Underwater small target detection device based on bionic magnetic induction array

Abstract

The invention belongs to the technical field of bionic robots, and discloses an underwater small target detection device based on a bionic magnetic induction array, a control module for controlling equipment operation is arranged in a main body control module, and the control module is electrically connected with a detection module and a miniaturized low-frequency electromagnetic emission unit which are arranged on the main body control module; the underwater push type lifters are arranged around the main body control module at equal intervals in a surrounding manner, and the underwater push type lifters are electrically connected with the control module; the mechanical tentacles are arranged on the periphery of the main body control module at equal intervals, the mechanical tentacles are electrically connected with the control module, multiple sections of the mechanical tentacles are flexibly arranged, and different sections of the mechanical tentacles are independently controlled. According to the invention, the limitation of a mechanical structure and a sensing mode of a traditional underwater detector is broken through, the problems of large detection blind area and weak eddy current interference resistance of a small metal target in a complex underwater terrain are solved, and a novel detection scheme with high sensitivity and strong environmental adaptability is provided for underwater search and rescue and subsea pipeline detection.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic robots, and in particular to an underwater small target detection device based on a bionic magnetic induction array. Background Art

[0002] Underwater detection technology is crucial in fields such as marine resource development, scientific research, and national defense security. Detecting small underwater targets has become a key research priority due to its critical role in numerous practical scenarios. However, the underwater environment, characterized by darkness, high pressure, strong corrosiveness, and complex currents, poses significant challenges to the detection and identification of underwater targets.

[0003] First, traditional detection devices generally adopt a rigid robotic arm structure, whose joint freedom is limited and the end effector is large in size. It is difficult to perform precise detection in narrow gaps in complex underwater terrain, resulting in significant blind spots in the detection of buried metal targets. Especially in scenarios such as shipwreck salvage and submarine pipeline inspection, due to mechanical structure limitations, small metal targets in hidden areas are often unable to be reached, seriously affecting operational efficiency.

[0004] Secondly, at the sensing technology level, mainstream magnetic detection equipment mostly relies on single-point magnetic field strength detection. This single sensing mode lacks effective means to suppress dynamic environmental interference and is easily affected by ocean current vortices and ferromagnetic bottom sediments, causing the target signal to be submerged by noise. In addition, although sonar and optical detection technologies can provide spatial information, their detection accuracy and reliability are greatly reduced in turbid waters or strong interference environments, making it difficult to meet the high-sensitivity identification requirements of small targets.

[0005] Moreover, the high power consumption characteristics of traditional sonar systems in existing solutions seriously restrict the endurance of the equipment, and the movement mode that relies on thrusters can easily cause sediment suspension when avoiding obstacles, causing secondary environmental interference, further aggravating the distortion of sensor signals and easily leading to interruption or misjudgment of the detection process during long-term operation tasks.

[0006] Therefore, the present invention designs an underwater small target detection device based on a bionic magnetic induction array to solve the above technical problems. Summary of the Invention

[0007] The purpose of the present invention is to provide an underwater small target detection device based on a bionic magnetic induction array, which realizes high-sensitivity positioning of small metal targets in complex underwater environments through the coordination of magnetoelectric composite detection and multimodal motion of bionic tentacles, so as to solve the problems existing in the prior art.

[0008] To achieve the above object, the present invention provides the following solution: The present invention provides an underwater small target detection device based on a bionic magnetic induction array, comprising:

[0009] A main control module, wherein a control module for controlling the operation of the device is provided in the main control module, and the control module is electrically connected to a detection module and a miniaturized low-frequency electromagnetic emission unit provided on the main control module;

[0010] A plurality of underwater propulsion lifters, wherein the plurality of underwater propulsion lifters are arranged around the main control module at equal intervals, and the underwater propulsion lifters are electrically connected to the control module;

[0011] A plurality of mechanical tentacles are arranged at equal intervals around the main control module, the mechanical tentacles are electrically connected to the control module, the mechanical tentacles are flexibly arranged in multiple sections, and different sections of the mechanical tentacles are independently controlled.

[0012] Preferably, the miniaturized low-frequency electromagnetic emitting unit includes a magnetic material, an encoder is provided at the bottom and end of the magnetic material, a servo motor is fixedly installed in the main control module, and the output shaft of the servo motor is respectively connected to the magnetic material and the encoder.

[0013] Preferably, the detection module includes an inertial measurement unit and a magnetometer arranged in the main control module, and the magnetometer and the inertial measurement unit are electrically connected to the control module respectively.

[0014] Preferably, the control module includes a central controller and an intelligent power supply arranged in the main control module, and the central controller is electrically connected to the intelligent power supply; the central controller is electrically connected to the mechanical tentacles and the underwater propulsion lifter respectively.

[0015] Preferably, the main control module includes a shell, and the detection module, the miniaturized low-frequency electromagnetic transmitting unit and the control module are fixedly installed in the inner cavity of the shell; the bottom end of the shell is detachably connected to a waterproof baffle, and a number of the underwater propulsion lifters are installed on the waterproof baffle at equal circumferential intervals.

[0016] Preferably, the underwater propulsion lift includes a shell embedded in the waterproof baffle, a brushless DC motor is installed in the inner cavity of the shell, the output shaft of the brushless DC motor is transmission-connected to an aluminum alloy rotating shaft rotatably connected to the shell, and the aluminum alloy rotating shaft is transmission-connected to a paddle for providing power.

[0017] Preferably, the transmission sleeve on the aluminum alloy shaft is provided with a rotary cutter, and a fixed cutter corresponding to the rotary cutter is fixedly installed in the housing, and the rotary cutter and the fixed cutter move up and down for cutting.

[0018] Preferably, the mechanical tentacle comprises a plurality of tentacle segments connected end to end in sequence, a communication module is provided between adjacent tentacle segments, and the communication module is electrically connected to the central controller; a driving module electrically connected to the communication module is provided in the tentacle segment.

[0019] Preferably, the driving module includes a plurality of groups of correspondingly arranged memory metal wire bundles and springs, the memory metal wire bundles are correspondingly provided with electrodes, and the electrodes are electrically connected to the conduction module.

[0020] Preferably, the communication module includes an edge server electrically connected to the central controller, the edge server is electrically connected to a cable, the cable passes through several of the tentacle segments and is electrically connected to the electrodes; the tentacle segments are provided with electrically connected optical fiber magnetic field sensors and array magnetic field data conversion modules, and the array magnetic field data conversion module is electrically connected to the edge server through the cable.

[0021] Compared with the existing technology, the present invention has the following advantages and technical effects: the present invention discloses an underwater small target detection device based on a bionic magnetic induction array. The main control module integrates a control module, a detection module and a miniaturized low-frequency electromagnetic transmission unit, which is responsible for the overall control and environmental perception of the device. A number of underwater propulsion lifters are evenly spaced around the main module to provide power for the movement of the device, realize three-dimensional spatial movement, and adapt to complex terrain. The mechanical tentacles adopt a multi-section flexible bionic structure, each section of the tentacle can be driven independently, and cooperate with the terrain recognition algorithm to realize intelligent switching among three modes of crawling, suspension, and adsorption. The multi-section flexible design of the bionic tentacle allows each section to move independently, allowing it to extend to areas that traditional rigid robotic arms cannot reach, such as coral reefs and shipwreck crevices, thereby reducing detection blind spots. The multi-modal motion module of the underwater propulsion lifter and the mechanical tentacle is combined with the terrain recognition algorithm to improve the anti-interference ability and stability in strong eddy current environments, thereby avoiding signal distortion or operation interruption caused by water flow impact on traditional equipment. The main control module, lifter and tentacles are quickly linked through a standardized interface, and the movement mode can be flexibly switched, significantly enhancing the task adaptability of the device and improving overall operation efficiency.

[0022] The present invention breaks through the limitations of the mechanical structure and sensing method of traditional underwater detectors, solves the problems of large blind spots in detecting small metal targets in complex underwater terrain and weak resistance to eddy current interference, and provides a new detection solution with high sensitivity and strong environmental adaptability for underwater search and rescue and submarine pipeline inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of this application. The exemplary embodiments and descriptions of this application are intended to explain this application and do not constitute an improper limitation on this application. In the accompanying drawings:

[0024] Figure 1 This is a schematic diagram of the overall structure of the underwater small target detection device based on the bionic magnetic induction array of the present invention;

[0025] Figure 2 This is a schematic diagram of the upper structure of the main control module of the present invention;

[0026] Figure 3 This is a schematic diagram of the lower structure of the main control module of the present invention;

[0027] Figure 4 This is a structural schematic diagram of the underwater propulsion lifter of the present invention;

[0028] Figure 5 This is a schematic diagram of the mechanical tentacle structure of the present invention;

[0029] Figure: 1, main control module; 2, underwater propulsion lift; 3, waterproof baffle; 4, mechanical tentacles; 11, central controller; 12, magnetic material; 13, servo motor; 14, encoder; 15, tentacle connector; 16, ceramic shaft; 17, splint; 18, intelligent power supply; 19, signal processing unit; 110, inertial measurement unit; 111, housing; 112, magnetometer; 113, acoustic distance sensor; 21, propeller blade; 22, aluminum alloy shaft; 23, rotation Cutter; 24. Fixed cutter; 25. Brushless DC motor; 26. Water hole; 41. Tentacle connector male; 42. Snap groove; 43. Filler; 44. Electrode; 45. Hydrogel coating; 46. Spring; 47. Vacuum suction cup; 48. Memory metal harness; 49. Connecting wire segment; 410. Fiber optic magnetic field sensor; 411. Array magnetic field data conversion module; 412. Platinum silicone shell; 413. Microcontroller; 414. Cable; 415. Edge server. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] Reference Figure 1-Figure 5 As shown, this embodiment provides an underwater small target detection device based on a bionic magnetic sensing array, comprising:

[0033] The main control module 1 includes a control module for controlling the operation of the device, and the control module is electrically connected to the detection module and the miniaturized low-frequency electromagnetic emission unit provided on the main control module 1;

[0034] A plurality of underwater propulsion lifters 2 are arranged around the main control module 1 at equal intervals, and the underwater propulsion lifters 2 are electrically connected to the control module;

[0035] A plurality of mechanical tentacles 4 are arranged at equal intervals around the main control module 1. The mechanical tentacles 4 are electrically connected to the control module. The mechanical tentacles 4 are flexibly arranged in multiple sections, and different sections of the mechanical tentacles are independently controlled.

[0036] The present invention discloses an underwater small target detection device based on a bionic magnetic induction array. The main control module integrates a control module, a detection module and a miniaturized low-frequency electromagnetic emission unit, and is responsible for the overall control and environmental perception of the equipment; a number of underwater propulsion lifters 2 are equally spaced around the main module to provide power for the movement of the equipment, realize three-dimensional space movement, and adapt to complex terrain; the mechanical tentacle 4 adopts a multi-section flexible bionic structure, and each section of the mechanical tentacle 4 can be driven independently, and cooperates with the terrain recognition algorithm to realize intelligent switching among three modes of crawling, suspension, and adsorption; the multi-section flexible design of the bionic mechanical tentacle 4 allows each section to move independently, so that it can be extended to areas that traditional rigid mechanical arms cannot reach, such as coral reefs and shipwreck gaps, thereby reducing detection blind spots; and the multi-modal motion module of the underwater propulsion lifter 2 and the mechanical tentacle 4 is combined with the terrain recognition algorithm to improve the anti-interference ability and stability in a strong eddy current environment, thereby avoiding signal distortion or operation interruption caused by water flow impact on traditional equipment; the main control module 1, the lifter and the mechanical tentacle 4 are quickly linked through a standardized interface, and the movement mode can be flexibly switched, which significantly enhances the task adaptability of the device and improves the overall operation efficiency. The present invention breaks through the limitations of the mechanical structure and sensing method of traditional underwater detectors, solves the problems of large blind spots in detecting small metal targets in complex underwater terrain and weak resistance to eddy current interference, and provides a new detection solution with high sensitivity and strong environmental adaptability for underwater search and rescue and submarine pipeline inspection.

[0037] In one embodiment of the present invention, the mechanical tentacle 4 realizes bionic peristaltic propulsion and axial extension functions through a bionic multi-section flexible setting, and can be extended into narrow gaps to perform fine detection.

[0038] To further optimize the solution, the miniaturized low-frequency electromagnetic transmitting unit includes a magnetic material 12, an encoder 14 is provided against the bottom end of the magnetic material 12, a servo motor 13 is fixedly installed in the main control module 1, and the output shaft of the servo motor 13 is respectively connected to the magnetic material 12 and the encoder 14. The miniaturized low-frequency electromagnetic transmitting unit includes the magnetic material 12, the encoder 14 and the servo motor 13. The servo motor 13 drives the magnetic material 12 to rotate through the ceramic shaft 16, and the encoder 14 provides real-time feedback on the rotation data. During operation, the servo motor 13 drives the magnetic material 12 to rotate and generate low-frequency electromagnetic waves to cover non-ferromagnetic metal targets. The encoder 14 monitors the rotation angle and speed, and cooperates with the magnetometer 112 to analyze the magnetic field changes and identify the magnetic anomaly signals of the metal target, thereby compensating for the singleness of traditional magnetic detection. The encoder 14 provides real-time feedback on the parameters of the magnetic material 12 to ensure that the error in the magnetic field signal emission angle is ≤0.5°, thereby improving the target positioning accuracy.

[0039] In one embodiment of the present invention, the magnetic material 12 is fixed to the ceramic shaft 16 via a clamping plate 17 .

[0040] A further optimization scheme involves the detection module, which includes an inertial measurement unit (IMU) 110 and a magnetometer 112, housed within the main control module 1. Both magnetometer 112 and IMU 110 are electrically connected to the control module. Magnetometer 112 measures reflected low-frequency electromagnetic waves, and together with IMU 110, they collect the device's three-dimensional attitude data in real time, enabling underwater positioning of the device. Combined with the acoustic range sensor, a dynamic obstacle avoidance model is constructed to improve positioning accuracy and obstacle avoidance capabilities, suppress the impact of water disturbances on the device's attitude, and ensure a stable detection process.

[0041] In one embodiment of the present invention, the dynamic obstacle avoidance model fuses multi-source data through extended Kalman filtering to predict the distance of obstacles on the path of the mechanical tentacle 4. When the obstacle distance is detected to be less than 20 cm, the contraction command of the mechanical tentacle 4 is triggered, thereby controlling the adaptive movement of the mechanical tentacle 4.

[0042] In one embodiment of the present invention, the inertial measurement unit 110 includes a MEMS gyroscope and an accelerometer, which are conventional motion monitoring devices and will not be described in detail here.

[0043] In one embodiment of the present invention, the sound distance sensor is fixedly installed at the bottom end of the main control module 1, with a frequency of 40 kHz and an accuracy of ±1 cm.

[0044] To further optimize the solution, the control module includes a central controller 11 and an intelligent power supply 18, which are arranged within the main control module 1. The central controller 11 is electrically connected to the intelligent power supply 18; the central controller 11 is electrically connected to the mechanical tentacles 4 and the underwater propulsion type lifter 2. The central controller 11 serves as the core control unit, electrically connected to the intelligent power supply 18, the mechanical tentacles 4, and the underwater propulsion type lifter 2, and uniformly coordinates the coordinated work of each module, such as controlling the deformation of the mechanical tentacles 4, switching the lifter's motion mode, and realizing intelligent switching of multi-modal motion, such as crawling, suspension, and adsorption of the device. The intelligent power supply 18 uses a rechargeable or replaceable power supply to power each module, and is electrically connected to the central controller 11 to ensure the power supply of each module, optimize energy management, and extend battery life.

[0045] According to a further optimization scheme, the main control module 1 includes a shell 111, and the detection module, the miniaturized low-frequency electromagnetic transmitting unit and the control module are fixedly installed in the inner cavity of the shell 111; the bottom end of the shell 111 is detachably connected to a waterproof baffle 3, and a number of underwater propulsion type risers 2 are circumferentially evenly spaced and installed on the waterproof baffle 3. The bottom end of the shell 111 is detachably connected to a waterproof baffle 3, and a number of underwater propulsion type risers 2 are circumferentially evenly spaced and installed on the waterproof baffle 3. The shell 111 of the main control module 1 structure adopts carbon fiber reinforced polyetheretherketone composite material, and its inner cavity accommodates the miniaturized low-frequency electromagnetic transmitting unit and the control module to achieve protection of internal components; the waterproof baffle 3 is detachably connected to the bottom end of the shell 111, so that the inner cavity of the shell 111 is isolated from seawater, protecting the internal electronic components, and facilitating the installation and maintenance of the riser, ensuring the sealing of the device; the underwater propulsion type risers 2 are circumferentially evenly spaced and installed on the baffle to provide stable moving power for the main control module 1.

[0046] In one embodiment of the present invention, the composite material of the outer shell 111 has both high strength and corrosion resistance, and can withstand a pressure of 80 MPa, adapting to deep-sea environments.

[0047] To further optimize the solution, the underwater propulsion lift 2 includes a shell embedded in the waterproof baffle 3, a brushless DC motor 25 is installed in the inner cavity of the shell, and the output shaft of the brushless DC motor 25 is connected to the aluminum alloy shaft 22 that is rotatably connected to the shell. The aluminum alloy shaft 22 is connected to the propeller 21 for providing power. The shell of the underwater propulsion lift 2 is embedded in the waterproof baffle 3 as a skeleton to facilitate installation; the brushless DC motor 25 is installed in the inner cavity of the shell, and the propeller 21 is driven by the aluminum alloy shaft 22 to achieve the device's suspension, cruising and other movement modes, with a maximum speed of 3 knots; the modular design facilitates independent maintenance and replacement of the power system.

[0048] In one embodiment of the present invention, a plurality of water holes 26 are respectively provided at the upper and lower ends of the housing to facilitate water flow through.

[0049] In one embodiment of the present invention, the speed range of the brushless DC motor 25 is 0-2000 rpm, and its speed and direction of rotation are switched by the central controller 11 based on the terrain recognition algorithm by using a convolutional neural network to classify the sound range sensor data.

[0050] A further optimization scheme features a rotary cutter 23 mounted on a transmission sleeve on the aluminum alloy shaft 22. A fixed cutter 24, corresponding to the rotary cutter 23, is fixedly mounted within the housing. The rotary cutter 23 and the fixed cutter 24 move up and down to perform the cutting operation. A brushless DC motor 25 drives the rotary cutter 23, clearing entanglements such as seaweed from its path, preventing obstruction or damage to the device. This improves operational reliability in complex environments, enhances the device's environmental adaptability, and reduces the need for manual intervention.

[0051] A further optimization scheme involves mechanical tentacle 4 comprising several segments connected end-to-end, with communication modules positioned between adjacent segments and electrically connected to central controller 11. Within each segment is a drive module electrically connected to the communication module. Mechanical tentacle 4 is comprised of multiple segments flexibly connected end-to-end. The communication modules are positioned between adjacent segments and electrically connected to central controller 11, transmitting control signals and detection data. The drive modules are located within each segment and electrically connected to the communication modules, controlling the movement of each segment and ensuring real-time signal transmission. This allows mechanical tentacle 4 to rapidly respond to control commands, achieving three-dimensional bending with a curvature radius of 8 cm or greater and an axial extension of up to 1.8 m, enabling adaptation to complex terrain such as coral reefs and shipwreck crevices.

[0052] In one embodiment of the present invention, the four sections of the mechanical tentacles close to the outer shell 111 are connected to the mechanical tentacle connector female 15 on the outer shell 111 through the mechanical tentacle connector male 41, and the communication module is connected to the central controller 11 through the mechanical tentacle connector male 41 and the mechanical tentacle connector female 15.

[0053] In one embodiment of the present invention, the four sections of the mechanical tentacles close to the housing 111 are fixed to the housing 111 by means of snap-fit buckles and snap-fit grooves 42, thereby achieving a stable connection between the two and avoiding disconnection during operation.

[0054] In one embodiment of the present invention, the interior of the four sections of the mechanical tentacle is filled with a shear thickening fluid as a filler 43, and is covered with a platinum silicone outer skin 412 and coated with a hydrogel coating 45, which effectively reduces the impact of seawater corrosion and wave impact on the internal components of the mechanical tentacle 4.

[0055] A further optimized solution includes a drive module comprising several corresponding sets of memory metal wires 48 and springs 46. Each memory metal wire 48 is provided with electrodes 44, which are electrically connected to the conduction module. The drive module comprises a telescopic unit composed of the memory metal wires 48 and springs 46, with six sets of electrodes 44 spaced 10 mm apart. When the target area is a narrow gap, the central controller 11 applies a 2A pulse current to the electrodes 44 through the conduction module, heating the memory metal wires 48 to 70°C. This triggers the memory metal wires 48 to contract and deform, driving the mechanical tentacle 4 to creep at a speed of 0.5 m / s, with an axial elongation of up to 300%. After power is removed, the temperature drops, and the compressed springs 46 reset, causing the four segments of the mechanical tentacle to extend.

[0056] To further optimize the solution, the communication module includes an edge server 415 electrically connected to the central controller 11, the edge server 415 is electrically connected to a cable 414, the cable 414 passes through several tentacle segments and is electrically connected to the electrode 44; an electrically connected optical fiber magnetic field sensor 410 and an array magnetic field data conversion module 411 are provided in the tentacle segment, and the array magnetic field data conversion module 411 is electrically connected to the edge server 415 through the cable 414. Distributed fiber optic magnetic field sensors 410 are embedded within the four segments of the mechanical tentacle to detect the electromagnetic field generated by the magnetic material 12. An array magnetic field data conversion module 411 converts the optical signal into an electrical signal, which is then transmitted via cable 414 to an edge server 415 for real-time processing. The edge server 415 transmits the data to the central controller 11, which executes the corresponding detection plan based on environmental data and detection requirements and sends motion instructions to the edge server 415. The edge server 415 plans operations for each segment of the mechanical tentacle 4 and sends the corresponding motion control instructions to the microcontroller 413, which energizes the memory alloy wire harness 48 to control its movement. A magnetic anisotropy compensation algorithm calibrates the cross-coupling errors of the sensor array using the least squares method. This algorithm combines active low-frequency electromagnetic wave detection with passive sensing of magnetic anomaly signals to achieve magnetoelectric hybrid detection. When a metal target is detected, the algorithm locates the target's coordinates through magnetic gradient tensor analysis and generates a spatial magnetic anomaly map through the signal processing unit 19.

[0057] In one embodiment of the present invention, the frequency of the electromagnetic wave used for active detection is 1-100 Hz and is generated by the servo motor 13 driving the magnetic material 12 .

[0058] In one embodiment of the present invention, a connecting wire segment 49 is provided between adjacent tentacle segments, and the cable 414 passes through the connecting wire segment 49 , which is responsible for passing and protecting the cable 414 .

[0059] In one embodiment of the present invention, a microcontroller 413 is provided in each tentacle segment as a control unit of each tentacle segment.

[0060] In one embodiment of the present invention, the cable 414 is used to transmit signals from the edge server 415 to control the microcontroller 413 and transmit data between the array magnetic field data conversion module 411 and the edge server 415 .

[0061] In one embodiment of the present invention, the memory alloy wire harness mainly comprises Ni-Ti-Cu, with a phase transition temperature of 45±2°C. Pulse current heating is performed through the electrode 44 to drive the axial contraction and three-dimensional bending of the four sections of the mechanical tentacle.

[0062] In one embodiment of the present invention, the outer wall of the four sections of the mechanical tentacle is provided with a vacuum suction cup 47 with an adsorption force ≥ 200N, and a built-in micro air pump, which generates a negative pressure of -80kPa during adsorption to enhance stability and ensure stable adsorption and climbing on vertical walls or rugged terrain.

[0063] In one embodiment of the present invention, in active detection mode, non-ferromagnetic metal targets are identified by analyzing the phase distortion characteristics of electromagnetic wave reflection signals; in passive detection mode, magnetic anomaly signals of ferromagnetic targets are detected based on magnetic gradient tensor analysis.

[0064] In one embodiment of the present invention, the signal processing unit 19 has a built-in 24-bit Σ-Δ ADC with a sampling rate of 1 kHz, and combines wavelet noise reduction with a threshold λ=3σ with a Kalman filter algorithm to eliminate signal drift caused by ocean current disturbances.

[0065] In one embodiment of the present invention, the thrust vector of the underwater propulsion lifter 2 is adjustable, with a maximum speed of 3 knots. It forms a coordinated motion system with the mechanical tentacles 4. The terrain recognition model based on the convolutional neural network has a recognition accuracy of ≥95%, and can autonomously switch between three operating modes:

[0066] Crawling mode: The mechanical tentacle 4 propels itself alternately through bionic deformation and adsorption, which is suitable for sediment-sensitive areas. The mechanical tentacle 4 is adsorbed on the reef surface, the underwater propulsion lifter 2 is closed, and the mechanical tentacle 4 moves at a low speed of 0.5m / s through creeping;

[0067] Suspension mode: The thruster provides vector thrust, the mechanical tentacles 4 shrink to the minimum volume to quickly cross obstacles, the mechanical tentacles 4 shrink to the initial length, and the underwater propulsion lifter 2 runs at full power to achieve a high-speed cruise of 1.5m / s;

[0068] Adsorption mode: The suction cup at the bottom of the mechanical tentacle 4 is fixed to the detection point, performing high-precision local scanning, the vacuum suction cup 47 is started, the mechanical tentacle 4 is fixed to the target surface, and the underwater propulsion lifter 2 fine-tunes its posture to resist eddy current interference.

[0069] Working process:

[0070] When deployed, the device is isolated from the external seawater by a waterproof baffle 3, and an intelligent power supply 18 supplies power to each module. Upon startup, the central controller 11 prioritizes the use of the hovering mode to search for the target area. A miniaturized low-frequency electromagnetic transmitter is responsible for emitting electromagnetic waves, and the detection module scans for magnetic anomaly signals. When a suspected target is detected, the device switches to crawling mode and extends its tentacles into the gap, performing a detailed scan using the fiber optic magnetic field sensor 410. If a strong eddy current is encountered, the inertial measurement unit 110 determines that the angular velocity threshold is greater than 5 rad / s. The dynamic obstacle avoidance model controls the tentacles to retract and activates the underwater propulsion lift 2 to stabilize the device. The detection data is compressed by the edge server 415 and sent to the signal processing unit 19 for processing and determination of the presence of any abnormalities.

[0071] The present invention adopts the above technical solution, which can bring the following beneficial effects:

[0072] This invention provides an underwater small target detection device based on a biomimetic magnetic induction array. By deeply integrating biomimetic mechanical structures with multidimensional sensing technology, it constructs an intelligent detection system adaptable to complex underwater environments. The device innovatively integrates flexible biomimetic tentacles, a distributed magnetic induction array, and a multimodal motion control unit through mechatronics. The main control module (1) uses a detection mechanism that combines active low-frequency electromagnetic wave excitation with three-dimensional magnetic environment perception, achieving high-precision spatial positioning through multi-source sensor data fusion. The biomimetic tentacle breaks through the motion limitations of traditional rigid structures. Its composite drive mechanism of memory alloy and elastic elements can produce significant deformation under temperature control, and in conjunction with the terminal adsorption unit, forms a stable anchoring capability, enabling the device to adhere to rugged surfaces and perform detection tasks.

[0073] The dual-mode detection mechanism of active low-frequency electromagnetic wave excitation and passive perception of magnetic anomalies achieves dynamic decoupling of the ambient magnetic field through a magnetic anisotropy compensation algorithm, effectively suppresses eddy current interference, and maintains excellent magnetic anomaly resolution capability even in a strong interference environment, thereby increasing the signal-to-noise ratio of small ferromagnetic targets by two orders of magnitude, while enhancing the detection capability of non-ferromagnetic metal targets. When the tentacles extend into a narrow space, the array automatically switches to a segmented scanning mode, effectively separating the target signal from the eddy current noise through multi-node signal cross-correlation analysis, significantly improving the detection sensitivity to micro-ferromagnetic targets.

[0074] Based on real-time data fusion from acoustic range sensors and inertial navigation, a dynamic obstacle avoidance model is constructed. Through thermally driven deformation control based on real-time environmental perception data, intelligent switching between tentacle propulsion, vacuum cup 47-point suction lock, and propeller hovering cruise is achieved. This solves the problem of motion instability faced by traditional devices in turbulent environments, enabling the device to scan large areas while also conducting detailed exploration of complex terrain. This multimodal collaborative mechanism significantly enhances the device's operational stability in turbulent environments.

[0075] The standardized interface design of the central control cabin supports plug-and-play of acoustic and optical detection modules. The quick-detachable structure of the bionic tentacle allows for rapid reconstruction of functional forms and quick replacement of execution units with different functional forms. The flexible circuit integration technology of the magnetic sensing array enables flexible configuration of sensor density and layout, significantly enhancing the mission adaptability of the device. This allows the device to meet the needs of conventional underwater target searches and also adapt to specialized scenarios such as seabed engineering inspections through functional reorganization, providing an innovative technical path for underwater detection equipment.

[0076] A four-dimensional situation map of the underwater environment is generated through a magnetic-acoustic-inertial multi-source data fusion framework. Combined with an interference recognition model built using deep learning, it can maintain stable detection performance even in scenarios with strong ocean currents and multiple obstacles, providing innovative equipment for underwater search and rescue and submarine pipeline inspection.

[0077] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0078] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. An underwater small target detection device based on a bionic magnetic induction array, characterized in that: include: A main body control module (1), wherein a control module for controlling the operation of the device is provided in the main body control module (1), and the control module is electrically connected to a detection module and a miniaturized low-frequency electromagnetic emission unit provided on the main body control module (1); A plurality of underwater propulsion type risers (2), wherein the plurality of underwater propulsion type risers (2) are arranged around the main control module (1) at equal intervals, and the underwater propulsion type risers (2) are electrically connected to the control module; A plurality of mechanical tentacles (4), wherein the plurality of mechanical tentacles (4) are arranged at equal intervals around the main control module (1), the mechanical tentacles (4) are electrically connected to the control module, the mechanical tentacles (4) are flexibly arranged in multiple sections, and different sections of the mechanical tentacles are independently controlled.

2. The underwater small target detection device based on the bionic magnetic induction array according to claim 1 is characterized in that: The miniaturized low-frequency electromagnetic emitting unit comprises a magnetic material (12), an encoder (14) is provided at the bottom and end of the magnetic material (12), a servo motor (13) is fixedly installed in the main control module (1), and an output shaft of the servo motor (13) is respectively connected to the magnetic material (12) and the encoder (14).

3. The underwater small target detection device based on the bionic magnetic induction array according to claim 2 is characterized in that: The detection module comprises an inertial measurement unit (110) and a magnetometer (112) arranged in the main control module (1); the magnetometer (112) and the inertial measurement unit (110) are electrically connected to the control module respectively.

4. The underwater small target detection device based on the bionic magnetic induction array according to claim 3 is characterized in that: The control module includes a central controller (11) and an intelligent power supply (18) arranged in the main control module (1), and the central controller (11) is electrically connected to the intelligent power supply (18); the central controller (11) is electrically connected to the mechanical tentacles (4) and the underwater propulsion lifter (2) respectively.

5. The underwater small target detection device based on the bionic magnetic induction array according to claim 1 is characterized in that: The main control module (1) includes a housing (111), the detection module, the miniaturized low-frequency electromagnetic emitting unit, and the control module are fixedly mounted in the inner cavity of the housing (111); a waterproof baffle (3) is detachably connected to the bottom end of the housing (111), and a plurality of the underwater propulsion lifters (2) are mounted on the waterproof baffle (3) at equal circumferential intervals.

6. The underwater small target detection device based on the bionic magnetic induction array according to claim 5 is characterized in that: The underwater propulsion lifter (2) comprises a housing embedded in the waterproof baffle (3), a brushless DC motor (25) is installed in the inner cavity of the housing, an output shaft of the brushless DC motor (25) is transmission-connected to an aluminum alloy rotating shaft (22) rotatably connected in the housing, and a blade (21) for providing power is transmission-connected to the aluminum alloy rotating shaft (22).

7. The underwater small target detection device based on the bionic magnetic induction array according to claim 6 is characterized in that: A rotary cutter (23) is provided on the transmission sleeve of the aluminum alloy rotating shaft (22), and a fixed cutter (24) corresponding to the rotary cutter (23) is fixedly installed in the housing. The rotary cutter (23) and the fixed cutter (24) are staggered and cut up and down.

8. The underwater small target detection device based on the bionic magnetic induction array according to claim 4 is characterized in that: The mechanical tentacle (4) comprises a plurality of tentacle segments connected end to end in sequence, a communication module is provided between adjacent tentacle segments, and the communication module is electrically connected to the central controller (11); a driving module is provided in the tentacle segment and is electrically connected to the communication module.

9. The underwater small target detection device based on the bionic magnetic induction array according to claim 8, characterized in that: The driving module includes a plurality of correspondingly arranged memory metal harnesses (48) and springs (46); the memory metal harnesses (48) are correspondingly provided with electrodes (44); and the electrodes (44) are electrically connected to the conduction module.

10. The underwater small target detection device based on the bionic magnetic induction array according to claim 8, characterized in that: The communication module includes an edge server (415) electrically connected to the central controller (11), the edge server (415) is electrically connected to a cable (414), the cable (414) passes through a plurality of the tentacle segments and is electrically connected to the electrode (44); an electrically connected optical fiber magnetic field sensor (410) and an array magnetic field data conversion module (411) are provided in the tentacle segments, and the array magnetic field data conversion module (411) is electrically connected to the edge server (415) through the cable (414).

Images