Flexible magnetic cilia type deep sea flow velocity sensor, aircraft and application method thereof

Abstract

The invention discloses a flexible magnetic cilia type deep sea flow velocity sensor, an aircraft and an application method of the flexible magnetic cilia type deep sea flow velocity sensor. The sensing unit is a flexible magnetic cilia array composed of a flexible magnetic cilia of a cantilever beam type structure or a plurality of flexible magnetic cilia of a cantilever beam type structure, and is used for deforming under the action of water flow to change the distribution of a surrounding magnetic field. The cantilever beam type structure is a structure in which one end of the flexible magnetic cilia is fixed and the other end of the flexible magnetic cilia is suspended; the detection unit is a TMR magnetic sensitive element array which is located on one side of the suspended end of the flexible magnetic cilia and arranged with the flexible magnetic cilia in a spaced mode so as to be used for detecting the magnetic field distribution change caused by the sensing unit. The invention aims to realize large-pressure and high-resolution flow velocity detection in a deep sea environment, and provides an excellent flow velocity detection solution for a deep sea hull.

Description

Technical Field

[0001] The present invention relates to flow velocity sensor technology, and in particular to a flexible magnetic ciliary deep-sea flow velocity sensor, a vehicle and an application method thereof. Background Art

[0002] Underwater flow velocity measurement has widespread applications in underwater exploration, marine engineering, environmental monitoring, and other fields. Traditional underwater flow velocity measurement methods, such as Doppler velocimeters and acoustic Doppler current profilers, have met measurement requirements to a certain extent, but their accuracy in deep-sea environments still needs to be improved. To meet the requirements for underwater flow velocity measurement, calorimetric flow sensors or ciliary flow sensors are currently commonly used. Existing calorimetric flow sensors offer high sensitivity and resolution for flow velocity measurement, but they easily saturate at lower underwater flow velocities. Ciliary flow sensors use the drag generated by cilia in the flow field to measure flow velocity, making them ideal for high-velocity measurements. However, the drag generated by cilia in the flow field exhibits a quadratic relationship with the flow velocity. At lower flow velocities, the drag generated by cilia barely allows strain sensors to react, making them unsuitable for low-velocity measurements. Therefore, achieving high-pressure, high-resolution flow velocity detection in deep-sea environments has become a critical technical challenge that needs to be addressed. Summary of the Invention

[0003] The technical problem to be solved by the present invention is as follows: In response to the above-mentioned problems of the prior art, a flexible magnetic ciliary deep-sea current velocity sensor, a vehicle and an application method thereof are provided. The present invention aims to achieve high-pressure and high-resolution current velocity detection in deep-sea environments, and provide an excellent current velocity detection solution for deep-sea hulls.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: A flexible magnetic cilia-type deep-sea current velocity sensor includes a detachable sensing unit and a detection unit. The sensing unit is a flexible magnetic cilia array composed of a flexible magnetic cilia with a cantilever beam structure or multiple flexible magnetic cilia with a cantilever beam structure, which is used to deform under the action of water flow to change the surrounding magnetic field distribution. The cantilever beam structure refers to a structure in which one end of the flexible magnetic cilia is fixed and the other end is suspended. The detection unit is a TMR magnetic sensitive element array located on one side of the suspended end of the flexible magnetic cilia and arranged in a gap with the flexible magnetic cilia, which is used to detect the change in magnetic field distribution caused by the sensing unit.

[0005] Optionally, the flexible magnetic cilia are composed of a flexible matrix embedded with permanent magnetic particles.

[0006] Optionally, the flexible matrix is a high-strength cross-linked network structure constructed by doping short-chain molecules and long-chain molecules.

[0007] Optionally, the permanent magnetic particles include permanent magnetic particles of various sizes.

[0008] Optionally, the multiple scales include 500-1000 nm, 1-10 μm, and 10-50 μm.

[0009] Optionally, the TMR magnetic sensitive element array includes five TMR magnetic sensitive elements, and the distances from the five TMR magnetic sensitive elements to the same flexible magnetic cilium are respectively r 1~ r 5, among which r 1 and r 3 The corresponding magnetic sensitive element measures the horizontal x Direction of the magnetic field, r 2 and r 4 The corresponding magnetic sensitive element measures the horizontal y Direction of the magnetic field, r 5The corresponding magnetic sensitive element measures z Direction of the magnetic field.

[0010] In addition, the present invention also provides an unmanned aircraft, including an aircraft body and a flow rate sensor arranged on the aircraft body, and the flow rate sensor is the flexible magnetic ciliary deep-sea flow rate sensor.

[0011] Optionally, a mounting bracket is provided on the vehicle body, the root of the flexible magnetic ciliary hairs of the flexible magnetic ciliary hair deep-sea current velocity sensor is fixed on the mounting bracket and its suspended end is arranged close to the surface side of the vehicle body, and the detection unit of the flexible magnetic ciliary hair deep-sea current velocity sensor is fixed on the surface of the vehicle body and arranged opposite to the flexible magnetic ciliary hairs.

[0012] In addition, the present invention also provides an application method of the aforementioned flexible magnetic ciliary deep-sea current velocity sensor, comprising: S1, obtaining the magnitude of the magnetic field detected by each TMR magnetic sensitive element in the TMR magnetic sensitive element array; S2, the speed and direction of the seawater are calculated based on the magnetic field detected by each TMR magnetic sensitive element.

[0013] Optionally, in step S2, jointly calculating the speed and direction of seawater based on the magnetic field magnitudes detected by each TMR magnetic sensitive element includes: inputting the magnetic field magnitudes detected by each TMR magnetic sensitive element into a pre-trained BP neural network to obtain the speed and direction of seawater, the BP neural network including an input layer, a hidden layer, and an output layer connected in sequence, the input layer including a plurality of neurons having the same number as the TMR magnetic sensitive elements in the TMR magnetic sensitive element array, the number of the hidden layers being one or more layers, and the output layer including two neurons for outputting the speed and direction of seawater, respectively.

[0014] Compared with the prior art, the present invention mainly has the following advantages: the sensor of the present invention includes a detachable sensing unit and a detection unit, the sensing unit is a flexible magnetic cilia array composed of a flexible magnetic cilia with a cantilever beam structure or a plurality of flexible magnetic cilia with a cantilever beam structure, which is used to deform under the action of water flow to change the surrounding magnetic field distribution, and the cantilever beam structure refers to a structure in which one end of the flexible magnetic cilia is fixed and the other end is suspended; the detection unit is a TMR magnetic sensitive element array located on one side of the suspended end of the flexible magnetic cilia and arranged in a gap with the flexible magnetic cilia, which is used to detect the change in magnetic field distribution caused by the sensing unit. The present invention can realize high-pressure and high-resolution flow velocity detection in deep-sea environment, and provide an excellent flow velocity detection solution for deep-sea hulls. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Schematic diagram of the magnetic field distribution of the flexible magnetic hairs of the sensor in an embodiment of the present invention when there is no water flow.

[0016] Figure 2 Schematic diagram of the magnetic field distribution when the flexible magnetic cilia of the sensor are acted upon by water flow in an embodiment of the present invention.

[0017] Figure 3 Schematic diagram of the short-chain molecule of the sensor in an embodiment of the present invention.

[0018] Figure 4 Schematic diagram of the long-chain molecule of the sensor in an embodiment of the present invention.

[0019] Figure 5 Schematic diagram of the structure of three-scale particle blending in an embodiment of the present invention.

[0020] Figure 6 Schematic diagram of the top view of the TMR magnetic sensitive element array in an embodiment of the present invention.

[0021] Figure 7 3 is a diagram showing the spatial relationship between the flexible magnetic cilia and the TMR magnetic sensitive element array when there is no water flow in an embodiment of the present invention.

[0022] Figure 8 2 is a diagram showing the spatial relationship between the flexible magnetic cilia and the TMR magnetic sensitive element array when there is water flow in an embodiment of the present invention.

[0023] Figure 9 Schematic diagram of the BP neural network structure used in the embodiment of the present invention.

[0024] Figure 10 Schematic diagram of an unmanned aerial vehicle and its partially enlarged structure in an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention will be further described in detail below with reference to the accompanying drawings in the embodiments of the present invention.

[0026] This embodiment provides a flexible magnetic cilia deep-sea current velocity sensor, comprising a detachable sensing unit and a detection unit. The sensing unit is a flexible magnetic cilia array composed of a cantilever beam structure or a plurality of cantilever beam structures, which are configured to deform under the action of water flow to change the surrounding magnetic field distribution. The cantilever beam structure refers to a structure in which one end of the flexible magnetic cilia is fixed and the other end is suspended. Figure 1 Schematic diagram of the magnetic field distribution of the flexible magnetic cilia of the sensor in this embodiment when there is no water flow. Figure 2 Schematic diagram of the magnetic field distribution of the flexible magnetic cilia of the sensor in this embodiment when there is water flow. Figure 1 As the sensing unit of water flow velocity, it will be deformed under the action of water flow, which will cause the surrounding magnetic field (such as Figure 1 As shown in c in the figure, where S and N are the south and north poles of the magnetic field respectively) the distribution changes, and the amplitude of the swing ( Figure 1 The larger the θ represents the swing angle, the more obvious the magnetic field change is. The magnetic field on the suspended side of the flexible magnetic cilia changes greatly under the action of water flow. The detection unit is a TMR (Tunnel Magneto Resistance Sensor) magnetic sensitive element array (such as Figure 1 (as shown in b) is used to detect the changes in magnetic field distribution caused by the sensing unit, which can improve the resolution and sensitivity of the detection and invert the flow velocity information by detecting the changes in the magnetic field around the flexible magnetic cilia.

[0027] In this embodiment, the flexible magnetic cilia are composed of a flexible matrix embedded with permanent magnetic particles.

[0028] In this embodiment, the flexible matrix is a high-strength cross-linked network structure constructed by doping short-chain molecules and long-chain molecules. Figure 3 is a schematic diagram of the short-chain molecule of the sensor in this embodiment, Figure 3 The connection points of short and medium chain molecules are represented by small circles; Figure 4 is a schematic diagram of the long-chain molecule of the sensor in this embodiment, Figure 4 The connection points of short- and medium-chain molecules are represented by small circles. The high-strength cross-linked network structure constructed by doping short- and long-chain molecules provides attachment sites for permanent magnetic particles, improving the mechanical properties of flexible magnetic cilia and increasing their mechanical strength to adapt to the high-pressure environments of the deep sea. It should be noted that short- and long-chain molecules are well-known polymer material structures, and the desired polymer material type can be used as needed.

[0029] In order to improve the permanent magnetic strength of the flexible magnetic cilia, the permanent magnetic particles in this embodiment include permanent magnetic particles of various sizes, thereby increasing the content of magnetic particles per unit volume, thereby improving the permanent magnetic strength of the flexible magnetic cilia. Figure 5 As shown, as an optional implementation, the multiple scales in this embodiment include three scales: 500-1000 nm, 1-10 μm, and 10-50 μm.

[0030] like Figure 6 、 Figure 7 and Figure 8 As shown, the TMR magnetic sensitive element array in this embodiment includes five TMR magnetic sensitive elements (represented by gray boxes in the figure), and the five TMR magnetic sensitive elements are connected to the same flexible magnetic cilia (such as Figure 7 and Figure 8 The distances shown in a) are r 1~ r 5, among which r 1 and r 3 The corresponding magnetic sensitive element measures the horizontal x Direction of the magnetic field, r 2 and r 4 The corresponding magnetic sensitive element measures the horizontal y Direction of the magnetic field, r 5The corresponding magnetic sensitive element measures z When the flow field interacts with the flexible magnetic cilia of the cantilever beam structure, it causes the flexible magnetic cilia to deform, thereby changing the surrounding magnetic field. The magnetic signals obtained by the TMR magnetic sensitive elements arranged around it can be used to calculate the flow velocity information. The magnetic field magnitudes in three directions can be obtained from each TMR magnetic sensitive element, and the amplitude of the flexible magnetic cilia's swing can be jointly calculated. Figure 6 In this embodiment, four of the five TMR magnetic sensitive elements are located on the same xoy plane, and the other TMR magnetic sensitive element is located on another different xoy plane.

[0031] like Figure 10 As shown, this embodiment also provides an unmanned vehicle (UUV), including a vehicle body and a flow rate sensor provided on the vehicle body, wherein the flow rate sensor is the flexible magnetic cilia deep-sea flow rate sensor. The flexible permanent magnetic cilia (such as Figure 10 (shown in a) and the detection unit (TMR magnetic sensitive element array, as shown in Figure 10The sensor can be installed outside or inside the boat, relying on the natural waterproofness of the boat shell and the flexible solid permanent magnetic cilia design, so that the sensor can be well adapted to the high pressure in deep sea environment. In this embodiment, the vehicle body is provided with a mounting bracket (such as Figure 10 As shown in d), the flexible magnetic cilia of the flexible magnetic cilia deep-sea current sensor (as shown in Figure 10 As shown in a in the figure), the root is fixed on the mounting bracket and its suspended end is arranged close to the surface side of the vehicle body, and the detection unit of the flexible magnetic ciliary deep-sea current velocity sensor is fixed on the surface of the vehicle body and arranged opposite to the flexible magnetic ciliary hairs.

[0032] In addition, this embodiment also provides an application method of a flexible magnetic ciliary deep-sea current velocity sensor, including: S1, obtaining the magnitude of the magnetic field detected by each TMR magnetic sensitive element in the TMR magnetic sensitive element array; S2, the speed and direction of the seawater are calculated based on the magnetic field detected by each TMR magnetic sensitive element.

[0033] After step S1 and before step S2, adaptive filtering may be performed on the output signals of the five TMR magnetic sensitive elements as needed to suppress noise in the signals.

[0034] It should be noted that the relationship between the magnetic field magnitude detected by each TMR magnetic sensitive element and the speed magnitude and direction of the seawater can be learned by numerical fitting or machine learning model as needed. In step S2 of this embodiment, the speed magnitude and direction of the seawater are calculated based on the magnetic field magnitude detected by each TMR magnetic sensitive element, including: inputting the magnetic field magnitude detected by each TMR magnetic sensitive element into a pre-trained BP neural network to obtain the speed magnitude and direction of the seawater, such as Figure 9 As shown, the BP neural network in this embodiment includes an input layer, a hidden layer (intermediate layer), and an output layer, which are sequentially connected. The input layer includes a number of neurons equal to the number of TMR magnetic sensitive elements in the TMR magnetic sensitive element array. The number of hidden layers is one or more (specifically, two layers in this embodiment). The output layer includes two neurons for outputting the velocity magnitude and direction of the seawater, respectively. Before inputting the magnetic field magnitude detected by each TMR magnetic sensitive element into the pre-trained BP neural network, the magnetic field magnitude detected by each TMR magnetic sensitive element can first be extracted for amplitude, then normalized and input into the pre-trained BP neural network to obtain the velocity magnitude and direction of the seawater.

[0035] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A flexible magnetic cilia-type deep-sea current sensor, characterized in that: It includes a detachable sensing unit and a detection unit, wherein the sensing unit is a flexible magnetic ciliary array composed of a flexible magnetic ciliary hair with a cantilever beam structure or multiple flexible magnetic ciliary hairs with a cantilever beam structure, which is used to deform under the action of water flow to change the surrounding magnetic field distribution, and the cantilever beam structure refers to a structure in which one end of the flexible magnetic ciliary hair is fixed and the other end is suspended; the detection unit is a TMR magnetic sensitive element array located on one side of the suspended end of the flexible magnetic ciliary hair and arranged in a gap with the flexible magnetic ciliary hair, which is used to detect the change in magnetic field distribution caused by the sensing unit.

2. The flexible magnetic ciliary deep-sea current sensor according to claim 1, characterized in that: The flexible magnetic cilia are composed of a flexible matrix embedded with permanent magnetic particles.

3. The flexible magnetic ciliary deep-sea current sensor according to claim 2, characterized in that: The flexible matrix is a high-strength cross-linked network structure constructed by doping short-chain molecules and long-chain molecules.

4. The flexible magnetic ciliary deep-sea current sensor according to claim 2, characterized in that: The permanent magnetic particles include permanent magnetic microparticles of various sizes.

5. The flexible magnetic ciliary deep-sea current sensor according to claim 4, characterized in that: The multiple scales include 500-1000 nm, 1-10 μm, and 10-50 μm.

6. The flexible magnetic ciliary deep-sea current sensor according to claim 1, characterized in that: The TMR magnetic sensitive element array includes five TMR magnetic sensitive elements, and the distances from the five TMR magnetic sensitive elements to the same flexible magnetic cilium are respectively r 1~ r 5, among which r 1 and r 3 The corresponding magnetic sensitive element measures the horizontal x Direction of the magnetic field, r 2 and r 4 The corresponding magnetic sensitive element measures the horizontal y Direction of the magnetic field, r 5The corresponding magnetic sensitive element measures z Direction of the magnetic field.

7. An unmanned aerial vehicle, comprising an aerial vehicle body and a flow velocity sensor provided on the aerial vehicle body, characterized in that: The flow velocity sensor is the flexible magnetic ciliary deep-sea flow velocity sensor according to any one of claims 1 to 6.

8. The unmanned aerial vehicle according to claim 7, characterized in that: A mounting bracket is provided on the vehicle body, the roots of the flexible magnetic cilia of the flexible magnetic cilia type deep-sea current velocity sensor are fixed on the mounting bracket and the suspended end thereof is arranged close to the surface side of the vehicle body, and the detection unit of the flexible magnetic cilia type deep-sea current velocity sensor is fixed on the surface of the vehicle body and arranged opposite to the flexible magnetic cilia.

9. An application method of the flexible magnetic ciliary deep-sea current sensor according to any one of claims 1 to 6, characterized in that: include: S1, obtaining the magnitude of the magnetic field detected by each TMR magnetic sensitive element in the TMR magnetic sensitive element array; S2, the speed and direction of the seawater are calculated based on the magnetic field detected by each TMR magnetic sensitive element.

10. The application method of the flexible magnetic ciliary deep-sea current velocity sensor according to claim 9, characterized in that: In step S2, jointly calculating the speed and direction of the seawater based on the magnetic field magnitudes detected by each TMR magnetic sensitive element includes: inputting the magnetic field magnitudes detected by each TMR magnetic sensitive element into a pre-trained BP neural network to obtain the speed and direction of the seawater, the BP neural network including an input layer, a hidden layer, and an output layer connected in sequence, the input layer including a plurality of neurons having the same number as the TMR magnetic sensitive elements in the TMR magnetic sensitive element array, the number of the hidden layer being one or more layers, and the output layer including two neurons for outputting the speed and direction of the seawater, respectively.

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