Underwater pollution source sniffing device based on sturgeon nasal cavity bionics

Abstract

The invention discloses an underwater pollution source sniffing device based on sturgeon nasal cavity bionics. Aiming at the problems of high energy consumption, high noise, dependence on manual operation, difficulty in quickly and accurately identifying and positioning a pollution source and the like in the traditional water quality monitoring technology, the passive sniffing device researched and developed by the invention integrates a sturgeon nasal cavity simulation sniffing system, an underwater propulsion system and a rudder system. Wherein the sturgeon nasal cavity imitating structure can optimize a flow field and efficiently capture pollution source information in water; the underwater propulsion system is responsible for realizing device movement, and the rudder system is matched with the electric control system to realize accurate steering control; the three components cooperate to form a passive sampling design, so that energy consumption and noise are effectively reduced. According to the design, the pollution source monitoring efficiency and sensitivity are improved, stable operation of the device is guaranteed, and a feasible solution is provided for efficient monitoring and accurate positioning of the underwater pollution source.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater environment monitoring, and more specifically, the present invention relates to an underwater pollution source sniffing device based on sturgeon nasal cavity bionics. Background Art

[0002] As key equipment for safeguarding water resource security, water pollution detection devices play an irreplaceable role in preventing water pollution, protecting the ecological environment, responding to sudden environmental incidents, and promoting sustainable development. Their detection accuracy, timely response, and energy-efficient operation are particularly important, especially in the event of a sudden water pollution incident, when the pollution source, type, and concentration of the pollutants must be quickly and accurately identified. However, traditional water quality monitoring technologies have limitations such as long monitoring cycles, high costs, and reliance on manual operation, making it difficult to meet the demand for rapid response. Specifically, traditional technologies suffer from high energy consumption, high noise, reliance on manual operation, and an inability to quickly and accurately identify and locate pollution sources. This invention addresses this situation by implementing a biomimetic integrated design inspired by the sturgeon nasal cavity to achieve passive monitoring of water pollution, thereby reducing energy consumption and noise, and improving monitoring stability. This device has important scientific significance and broad application value. Therefore, it is of great significance to develop a water pollution monitoring device that is structurally integrated, environmentally friendly, accurate in detection, highly efficient, and easy to operate. Summary of the Invention

[0003] The technical problem to be solved by the present invention is that the existing technology faces many problems such as high energy consumption, high noise, poor stability, complex structure, etc., as well as the problem of how to quickly locate the source of pollution. An underwater pollution source sniffing device based on the bionics of the sturgeon nasal cavity is provided.

[0004] An underwater pollution source sniffing device based on sturgeon nasal cavity biomimetic includes a cabin, a sturgeon nasal cavity sniffing system, an underwater propulsion system, and a rudder system;

[0005] The cabin is the base of the entire device. The sturgeon-like nasal sniffing system is located at the front end of the cabin and is welded and fixed to the cabin through the cabin connection port. The underwater propulsion system is located at the tail of the cabin and is connected through a slot. The rudder system is located on both sides of the cabin and is connected through a slot.

[0006] The cabin provides equipment installation location and protection for the entire machine. The cabin includes a hatch, a clamp, an upper cabin shell, a lower cabin shell, and clamp fixing holes;

[0007] The hatch cover is located at the end of the cabin body. The hatch cover is a 1 / 4 spherical shape, and is used with a sturgeon head-like fixing plate to form a seal on the cabin body and is welded to the lower half of the cabin shell.

[0008] The clamp is located at the front end of the cabin body, and is used to enhance the connection strength between the upper cabin shell and the lower cabin shell, and is tightened with bolts to connect to the cabin body;

[0009] The upper half shell is located on the upper part of the cabin body, and is the upper half structure of the cabin body enclosed space. It is connected to the lower half shell by bolts, including the rudder stock hole, the lower cabin body connection hole, the upper fairing, and the upper half of the shaft extension hole.

[0010] The rudder stock hole is located in the middle of the upper half shell and is used to position and install the rudder stock of the rudder system;

[0011] The lower cabin body connection holes are located on both sides of the tail of the upper cabin shell, and are used to cooperate with bolts to connect the upper cabin shell and the lower cabin shell;

[0012] The upper fairing is located at the end of the upper half shell and is integrally formed with the upper half shell to protect the propeller blades and increase thrust;

[0013] The upper half of the shaft extension hole is located at the tail of the upper half shell and is integrally formed with the upper half shell to fix and protect the drive transmission shaft;

[0014] The lower half shell is located at the lower part of the cabin body, and is the upper part of the structure that constitutes the closed space of the cabin body. It is fixed to the upper half shell by bolts, including the control box mounting slot, servo motor mounting slot, battery mounting slot, motor mounting slot, the lower half of the shaft extension hole, the lower deflector, and the upper cabin body fixing hole;

[0015] The control box mounting slot is located on the inner side of the lower half shell and is integrally formed with the lower half shell for mounting the electronic control system.

[0016] The servo motor mounting slot is located on the inner side of the lower half shell, at the rear end of the control box mounting slot, and is integrally formed with the lower half shell for mounting the servo motor of the rudder system;

[0017] The battery installation slot is located on the inner side of the lower half shell, at the rear end of the servo motor installation slot, and is integrally formed with the lower half shell for installing a waterproof battery;

[0018] The lower half of the shaft extension hole is located at the tail of the lower half shell and is integrally formed with the lower half shell to support and protect the drive transmission shaft;

[0019] The lower fairing is located at the tail of the lower half shell, is integrally formed with the lower half shell, and cooperates with the upper fairing to protect the propeller blades and increase thrust;

[0020] The upper cabin fixing holes are located on both sides of the tail of the lower cabin shell and are used to cooperate with bolts to fix the upper cabin shell;

[0021] The clamp fixing holes are located on both sides of the clamp and are used to cooperate with bolts to fix the clamp;

[0022] The sturgeon-like nasal cavity sniffing system includes a sturgeon-like head component and two sturgeon-like nasal cavity chambers;

[0023] The sturgeon head imitation component is connected to the front end of the upper half shell by welding, and includes two sturgeon nasal cavity imitation fixing frames, a sturgeon head imitation fixing plate, and a sturgeon head imitation drainage plate;

[0024] The sturgeon-like nasal cavity fixing frame is located at the end of the sturgeon-like head component and is welded to the sturgeon-like head drainage plate of the sturgeon-like head component, and includes a water inlet fixing ring and a detection plate fixing plate;

[0025] The water inlet fixing ring is located at the front end of the sturgeon-like nasal cavity fixing frame and is welded to the water outlet of the sturgeon-like nasal cavity;

[0026] The detection plate fixing plate is located at the end of the imitation sturgeon nasal cavity fixing frame and is welded to the imitation sturgeon nasal cavity detection plate of the imitation sturgeon nasal cavity;

[0027] The sturgeon head imitation fixing plate is located at the front end of the upper half shell and is welded to the upper half shell, and includes a cabin connection port and a sturgeon head imitation drainage plate installation slot;

[0028] The cabin connection port is located at the tail of the imitation sturgeon head fixing plate and is used to connect the imitation sturgeon head fixing plate and the upper cabin shell;

[0029] The sturgeon head-simulating drainage plate installation groove is located in the middle of the sturgeon head-simulating fixing plate and is used for installing the sturgeon head-simulating drainage plate;

[0030] The sturgeon head drainage plate is located in the sturgeon head component and is welded in the sturgeon head drainage plate mounting groove. Referring to the fluid dynamics characteristics of the bionic sturgeon head, the main body is at a 40-degree angle, which can effectively guide the flow direction of the fluid, including the drainage channel;

[0031] The drainage channel is located inside the drainage plate of the simulated sturgeon head and is integrally formed with the drainage plate to guide the fluid to flow into the simulated sturgeon nasal cavity;

[0032] The distribution position of the simulated sturgeon nasal cavity is based on the structure of the sturgeon head, and is symmetrically distributed on both sides of the simulated sturgeon nasal cavity sniffing system, and is welded and fixed to the simulated sturgeon nasal cavity fixing frame, including the simulated sturgeon nasal cavity shell and the simulated sturgeon nasal cavity detection plate;

[0033] The sturgeon-like nasal cavity shell is shaped like the sturgeon's nasal cavity structure, has a length of 140mm to 150mm, a wall thickness of 8mm to 10mm, is welded to the sturgeon-like nasal cavity fixing frame, and includes a sturgeon-like nasal cavity detection plate mounting port, a water outlet, and a water inlet;

[0034] The sturgeon-like nasal cavity detection plate installation opening is located at the bottom of the sturgeon-like nasal cavity shell, has a diameter of 50 to 60 mm, and is used to install the sturgeon-like nasal cavity detection plate;

[0035] The water outlet is located on the side of the sturgeon-like nasal cavity housing, with a diameter of 60 to 70 mm, and is used to reduce the flow rate, convert the fluid kinetic energy into pressure energy, effectively stabilize the flow field, and reduce equipment vibration;

[0036] The water inlet is located at the front end of the sturgeon-like nasal cavity housing, has a diameter of 30 to 40 mm, and is used to increase the fluid velocity and improve the detection board's efficiency in capturing target signals.

[0037] The sturgeon-like nasal cavity detection plate is shaped like the olfactory plate and olfactory fold structure in the sturgeon's nasal cavity, is located inside the sturgeon-like nasal cavity, is welded to the sturgeon-like nasal cavity detection plate installation port, and the tail end is welded to the detection plate fixing plate, including the sturgeon-like nasal cavity olfactory plate boss, the detection channel, and 8 sensor installation ports;

[0038] The sturgeon-like nasal olfactory plate boss is located at the front end of the sturgeon-like nasal cavity detection plate and is used to guide the water flow to form a vortex, thereby extending the retention time of the fluid in the sturgeon-like nasal cavity detection plate and avoiding signal dispersion caused by turbulence, so that the signal can be sensed more accurately.

[0039] The detection channel is located behind the sturgeon-like nasal olfactory plate boss, connected to the sensor installation port, and is integrally formed with the sturgeon-like nasal olfactory plate boss to guide water flow to contact the sensor and increase the contact area;

[0040] The sensor installation port is located on the sturgeon-like nasal cavity detection plate and is used to install various sensor devices;

[0041] The underwater propulsion system includes propulsion blades, blade sleeves, drive transmission shafts, motor output shafts, waterproof propulsion motors, and waterproof batteries;

[0042] The propulsion blades are located at the end of the underwater propulsion system, welded to the drive shaft, and generate thrust by rotating the fluid;

[0043] The blade sleeve is used to connect the blade and the drive shaft to transmit torque;

[0044] The driving transmission shaft is connected to the motor output shaft through a sleeve coupling for transmitting rotational power;

[0045] The motor output shaft is located at the power output end of the motor and is used to output power;

[0046] The waterproof propulsion motor is located in the motor mounting slot and is welded to the lower half of the cabin shell to provide rotational power;

[0047] The waterproof battery is located in the battery installation slot and provides power for the movement and operation of the entire machine;

[0048] The rudder system is used to control the heading and attitude of the entire aircraft, including a rudder propeller, a rudder system servo motor, and an electronic control system;

[0049] The rudder propellers are located on both sides of the cabin and are welded to the output shaft of the servo motor of the rudder system of the servo motor. By deflecting around the axis, the direction of the water flow is changed, and the reaction force of the fluid is used to generate lateral thrust, which directly drives the entire machine to turn and adjust its posture, including the rudder stock and rudder plate;

[0050] The rudder stock is welded to the rudder system servo motor output shaft of the rudder system servo motor to transmit rotational power;

[0051] The rudder plate is located at the end of the rudder system and is welded to the rudder stock to change the direction of water flow;

[0052] The rudder system servo motor is located in the servo motor mounting slot and is welded to the lower half shell. It is used to convert electrical energy into precise swing power to drive the rudder propeller to deflect according to the command angle. It includes the rudder system servo motor output shaft and the rudder system servo motor mounting buckle.

[0053] The rudder system servo motor output shaft is located at the power output end of the rudder system servo motor and is used to output power;

[0054] The rudder system servo motor mounting buckle is located at the bottom of the rudder system servo motor and is welded to the servo motor mounting slot;

[0055] The electronic control system is located in the control box installation slot and is welded to the lower half of the cabin shell. It is used to receive external commands and output precise control signals, including an electronic control box, a signal receiver, and a single-chip microcomputer.

[0056] The electric control box is located in the control box mounting slot and is welded to the lower half of the cabin shell to provide a mounting location for the components and protect the components;

[0057] The signal receiver is located in the electric control box and is used to receive signals;

[0058] The single chip microcomputer is located in the electric control box, model is MSP430F149 (TI), which is used to process signals and output accurately;

[0059] Compared with the prior art, the present invention has the following beneficial effects:

[0060] 1. A new type suitable for water source protection, increasing the efficiency and sensitivity of pollution source capture.

[0061] 2. It has intelligent navigation, path planning and tracking technology.

[0062] 3. Passive design reduces energy consumption and noise, and improves monitoring stability.

[0063] 4. The sturgeon-like nasal sniffer system optimizes its ability to capture pollutants (odor molecules) in water through biomimetic design.

[0064] 5. The structure is integrated, space utilization is more efficient, and it is more conducive to the underwater environment.

[0065] 6. The machine adopts modular design, which makes maintenance and expansion more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 It is an axonometric drawing of the final assembly of the present invention;

[0067] Figure 2 This is a bottom-view axonometric view of the final assembly of the present invention;

[0068] Figure 3 This is an axonometric view of the cabin of the present invention;

[0069] Figure 4 This is an axonometric view of the upper half shell of the present invention;

[0070] Figure 5 This is an axonometric view of the lower half shell of the present invention;

[0071] Figure 6 This is an axonometric diagram of the sturgeon-like nasal cavity sniffing system of the present invention;

[0072] Figure 7 This is an axonometric view of the sturgeon-like head component of the present invention;

[0073] Figure 8 This is an axonometric view of the sturgeon-like nasal cavity fixing frame of the present invention;

[0074] Figure 9 This is an axonometric view of the sturgeon head imitation fixing plate of the present invention;

[0075] Figure 10 This is an axonometric view of the sturgeon head-imitation drainage plate of the present invention;

[0076] Figure 11 This is an axonometric view of the sturgeon-like nasal cavity of the present invention;

[0077] Figure 12 This is an axonometric view of the sturgeon-like nasal cavity housing of the present invention;

[0078] Figure 13 This is an axonometric view of the sturgeon-like nasal cavity detection board of the present invention;

[0079] Figure 14 An exploded view of the underwater propulsion system of the present invention;

[0080] Figure 15 is an axonometric view of the rudder system of the present invention;

[0081] Figure 16 This is an axonometric view of the steering propeller of the present invention;

[0082] Figure 17 This is an axonometric view of the servo motor of the rudder system of the present invention;

[0083] Figure 18 This is an axonometric diagram of the electronic control system of the present invention;

[0084] Figure: A, cabin; B, sturgeon-like nasal sniffing system; C, underwater propulsion system; D, rudder system; 1, hatch cover; 2, clamp; 3, upper half of cabin shell; 4, lower half of cabin shell; 5, clamp fixing hole; 6, rudder stock hole; 7, lower cabin connection hole; 8, upper fairing; 9, upper half of shaft extension hole; 10, control box mounting slot; 11, servo motor mounting slot; 12, battery mounting slot; 13, motor mounting slot; 14, lower half of shaft extension hole; 15, lower fairing; 16, upper cabin fixing hole; 17, sturgeon-like head component; 18, sturgeon-like nasal cavity; 19, sturgeon-like nasal cavity fixing frame; 20, sturgeon-like head fixing plate; 21, sturgeon-like head drainage plate; 22, water inlet fixing ring; 23, detection board fixing plate; 24, cabin connection port ; 25. Sturgeon-like head drainage plate mounting groove; 26. Drainage channel; 27. Sturgeon-like nasal cavity shell; 28. Sturgeon-like nasal cavity detection plate; 29. ​​Sturgeon-like nasal cavity detection plate mounting port; 30. Water outlet; 31. Water inlet; 32. Sturgeon-like nasal olfactory plate boss; 33. Detection channel; 34. Sensor mounting port; 35. Propeller blade; 36. Propeller blade sleeve; 37. Drive transmission shaft; 38. Motor output shaft; 39. Waterproof propulsion motor; 40. Waterproof battery; 41. Rudder propeller; 42. Rudder system servo motor; 43. Electronic control system; 44. Rudder stock; 45. Rudder plate; 46. Rudder system servo motor output shaft; 47. Rudder system servo motor mounting buckle; 48. Electronic control box; 49. Signal receiver; 50. Single-chip microcomputer. DETAILED DESCRIPTION

[0085] See Figures 1 to 2 , an underwater pollution source sniffing device based on sturgeon nasal cavity biomimetic, including a cabin (A), a sturgeon nasal cavity sniffing system (B), an underwater propulsion system (C), and a rudder system (D);

[0086] The cabin (A) is the base of the entire device. The sturgeon-like nasal sniffer system (B) is located at the front end of the cabin (A) and is welded and fixed to the cabin (A) through a cabin connection port (24). The underwater propulsion system (C) is located at the rear end of the cabin (A) and is connected through a slot. The rudder system (D) is located on both sides of the cabin (A) and is connected through a slot.

[0087] See Figures 3 to 5The cabin (A) provides a location for equipment installation and protection for the entire machine. The cabin (A) includes a cabin cover (1), a clamp (2), an upper cabin shell (3), a lower cabin shell (4), and a clamp fixing hole (5);

[0088] The hatch cover (1) is located at the end of the cabin body (A), and the hatch cover (1) is in a 1 / 4 spherical shape, cooperates with the sturgeon head fixing plate (20) to form a seal with the cabin body (A), and is welded to the lower half cabin shell (4);

[0089] The clamp (2) is located at the front end of the cabin (A), is used to enhance the connection strength between the upper cabin shell (3) and the lower cabin shell (4), and is tightened and connected to the cabin (A) by bolts;

[0090] The upper half shell (3) is located on the upper part of the cabin body (A), and is the upper half structure of the closed space of the cabin body (A). It is connected to the lower half shell (4) by bolts, and includes a rudder hole (6), a lower cabin body connection hole (7), an upper fairing (8), and an upper half of the shaft extension hole (9);

[0091] The rudder stock hole (6) is located in the middle of the upper half shell (3) and is used to position and install the rudder stock (44) of the rudder system (D);

[0092] The lower cabin body connection holes (7) are located on both sides of the tail of the upper cabin shell (3) and are used to connect the upper cabin shell (3) and the lower cabin shell (4) with bolts;

[0093] The upper fairing (8) is located at the end of the upper half shell (3) and is formed integrally with the upper half shell (3) to protect the propulsion blades (35) and increase thrust;

[0094] The upper half of the shaft extension hole (9) is located at the tail of the upper half shell (3) and is integrally formed with the upper half shell (3) to fix and protect the drive transmission shaft (37).

[0095] The lower half shell (4) is located at the lower part of the cabin body (A), and is the upper half structure of the closed space of the cabin body (A). It is fixed to the upper half shell (3) by bolts, and includes a control box mounting slot (10), a servo motor mounting slot (11), a battery mounting slot (12), a motor mounting slot (13), a lower half of the shaft extension hole (14), a lower air deflector (15), and an upper cabin body fixing hole (16);

[0096] The control box mounting groove (10) is located on the inner side of the lower half shell (4), is integrally formed with the lower half shell (4), and is used to install the electric control system (43);

[0097] The servo motor mounting groove (11) is located on the inner side of the lower half shell (4), at the rear end of the control box mounting groove (10), and is integrally formed with the lower half shell (4) for mounting the rudder system servo motor (42);

[0098] The battery installation slot (12) is located inside the lower half shell (4), at the rear end of the servo motor installation slot (11), and is integrally formed with the lower half shell (4) for installing a waterproof battery (40);

[0099] The lower half of the shaft extension hole (14) is located at the rear of the lower half shell (4) and is integrally formed with the lower half shell (4) to support and protect the drive transmission shaft (37);

[0100] The lower fairing (15) is located at the tail of the lower half shell (4), is integrally formed with the lower half shell (4), and cooperates with the upper fairing (8) to protect the propulsion blades (35) and increase thrust;

[0101] The upper cabin fixing holes (16) are located on both sides of the tail of the lower cabin shell (4) and are used to cooperate with bolts to fix the upper cabin shell (3);

[0102] The clamp fixing holes (5) are located on both sides of the clamp (2) and are used to cooperate with bolts to fix the clamp (2);

[0103] See Figures 6 to 13 The sturgeon-like nasal cavity sniffing system (B) includes a sturgeon-like head component (17) and two sturgeon-like nasal cavity chambers (18);

[0104] The sturgeon-like head component (17) is connected to the front end of the upper half shell (3) by welding, and includes two sturgeon-like nasal cavity fixing frames (19), a sturgeon-like head fixing plate (20), and a sturgeon-like head drainage plate (21);

[0105] The sturgeon-like nasal cavity fixing frame (19) is located at the end of the sturgeon-like head component (17), is welded to the sturgeon-like head drainage plate (21) of the sturgeon-like head component (17), and includes a water inlet fixing ring (22) and a detection plate fixing plate (23);

[0106] The water inlet fixing ring (22) is located at the front end of the sturgeon-like nasal cavity fixing frame (19) and is welded to the water outlet (30) of the sturgeon-like nasal cavity (18);

[0107] The detection plate fixing plate (23) is located at the end of the sturgeon-like nasal cavity fixing frame (19) and is welded to the sturgeon-like nasal cavity detection plate (28) of the sturgeon-like nasal cavity (18);

[0108] The sturgeon head imitation fixing plate (20) is located at the front end of the upper half shell (3), is welded to the upper half shell (3), and includes a cabin connection port (24) and a sturgeon head imitation drainage plate installation slot (25);

[0109] The cabin connection port (24) is located at the tail of the sturgeon head fixing plate (20) and is used to connect the sturgeon head fixing plate (20) and the upper cabin shell (3);

[0110] The sturgeon head-simulating drainage plate installation groove (25) is located in the middle of the sturgeon head-simulating fixing plate (20) and is used for installing the sturgeon head-simulating drainage plate (21);

[0111] The sturgeon head drainage plate (21) is located in the sturgeon head component (17) and is welded in the sturgeon head drainage plate mounting groove (25). With reference to the fluid dynamics characteristics of the bionic sturgeon head, the main body is at an angle of 40 degrees, which can effectively guide the flow direction of the fluid, including the drainage channel (26);

[0112] The drainage channel (26) is located inside the sturgeon-like head drainage plate (21) and is integrally formed with the sturgeon-like head drainage plate (21) for guiding the fluid to flow toward the sturgeon-like nasal cavity (18);

[0113] The distribution position of the sturgeon-like nasal cavity (18) is based on the structure of the sturgeon head, and is symmetrically distributed on both sides of the sturgeon-like nasal cavity sniffing system (B). It is welded and fixed to the sturgeon-like nasal cavity fixing frame (19), and includes a sturgeon-like nasal cavity housing (27) and a sturgeon-like nasal cavity detection plate (28);

[0114] The sturgeon-like nasal cavity housing (27) is shaped like the sturgeon's nasal cavity structure, has a length of 140 mm to 150 mm, a wall thickness of 8 mm to 10 mm, is welded to the sturgeon-like nasal cavity fixing frame (19), and includes a sturgeon-like nasal cavity detection board mounting port (29), a water outlet (30), and a water inlet (31);

[0115] The sturgeon-like nasal cavity detection plate installation opening (29) is located at the bottom of the sturgeon-like nasal cavity housing (27), has a diameter of 50 to 60 mm, and is used to install the sturgeon-like nasal cavity detection plate (28);

[0116] The water outlet (30) is located on the side of the sturgeon-like nasal cavity housing (27) and has a diameter of 60 to 70 mm. It is used to reduce the flow rate, convert the fluid kinetic energy into pressure energy, effectively stabilize the flow field, and reduce equipment vibration.

[0117] The water inlet (31) is located at the front end of the sturgeon-like nasal cavity housing (27) and has a diameter of 30 to 40 mm. It is used to increase the fluid velocity and improve the detection board's efficiency in capturing target signals.

[0118] The sturgeon-like nasal cavity detection plate (28) is shaped like the olfactory plate and olfactory fold structure in the sturgeon's nasal cavity, is located inside the sturgeon-like nasal cavity (18), is welded to the sturgeon-like nasal cavity detection plate mounting port (29), and has its tail end welded to the detection plate fixing plate (23). The sturgeon-like nasal cavity detection plate comprises a sturgeon-like nasal cavity olfactory plate boss (32), a detection channel (33), and eight sensor mounting ports (34).

[0119] The sturgeon-like nasal cavity olfactory plate boss (32) is located at the front end of the sturgeon-like nasal cavity detection plate (28) and is used to guide the water flow to form a vortex, thereby extending the retention time of the fluid in the sturgeon-like nasal cavity detection plate (28) and avoiding signal dispersion caused by turbulence, so that the signal can be sensed more accurately;

[0120] The detection channel (33) is located behind the sturgeon-like nasal olfactory plate boss (32), connected to the sensor installation port (34), and is integrally formed with the sturgeon-like nasal olfactory plate boss (32) to guide water flow to contact the sensor and increase the contact area;

[0121] The sensor installation port (34) is located at the bottom of the sturgeon-like nasal cavity detection plate (28) and is used to install various sensor devices;

[0122] See Figure 14 , is the underwater propulsion system (C), comprising a propulsion blade (35), a blade sleeve (36), a drive transmission shaft (37), a motor output shaft (38), a waterproof propulsion motor (39), and a waterproof battery (40);

[0123] The propulsion blade (35) is located at the end of the underwater propulsion system (C), is welded to the drive transmission shaft (37), and generates thrust by rotating the fluid;

[0124] The blade sleeve (36) is used to connect the propulsion blade (35) and the drive transmission shaft (37) to transmit torque;

[0125] The driving transmission shaft (37) is connected to the motor output shaft (38) through a sleeve coupling for transmitting rotational power;

[0126] The motor output shaft (38) is located at the power output end of the waterproof propulsion motor (39) and is used to output power;

[0127] The waterproof propulsion motor (39) is located in the motor installation slot (13) and is welded to the lower half shell (4) to provide rotational power;

[0128] The waterproof battery (40) is located in the battery installation slot (12) and provides power for the movement and operation of the entire machine;

[0129] See Figures 15 to 18, is the rudder system (D), used to control the heading and attitude of the entire aircraft, including a rudder propeller (41), a rudder system servo motor (42), and an electronic control system (43);

[0130] The rudder propellers (41) are located on both sides of the cabin (A) and are welded to the rudder system servo motor output shaft (46) of the rudder system servo motor (42). By deflecting around the axis, the direction of the water flow is changed, and the reaction force of the fluid is used to generate lateral thrust, which directly drives the entire machine to turn and adjust the posture. The rudder propellers (41) include a rudder stock (44) and a rudder plate (45);

[0131] The rudder stock (44) is welded to the rudder system servo motor output shaft (46) of the rudder system servo motor (42) for transmitting rotational power;

[0132] The rudder plate (45) is located at the end of the rudder system (B) and is welded to the rudder stock (44) to change the direction of the water flow;

[0133] The rudder system servo motor (42) is located in the servo motor mounting groove (11) and is welded to the lower half shell (4). It is used to convert electrical energy into precise swing power to drive the rudder propeller (41) to deflect according to the command angle, and includes a rudder system servo motor output shaft (46) and a rudder system servo motor mounting buckle (47);

[0134] The rudder system servo motor output shaft (46) is located at the power output end of the rudder system servo motor (42) and is used to output power;

[0135] The rudder system servo motor mounting buckle (47) is located at the bottom of the rudder system servo motor (42) and is welded to the servo motor mounting groove (11);

[0136] The electric control system (43) is located in the control box installation slot (10) and is welded to the lower half shell (4). It is used to receive external commands and output precise control signals, and includes an electric control box (48), a signal receiver (49), and a single chip microcomputer (50).

[0137] The electric control box (48) is located in the control box installation groove (10) and is welded to the lower half shell (4) to provide a mounting position for components and protect the components;

[0138] The signal receiver (49) is located in the electric control box (48) and is used to receive signals;

[0139] The single chip microcomputer (50), model MSP430F149 (TI), is located in the electric control box (48) and is used to process signals and output accurately;

[0140] Working principle of the present invention:

[0141] See Figures 1 to 2 The working principle of an underwater pollution source sniffing device based on sturgeon nasal cavity biomimetic is as follows. The electronic control system (43) sends a signal, and the waterproof propulsion motor (39) on the underwater propulsion system (C) starts working through the power supply of the waterproof battery (40). The motor output shaft (38) cooperates with the drive transmission shaft (37) to convert power into torque, and transmits it to the propulsion blade (35) through the blade sleeve (36). The propulsion blade (35) generates thrust by rotating the fluid, driving the entire machine to start moving. At the same time, the rudder system servo motor (42) of the rudder system (B) starts working through the power supply of the waterproof battery (40), controls the rudder plate (45) to deflect around the axis, changes the flow direction of the water, and uses the reaction force of the fluid to generate lateral thrust (or torque), directly driving the entire machine to turn and adjust its posture. The sturgeon-like nasal cavity sniffing system (B) passively divides the water flow as the whole machine moves. The water flow enters the sturgeon-like nasal cavity (18) from the water inlet (31) through the drainage channel (26) on the sturgeon-like head drainage plate (21). The sturgeon-like nasal cavity detection plate (28) guides the water flow to form a vortex, thereby extending the retention time of the fluid in the detection area and avoiding signal dispersion caused by turbulence, so that the signal can be sensed more accurately. Finally, the water flow completes the detection from the water outlet (30).

[0142] See Figures 3 to 18The disassembly and assembly principles of the cabin (A), the sturgeon-like nasal cavity sniffing system (B), the underwater propulsion system (C), and the rudder system (D) of this machine are as follows. The cabin (A) is composed of a hatch (1), a clamp (2), an upper half cabin shell (3), and a lower half cabin shell (4). The hatch (1) is welded to the front end of the lower half cabin shell (4), and the upper half cabin shell (3) and the lower half cabin shell (4) are tightly connected at the front end through the clamp (2), and the rear end is connected by bolts. The sturgeon-like nasal cavity sniffing system (B) is composed of a sturgeon-like head component (17) and a sturgeon-like nasal cavity chamber (18). The imitation sturgeon head component (17) is welded to the front end of the upper half shell (3) and the hatch cover (1) through the cabin connection port (24); the imitation sturgeon nasal cavity (18) is fixed to the imitation sturgeon nasal cavity fixing frame (19) of the imitation sturgeon head component (17) by welding, so that water flow can be better guided into the imitation sturgeon nasal cavity (18). The underwater propulsion system (C) is installed inside the cabin (A) and is welded to the battery installation slot (12), the motor installation slot (13), the lower fairing (15) of the lower half cabin shell (4) and the upper fairing (8) of the upper half cabin shell (3). The underwater propulsion system (C) is composed of a propulsion blade (35), a blade shaft sleeve (36), a driving transmission shaft (37), a motor output shaft (38), a waterproof propulsion motor (39), and a waterproof battery (40). The waterproof propulsion motor (39) is powered by the waterproof battery (40), and the waterproof propulsion motor (39) drives the motor output shaft (38) to rotate. The propulsion blade (35) is rotated through the driving transmission shaft (37) and the blade shaft sleeve (36), and the blade pushes water to move the device forward. The rudder system (D) is installed inside the cabin (A) and is connected to the control box installation slot (10) and the servo motor installation slot (11) of the lower half cabin shell (4) and the rudder stock hole (6) of the upper half cabin shell (3). The rudder system (D) is composed of a rudder propeller (41), a rudder system servo motor (42), and an electronic control system (43). The rudder propeller (41) and the rudder system servo motor (42) are welded. After receiving the steering signal, the electronic control system (43) sends a command to the rudder system servo motor (42). The rudder system servo motor (42) rotates to drive the rudder plate (45) to swing, thereby generating lateral force by changing the direction of water flow to achieve device steering.

Claims

1. An underwater pollution source sniffing device based on sturgeon nasal cavity biomimetic, characterized by: It includes the cabin (A), the sturgeon-like nasal sniffing system (B), the underwater propulsion system (C), and the rudder system (D); The cabin (A) is the base of the entire device. The sturgeon-like nasal sniffer system (B) is located at the front end of the cabin (A) and is welded and fixed to the cabin (A) through a cabin connection port (24). The underwater propulsion system (C) is located at the rear end of the cabin (A) and is connected through a slot. The rudder system (D) is located on both sides of the cabin (A) and is connected through a slot. The cabin (A) provides a location for equipment installation and protection for the entire machine. The cabin (A) comprises a cabin cover (1), a clamp (2), an upper cabin shell (3), a lower cabin shell (4), and a clamp fixing hole (5); The hatch cover (1) is located at the end of the cabin body (A), and the hatch cover (1) is in a 1 / 4 spherical shape, cooperates with the sturgeon head fixing plate (20) to form a seal with the cabin body (A), and is welded to the lower half cabin shell (4); The clamp (2) is located at the front end of the cabin (A) and is used to enhance the connection strength between the upper cabin shell (3) and the lower cabin shell (4), and is tightened and connected to the cabin (A) by bolts.

2. The cabin (A) according to claim 1, characterized in that The upper half shell (3) is located on the upper part of the cabin body (A), and is the upper half structure of the closed space of the cabin body (A). It is connected to the lower half shell (4) by bolts, and includes a rudder hole (6), a lower cabin body connection hole (7), an upper fairing (8), and an upper half of the shaft extension hole (9); The rudder stock hole (6) is located in the middle of the upper half shell (3) and is used to position and install the rudder stock (44) of the rudder system (D); The lower cabin connection holes (7) are located on both sides of the tail of the upper cabin shell (3); The upper fairing (8) is located at the end of the upper half shell (3) and is integrally formed with the upper half shell (3); The upper half of the shaft extension hole (9) is located at the rear of the upper half shell (3) and is formed integrally with the upper half shell (3).

3. The cabin (A) according to claim 1, characterized in that The lower half shell (4) is located at the lower part of the cabin body (A), and is the upper half structure of the closed space of the cabin body (A). It is fixed to the upper half shell (3) by bolts, and includes a control box mounting slot (10), a servo motor mounting slot (11), a battery mounting slot (12), a motor mounting slot (13), a lower half of the shaft extension hole (14), a lower air deflector (15), and an upper cabin body fixing hole (16); The control box mounting groove (10) is located inside the lower half shell (4) and is integrally formed with the lower half shell (4); The servo motor mounting groove (11) is located on the inner side of the lower half shell (4), at the rear end of the control box mounting groove (10), and is integrally formed with the lower half shell (4); The battery installation slot (12) is located inside the lower half shell (4), at the rear end of the servo motor installation slot (11), and is integrally formed with the lower half shell (4); The lower half of the shaft extension hole (14) is located at the tail of the lower half shell (4) and is formed integrally with the lower half shell (4); The lower fairing (15) is located at the rear of the lower half shell (4), is integrally formed with the lower half shell (4), and cooperates with the upper fairing (8); The upper cabin fixing holes (16) are located on both sides of the tail of the lower half cabin shell (4); The clamp fixing holes (5) are located on both sides of the clamp (2) and are used to cooperate with bolts to fix the clamp (2).

4. The underwater pollution source sniffing device based on sturgeon nasal cavity biomimetic according to claim 1 is characterized in that: The sturgeon-like nasal cavity sniffing system (B) comprises a sturgeon-like head component (17) and two sturgeon-like nasal cavity chambers (18); The sturgeon-like head component (17) is connected to the front end of the upper half shell (3) by welding, and includes two sturgeon-like nasal cavity fixing frames (19), a sturgeon-like head fixing plate (20), and a sturgeon-like head drainage plate (21); The sturgeon-like nasal cavity fixing frame (19) is located at the end of the sturgeon-like head component (17), is welded to the sturgeon-like head drainage plate (21) of the sturgeon-like head component (17), and includes a water inlet fixing ring (22) and a detection plate fixing plate (23); The water inlet fixing ring (22) is located at the front end of the sturgeon-like nasal cavity fixing frame (19) and is welded to the water outlet (30) of the sturgeon-like nasal cavity (18); The detection plate fixing plate (23) is located at the end of the sturgeon-like nasal cavity fixing frame (19) and is welded to the sturgeon-like nasal cavity detection plate (28) of the sturgeon-like nasal cavity (18); The sturgeon head imitation fixing plate (20) is located at the front end of the upper half shell (3), is welded to the upper half shell (3), and includes a cabin connection port (24) and a sturgeon head imitation drainage plate installation slot (25); The cabin connection port (24) is located at the tail of the sturgeon head fixing plate (20) and is used to connect the sturgeon head fixing plate (20) and the upper cabin shell (3); The sturgeon head-simulating drainage plate installation groove (25) is located in the middle of the sturgeon head-simulating fixing plate (20); The sturgeon head-simulating drainage plate (21) is located on the sturgeon head-simulating component (17) and is welded in the sturgeon head-simulating drainage plate mounting groove (25); The drainage channel (26) is located inside the sturgeon head-simulating drainage plate (21) and is integrally formed with the sturgeon head-simulating drainage plate (21); The distribution position of the sturgeon-like nasal cavity (18) is based on the structure of the sturgeon head, and is symmetrically distributed on both sides of the sturgeon-like nasal cavity sniffing system (B). It is welded and fixed to the sturgeon-like nasal cavity fixing frame (19), and includes a sturgeon-like nasal cavity housing (27) and a sturgeon-like nasal cavity detection plate (28); The sturgeon-like nasal cavity housing (27) is shaped like the sturgeon's nasal cavity structure, has a length of 140 mm to 150 mm, a wall thickness of 8 mm to 10 mm, is welded to the sturgeon-like nasal cavity fixing frame (19), and includes a sturgeon-like nasal cavity detection board mounting port (29), a water outlet (30), and a water inlet (31); The sturgeon-like nasal cavity detection plate installation opening (29) is located at the bottom of the sturgeon-like nasal cavity housing (27) and has a diameter of 50 to 60 mm; The water outlet (30) is located on the side of the sturgeon-like nasal cavity housing (27) and has a diameter of 60 to 70 mm; The water inlet (31) is located at the front end of the sturgeon-like nasal cavity housing (27) and has a diameter of 30 to 40 mm; The sturgeon-like nasal cavity detection plate (28) is shaped like the olfactory plate and olfactory fold structure in the sturgeon's nasal cavity, is located inside the sturgeon-like nasal cavity (18), is welded to the sturgeon-like nasal cavity detection plate mounting port (29), and has its tail end welded to the detection plate fixing plate (23). The sturgeon-like nasal cavity detection plate comprises a sturgeon-like nasal cavity olfactory plate boss (32), a detection channel (33), and eight sensor mounting ports (34). The sturgeon-like nasal cavity olfactory plate boss (32) is located at the front end of the sturgeon-like nasal cavity detection plate (28); The detection channel (33) is located behind the sturgeon-like nasal olfactory plate boss (32), connected to the sensor installation port (34), and is integrally formed with the sturgeon-like nasal olfactory plate boss (32); The sensor installation opening (34) is located at the bottom of the sturgeon-like nasal cavity detection plate (28).

5. The underwater pollution source sniffing device based on sturgeon nasal cavity biomimetic according to claim 1 is characterized in that: The underwater propulsion system (C) comprises a propulsion blade (35), a blade sleeve (36), a drive transmission shaft (37), a motor output shaft (38), a waterproof propulsion motor (39), and a waterproof battery (40); The propulsion blade (35) is located at the end of the underwater propulsion system (C); The blade sleeve (36) is welded to the connecting propulsion blade (35) and the driving transmission shaft (37); The driving transmission shaft (37) is connected to the motor output shaft (38) via a sleeve coupling; The motor output shaft (38) is located at the power output end of the waterproof propulsion motor (39); The waterproof propulsion motor (39) is located in the motor installation groove (13) and is welded to the lower half shell (4); The waterproof battery (40) is located in the battery installation slot (12).

6. The underwater pollution source sniffing device based on sturgeon nasal cavity biomimetic according to claim 1 is characterized in that: The rudder system (D) comprises a rudder propeller (41), a rudder system servo motor (42), and an electronic control system (43); The rudder propellers (41) are located on both sides of the cabin (A) and are welded to the rudder system servo motor output shaft (46) of the rudder system servo motor (42). By deflecting around the axis, the direction of the water flow is changed, and the reaction force of the fluid is used to generate lateral thrust, which directly drives the entire machine to turn and adjust the posture. The rudder propellers (41) include a rudder stock (44) and a rudder plate (45); The rudder stock (44) is welded to the rudder system servo motor output shaft (46) of the rudder system servo motor (42) for transmitting rotational power; The rudder plate (45) is located at the end of the rudder system (B) and is welded to the rudder stock (44) to change the direction of the water flow; The rudder system servo motor (42) is located in the servo motor mounting groove (11) and is welded to the lower half shell (4). It is used to convert electrical energy into precise swing power to drive the rudder propeller (41) to deflect according to the command angle, and includes a rudder system servo motor output shaft (46) and a rudder system servo motor mounting buckle (47); The rudder system servo motor output shaft (46) is located at the power output end of the rudder system servo motor (42) and is used to output power; The rudder system servo motor mounting buckle (47) is located at the bottom of the rudder system servo motor (42) and is welded to the servo motor mounting groove (11); The electric control system (43) is located in the control box installation slot (10), welded to the lower half shell (4), and includes an electric control box (48), a signal receiver (49), and a single chip microcomputer (50); The electric control box (48) is located in the control box installation groove (10) and is welded to the lower half shell (4); The signal receiver (49) is installed in the electric control box (48); The single chip microcomputer (50) is installed in the electric control box (48), and its model is MSP430F149 (TI).

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