the exterior of the aircraft, such that during the flight of the aircraft, the external force characteristics received by the cantilever beam 1 from the fluid are identical and synchronous with the external force characteristics received by the aircraft from the fluid, so as to achieve the real-time nature of the electrical signal feedback by the magnetic sensor 2 and improve the response speed.

[0042] Furthermore, to truly reflect the airflow conditions around the aircraft, the installation position and orientation between the installation component 3 and the aircraft are such that during the flight of the aircraft, the main body of the cantilever beam 1 is vertically arranged relative to the fluid, so that the deformation of the cantilever beam 1 can better reflect the fluid conditions.

[0043] This embodiment provides an example of the cantilever beam 1, as Figure 2 shown:

[0044] The main body of the cantilever beam 1 is a carbon fiber rod 12, and the magnetic component 11 is a ring-shaped permanent magnet 13 made of N52 material. The permanent magnet 13 is sleeved on the carbon fiber rod 12; positioning sleeves 14 are respectively provided at both ends of the permanent magnet 13 on the carbon fiber rod 12. The positioning sleeves 14 are in transitional fit with the carbon fiber rod 12 and are used to limit the position of the permanent magnet 13, so that the position of the permanent magnet 13 on the carbon fiber rod 12 is fixed; and the entire magnetic component 11 is wrapped in a copper tube 15 to protect the permanent magnet 13.

[0045] This embodiment provides an example of the installation component 3, as Figure 3 shown:

[0046] The installation component 3 includes an installation base 31 and a cover plate 32. A first groove 311 for installing the magnetic sensor 2 is provided on the installation base 31. The cover plate 32 is used to cover the first groove 311, and an external force for fitting with the first groove 311 is applied to the cover plate 32, so that a sealed cavity is formed between the first groove 311 and the cover plate 32 to ensure waterproofness.

[0047] Specifically, the cover plate 32 is fixed to the installation base 31 through bolts.

[0048] The cover plate 32 is provided with a through hole 321 for fixing the carbon fiber rod 12, such that the magnetic component 11 is located directly above the sensor.

[0049] In this embodiment, the detection effects of the magnetic sensor 2 with the same load and different magnet heights are tested, aiming to optimize the optimal distance between the magnetic component 11 and the sensor. As Figure 5 shown, this test is carried out from a distance of 3 mm to 11 mm from the lower bottom surface of the magnetic component 11 to the magnetic sensor 2. Among them, the diameter of the cantilever beam 1 is 0.3 mm and the length is 65 mm.

[0050] In each test, the same load is applied to the free end of the cantilever beam 1, and the loading direction is consistent with the X direction of the magnetic sensor 2. Therefore, the variation of the magnetic field in the Y and Z directions of the magnetic sensor 2 is very small.

[0051] The test results are as Figure 5 shown. The abscissa is the distance between the lower bottom surface of the magnetic component 11 and the magnetic sensor 2, and the ordinate is the magnetic field strength in the X direction measured by the magnetic sensor 2. It can be seen from the figure that when the distance between the magnetic component 11 and the magnetic sensor 2 is 4 - 6 mm, the detection effect of the magnetic sensor 2 is the best, and as the distance increases, the magnetic field strength gradually weakens.

[0052] Therefore, in this embodiment, the distance between the magnetic component 11 and the magnetic sensor 2 is preferably 4 - 6 mm.

[0053] The magnetic sensor 2 needs to be connected to a power supply line to supply power to the magnetic sensor 2, and needs to be connected to a signal line to transmit signals to the flight control system. Therefore, in order to ensure the sealing of the magnetic sensor 2, the following structure is provided in this embodiment, as Figure 3 and Figure 4 shown:

[0054] The magnetic sensor 2 is integrated on the base 21. The base 21 is integrated with a wiring module 22 connected to the magnetic sensor 2 on the back relative to the sensor, which is used as the power supply interface and signal line interface of the magnetic sensor 2; the base 21 is arranged between the first groove 311 and the cover plate 32. The size of the base 21 can be stuck in the first groove 311, and the side of the base 21 integrated with the magnetic sensor 2 faces the cover plate 32.

[0055] The bolts fixing the cover plate 32 pass through the four corners of the base 21 and are threadedly connected to the four corners of the first groove 311 of the mounting base 31.

[0056] Furthermore, an inner groove is formed at the position of the cover plate 32 facing the magnetic sensor 2. When the cover plate 32 is tightened by the external force of the bolts, it fits with the base 21, so that there is a space for accommodating the magnetic sensor 2 between the cover plate 32 and the base 21.

[0057] Furthermore, when the cover plate 32 is tightened by the external force of the bolts and fits with the base 21, the base 21 fits with the first groove 311; therefore, a second groove 312 is formed in the first groove 311 of the mounting base 31 to form a space for accommodating the wiring module 22; a through groove 313 communicating with the second groove 312 is formed on the side wall of the mounting base 31, and the power supply line and signal line of the magnetic sensor 2 pass through the through groove 313 to be connected to the wiring module 22.

[0058] The flexible cable formed by the power line and signal line of the magnetic sensor 2 is led out through the through groove 313, and the through groove 313 is sealed with 705 silicone rubber filling; 705 silicone rubber has good fluidity and can fill the internal space of the entire mounting component 3 to protect the chip.

[0059] Furthermore, waterproof gaskets are added at the bolt mounting holes and each connection, or 705 silicone rubber is used for sealing, so that the mounting component 3 can achieve a good waterproof effect; at the same time, the sealed shell formed by the mounting component 3 and the cover plate improves the pressure resistance of the device underwater.

[0060] Based on the above content, the cross-media flight magnetic sensing device based on a magnetic cantilever beam provided by this embodiment has the following several remarkable technical advantages:

[0061] Large measurement range: When the length of the cantilever beam is 65 mm and the diameter is 0.4 mm, the air measurement range is 0 - 60 m / s, and the water measurement range is 0 - 10 m / s.

[0062] High-precision measurement: Through the combination of the magnetic cantilever beam and the three-dimensional magnetic field sensor, it can accurately capture the speed and fluid direction of the aircraft in a complex fluid environment, providing high-precision flight data. The speed resolution in air can reach 0.8 m / s, and the resolution in water can reach 0.03 m / s.

[0063] Fast response: Using the magnetic field signal as the signal source, the response speed is extremely fast, which can reflect the fluid changes in real time and ensure that the aircraft can quickly sense when encountering complex flows.

[0064] Low cost: Compared with traditional sensor systems, it reduces the dependence on multiple high-cost pressure sensors, reduces the overall cost of the system, and is suitable for economical aircraft and cross-media aircraft.

[0065] The above embodiments are only exemplary embodiments of the present application and are not used to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art can make various modifications or equivalent replacements within the essence and protection scope of the present application, and such modifications or equivalent replacements should also be regarded as falling within the protection scope of the present application.

Claims

1. A cross-medium flow sensing device based on a magnetic cantilever beam, characterized in that: include: A cantilever beam (1) with a magnetic component (11), wherein the cantilever beam (1) is deformed under the action of airflow; The magnetic component (11) on the cantilever beam (1) causes the magnetic field around the cantilever beam (1) to change; A magnetic sensor (2) is used to detect changes in the magnetic field caused by the deformation of the cantilever beam (1), and convert the changes into electrical signals to reflect the intensity and direction of the flow field around the cantilever beam (1); The mounting assembly (3) is used to mount and fix the cantilever beam (1) and the magnetic sensor (2), and the structure of the mounting assembly (3) enables the surrounding environment of the magnetic sensor (2) to be a sealed environment, so that the entire magnetic sensor device can adapt to both underwater and aerial use environments.

2. The cross-medium flying magnetic sensing device based on a magnetic cantilever beam according to claim 1, characterized in that: The main body of the cantilever beam (1) is a carbon fiber rod (12), the magnetic component (11) is a ring-shaped permanent magnet (13), and the permanent magnet (13) is sleeved on the carbon fiber rod (12).

3. The cross-medium flying magnetic sensing device based on a magnetic cantilever beam according to claim 2, characterized in that: The carbon fiber rod (12) is provided with positioning sleeves (14) at both ends of the permanent magnet (13), respectively. The positioning sleeves (14) are transitionally matched with the carbon fiber rod (12) and are used to limit the position of the permanent magnet (13); and the permanent magnet (13) is wrapped in a copper tube (15) to protect the permanent magnet (13).

4. The cross-medium flying magnetic sensing device based on a magnetic cantilever beam according to claim 1 or 3, characterized in that: The mounting assembly (3) comprises a mounting seat (31) and a cover plate (32); the mounting seat (31) is provided with a first groove (311) for mounting the magnetic sensor (2); the cover plate (32) is used to cover the first groove (311), and an external force is applied to the cover plate (32) to fit the first groove (311), so that a closed cavity is formed between the first groove (311) and the cover plate (32); The cover plate (32) is provided with a through hole (321) for fixing the carbon fiber rod (12), so that the magnetic component (11) is located directly above the sensor.

5. The cross-medium flying magnetic sensing device based on a magnetic cantilever beam according to claim 4, characterized in that: The distance between the magnetic component (11) and the magnetic sensor (2) is 4-6 mm.

6. The cross-medium flying magnetic sensing device based on a magnetic cantilever beam according to claim 5, characterized in that: The magnetic sensor (2) is integrated on a base (21), and a wiring module (22) connected to the magnetic sensor (2) is integrated on the back side of the base (21) relative to the sensor, and is used as a power line interface and a signal line interface of the magnetic sensor (2); The base (21) is arranged between the first groove (311) and the cover plate (32); the base (21) is large enough to be stuck in the first groove (311), and a side of the base (21) on which the magnetic sensor (2) is integrated is placed toward the cover plate (32).

7. The cross-medium flying magnetic sensing device based on a magnetic cantilever beam according to claim 6, characterized in that: The cover plate (32) is provided with an inner groove at a position facing the magnetic sensor (2), and when an external force is applied to the cover plate (32), the cover plate (32) is fitted with the base (21), so that a space for accommodating the magnetic sensor (2) exists between the cover plate (32) and the base (21).

8. The method according to claim 7, characterized in that: The mounting seat (31) is provided with a second groove (312) in the first groove (311), forming a space for accommodating the wiring module (22); The side wall of the mounting seat (31) is provided with a through slot (313) connected to the second groove (312), and a power line and a signal line of the magnetic sensor (2) are connected to the wiring module (22) through the through slot (313).

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