A three-dimensional magnetic field biomimetic mustache sensor based on hall effect

Abstract

The application discloses a three-dimensional magnetic field bionic seal whisker sensor based on a Hall effect, which comprises a mounting frame, a Hall chip and a universal joint component arranged on the mounting frame, a bionic whisker arranged on the universal joint component and a magnet arranged on the bionic whisker; the universal joint component is used for swinging the bionic whisker in a first direction and a second direction along a reference plane perpendicular to a center line of the bionic whisker after the bionic whisker is subjected to fluid acting force, the first direction and the second direction are perpendicular, and the universal joint component is used for resetting the bionic whisker after the bionic whisker is not subjected to fluid acting force; the magnet generates a magnetic flux density change along with the movement of the bionic whisker; and the Hall chip is used for sensing magnetic field information. While retaining the characteristics of the conventional bionic whisker sensor, such as strong environmental adaptability and high sensitivity, the application breaks through the limitation of one-way sensing, improves the synchronous detection capability of flow velocity, flow direction and vortex street frequency, and widens the application range of the bionic whisker sensor in complex underwater scenes.

Description

Technical Field

[0001] This invention relates to the field of underwater flow field sensing technology, and in particular to a three-dimensional magnetic field biomimetic seal whisker sensor based on the Hall effect. Background Technology

[0002] For underwater flow field perception, existing biomimetic beard sensors have advantages such as biomimetic structure and strong environmental adaptability, but they usually suffer from limitations such as single sensing dimension and insufficient signal stability. This is because traditional sensors mostly rely on optical, resistive, or piezoelectric sensing principles, which can only capture unidirectional flow field information. Furthermore, under the influence of complex water flow, they are prone to signal drift or interference amplification due to the lack of effective decoupling mechanisms and the inability of flexible structures to easily recover their original state, making it difficult to meet the accurate perception requirements of underwater robots for multidirectional fluid dynamics information. To solve the above problems, existing sensors of this type usually need to be used in combination with multiple unidirectional sensors or additional signal calibration modules, both of which increase the complexity and cost of the detection system. Summary of the Invention

[0003] This invention provides a three-dimensional magnetic field biomimetic seal whisker sensor based on the Hall effect to solve the above-mentioned technical problems.

[0004] To achieve the above objectives, the technical solution of the present invention is as follows:

[0005] A three-dimensional magnetic field biomimetic seal whisker sensor based on the Hall effect includes: a mounting frame, a Hall chip and a universal joint component mounted on the mounting frame, a biomimetic whisker component mounted on the universal joint component, and a magnet mounted on the biomimetic whisker; the universal joint component is used for the biomimetic whisker to swing in a first direction and a second direction in a reference plane perpendicular to the center line of the biomimetic whisker after being subjected to a fluid force, the first direction and the second direction are perpendicular, and the universal joint component restores the biomimetic whisker to its original position after the biomimetic whisker is no longer subjected to a fluid force; the magnet generates a change in magnetic flux density as the biomimetic whisker moves; the Hall chip is used to sense magnetic field information.

[0006] Preferably, the universal joint component includes: an outer frame, an outer frame reset assembly, an inner frame, and an inner frame reset assembly; the outer frame is rotatably connected to the mounting bracket, the outer frame swings about a first direction, and the outer frame reset assembly is used to restore the outer frame to be parallel to the reference plane; the inner frame is rotatably connected to the outer frame, the inner frame swings about a second direction, and the inner frame reset assembly is used to restore the inner frame to be perpendicular to the reference plane.

[0007] Preferably, both the outer frame reset assembly and the inner frame reset assembly are elastic elements. The outer frame reset assembly has the tendency to prevent the outer frame from swinging relative to the mounting bracket, and the inner frame reset assembly has the tendency to prevent the inner frame from swinging relative to the outer frame.

[0008] Preferably, the outer frame is annular and has two coaxial outer frame mounting holes. The axis of the outer frame mounting holes is set along the first direction. The two outer frame mounting holes are respectively sleeved on the two outer frame rotating shafts on the mounting bracket. The outer frame reset assembly uses two first torsion springs. The two first torsion springs are respectively sleeved on the two outer frame rotating shafts. The two ends of the first torsion springs are respectively fixed on the mounting bracket and the outer frame.

[0009] The inner frame is semi-circular, with inner frame rotating shafts fixed at both ends. The two inner frame rotating shafts are coaxially arranged. The outer frame also has two coaxial inner frame mounting holes. The axis of the inner frame mounting holes is arranged along the second direction. The two inner frame rotating shafts are inserted into the two inner frame mounting holes. The inner frame reset assembly uses two second torsion springs. The two second torsion springs are respectively sleeved on the two inner frame rotating shafts. The two ends of the second torsion springs are respectively fixed to the outer frame and the inner frame.

[0010] Preferably, the inner frame has a magnet mounting hole, the end of the bionic beard is mounted on the inner frame and corresponds to the magnet mounting hole, and the bionic beard is located on the side of the inner frame away from the mounting bracket; the carbon fiber rod passes through the magnet mounting hole and is connected to the end of the bionic beard, and the magnet is fixed on the lower surface of the carbon fiber rod.

[0011] Preferably, the mounting frame includes: a turntable, a base plate, and a connecting assembly. The turntable is detachably connected to the base plate via the connecting assembly. The connecting assembly is used to adjust the angular position of the turntable relative to the base plate about the normal of the reference plane. The outer frame is rotatably connected to the side of the turntable away from the base plate.

[0012] Preferably, the connecting assembly includes: a plurality of upper slots opened on the side of the turntable facing the base plate, a plurality of lower slots opened on the side of the base plate facing the turntable, and a plurality of pins. The plurality of upper slots are evenly distributed around the circumference, the plurality of lower slots are evenly distributed around the circumference, the number of pins is the same as the number of upper slots, the number of lower slots is an integer multiple of the number of upper slots, and the pins can be inserted radially into the aligned upper and lower slots.

[0013] Preferably, the Hall chip is fixed on the chip holder, and the bottom of the chip holder is provided with a positioning part; a positioning groove is opened on the turntable, and the positioning part and the positioning groove are connected by a profile; a positioning connection part is also fixed on the turntable; a countersunk through hole is opened on the base plate, and the connecting component also includes a connecting nail, the top of the connecting nail is fixed in the positioning hole of the positioning connection part and abuts against the stepped surface of the countersunk through hole.

[0014] Preferably, the mounting frame further includes a mounting bracket, which includes a base plate and side plates fixed at both ends of the base plate. The base plate has a connecting through hole, and the upper end of the side plate is fixed on the side of the base plate away from the turntable.

[0015] Preferably, two outer frame connecting brackets are fixed on the side of the turntable away from the base plate. The two outer frame connecting brackets are arranged opposite to each other and spaced apart along the first direction. An outer frame rotating shaft is fixed on the upper part of the outer frame connecting bracket. The axes of the two outer frame rotating shafts are coaxial and arranged along the first direction. The outer frame is rotatably mounted on the two outer frame rotating shafts.

[0016] Beneficial effects:

[0017] This application discloses a three-dimensional magnetic field biomimetic seal whisker sensor based on the Hall effect. By incorporating a universal joint component, the biomimetic whisker can swing and reset along a first and second direction, thereby enabling the magnet to move in space under the influence of the flow field. A Hall chip is used to sense the three-dimensional magnetic field, thus achieving the sensing of multi-directional steady-state flow fields without the need for additional complex calibration modules. While retaining the strong environmental adaptability and high sensitivity of conventional biomimetic whisker sensors, this application overcomes the limitations of unidirectional sensing, improving the simultaneous detection capability of flow velocity, flow direction, and vortex frequency, and broadening its application range in complex underwater scenarios. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of a three-dimensional magnetic field biomimetic seal whisker sensor based on the Hall effect disclosed in this invention. Figure 1 ;

[0020] Figure 2 This is a schematic diagram of the structure of a three-dimensional magnetic field biomimetic seal whisker sensor based on the Hall effect disclosed in this invention. Figure 2 ;

[0021] Figure 3 This is a cross-sectional view of a three-dimensional magnetic field biomimetic seal whisker sensor based on the Hall effect disclosed in this invention.

[0022] Figure 4 This is an exploded schematic diagram of a three-dimensional magnetic field biomimetic seal whisker sensor based on the Hall effect disclosed in this invention.

[0023] In the diagram: 1. Mounting bracket; 11. Turntable; 111. Upper slot; 112. Positioning slot; 113. Positioning connection part; 12. Base plate; 121. Lower slot; 122. Countersunk through hole; 13. Pin; 14. Connecting nail; 15. Outer frame connecting bracket; 151. Outer frame rotation shaft; 16. Mounting bracket; 2. Hall chip; 31. Outer frame; 311. Outer frame mounting hole; 312. Inner frame mounting hole; 32. Outer frame reset assembly; 33. Inner frame; 331. Inner frame rotation shaft; 34. Inner frame reset assembly; 4. Bionic beard; 5. Magnet; 6. Carbon fiber rod; 7. Chip holder; 71. Positioning part. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] A three-dimensional magnetic field biomimetic seal whisker sensor based on the Hall effect, combined with Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the device includes: a mounting frame 1, a Hall chip 2 and a universal joint component mounted on the mounting frame 1, a bionic beard 4 mounted on the universal joint component, and a magnet 5 mounted on the bionic beard 4. The universal joint component is used for the bionic beard 4 to swing along a first direction X and a second direction Y in a reference plane perpendicular to the center line of the bionic beard 4 after being subjected to fluid force. The first direction X and the second direction Y are perpendicular, and the universal joint component resets the bionic beard 4 after it is no longer subjected to fluid force. The magnet 5 generates a change in magnetic flux density as the bionic beard 4 moves. The Hall chip 2 is used to sense magnetic field information. This application enables the bionic beard 4 to swing and reset along the first direction X and the second direction Y by setting the universal joint component, thereby enabling the magnet 5 to move in space under the action of the flow field. The Hall chip 2 senses the three-dimensional magnetic field, thereby realizing the sensing of a multi-directional steady-state flow field without the need for additional complex calibration modules. While retaining the advantages of conventional biomimetic beard sensors, such as strong environmental adaptability and high sensitivity, this application breaks through the limitations of unidirectional sensing, improves the ability to simultaneously detect flow velocity, flow direction and vortex frequency, and broadens its application range in complex underwater scenarios.

[0026] Specifically, Hall chip 2 uses the MLX90393 3D Hall sensor from Melexis, Belgium, to detect changes in the spatial magnetic field caused by the displacement of magnet 5, and outputs a triaxial magnetic flux density signal (B).x B The signal lines (Bz) are connected to the Arduino Uno microcontroller, and the signal analysis unit of the Matlab host computer performs signal analysis to achieve three-dimensional magnetic field information perception. The Hall chip 2 of this application has the core characteristic of strong signal anti-interference capability, which can capture the small displacement signal of the magnet 5 caused by the flow field, and achieve accurate separation of multi-directional signals through a three-dimensional magnetic decoupling model.

[0027] Preferably, the universal joint component includes: an outer frame 31, an outer frame reset assembly 32, an inner frame 33, and an inner frame reset assembly 34; the outer frame 31 is rotatably connected to the mounting bracket 1, and the outer frame 31 swings around a first direction X; the outer frame reset assembly 32 is used to restore the outer frame 31 to parallel to the reference plane; the inner frame 33 is rotatably connected to the outer frame 31, and the inner frame 33 swings around a second direction Y; the inner frame reset assembly 34 is used to restore the inner frame 33 to perpendicular to the reference plane. The outer frame 31 rotates relative to the mounting bracket 1 around the first direction X, and the inner frame 33 swings relative to the outer frame 31 around the second direction Y, thereby enabling the bionic beard 4 mounted on the inner frame 33 to swing freely around the first direction X and the second direction Y, thus converting the flow field characteristics into the movement of the magnet 5 in three-dimensional space driven by the bionic beard 4. At the same time, the outer frame reset assembly 32 and the inner frame reset assembly 34 reset the bionic beard 4, allowing the bionic beard 4 to return to the center position autonomously when not subjected to the flow field force, avoiding signal drift and amplification interference.

[0028] Preferably, both the outer frame reset assembly 32 and the inner frame reset assembly 34 are elastic elements. The outer frame reset assembly 32 has the tendency to prevent the outer frame 31 from swinging relative to the mounting bracket 1, and the inner frame reset assembly 34 has the tendency to prevent the inner frame 33 from swinging relative to the outer frame 31.

[0029] Preferably, the outer frame 31 is annular and has two coaxial outer frame mounting holes 311. The axis of the outer frame mounting holes 311 is set along the first direction. The two outer frame mounting holes 311 of the outer frame 31 are respectively sleeved on the two outer frame rotating shafts 151 on the mounting frame 1. The outer frame reset assembly 32 adopts two first torsion springs. The two first torsion springs are respectively sleeved on the two outer frame rotating shafts 151. The two ends of the first torsion springs are respectively fixed on the mounting frame 1 and the outer frame 31.

[0030] The inner frame 33 is semi-circular, with inner frame rotating shafts 331 fixed at both ends. The two inner frame rotating shafts 331 are coaxially arranged. The outer frame 31 also has two coaxial inner frame mounting holes 312. The axis of the inner frame mounting holes 312 is arranged along the second direction. The two inner frame rotating shafts 331 are inserted into the two inner frame mounting holes 312. The inner frame reset assembly 34 uses two second torsion springs. The two second torsion springs are respectively sleeved on the two inner frame rotating shafts 331. The two ends of the second torsion springs are respectively fixed on the outer frame 31 and the inner frame 33.

[0031] This structure ensures that the bionic beard 4 can swing in three-dimensional space, enabling it to sense multi-directional flow fields. Four torsion springs provide restoring force for the bionic beard 4, ensuring that the bionic beard 4 can automatically reset when it is not subjected to flow field forces.

[0032] Preferably, the inner frame 33 has a magnet mounting hole, and the end of the bionic beard 4 is mounted on the inner frame 33 and corresponds to the magnet mounting hole. The bionic beard 4 is located on the side of the inner frame 33 away from the mounting bracket 1. The carbon fiber rod 6 passes through the magnet mounting hole and is connected to the end of the bionic beard 4. The magnet 5 is fixed to the lower surface of the carbon fiber rod 6. The bottom end of the bionic beard 4 is embedded in the carbon fiber rod 6 and connected to the circular axial magnet 5 through a 3D-printed PLA disk shell, providing a magnetic field distribution of "axial in and out, radial divergence". When the bionic beard 4 is displaced by force in the flow field, it will drive the magnet 5 at the end to move, thereby changing the triaxial magnetic flux density in space, and thus converting the displacement information of the swaying of the bionic beard 4 into measurable triaxial magnetic flux density information in space.

[0033] Specifically, the bionic whisker 4 is 3D printed using PLA material, and it is a biomimetic model of a seal's whiskers, which is existing technology and will not be described in detail here. In this embodiment, the bionic whisker 4, carbon fiber rod 6, magnet 5, etc., can all be fixed with adhesive.

[0034] Preferably, the mounting frame 1 includes a turntable 11, a base plate 12, and a connecting assembly. The turntable 11 is detachably connected to the base plate 12 via the connecting assembly. The connecting assembly is used to adjust the angular position of the turntable 11 relative to the base plate 12 about the normal of the reference plane (i.e., the center line of the bionic beard 4). The outer frame 31 is rotatably connected to the side of the turntable 11 away from the base plate 12. By adjusting the angular position of the turntable 11 relative to the base plate 12 via the connecting assembly, the angle of attack of the bionic beard 4 can be changed.

[0035] Preferably, the connecting assembly includes: a plurality of upper slots 111 formed on the side of the turntable 11 facing the base plate 12, a plurality of lower slots 121 formed on the side of the base plate 12 facing the turntable 11, and a plurality of pins 13. The plurality of upper slots 111 are evenly distributed circumferentially, the plurality of lower slots 121 are evenly distributed circumferentially, the number of pins 13 is the same as the number of upper slots 111, and the number of lower slots 121 is an integer multiple of the number of upper slots 111. The pins 13 can be radially inserted into the aligned upper slots 111 and lower slots 121. In this embodiment, there are four upper slots 111 and twelve lower slots 121. By inserting the pins 13 into the slots formed by the upper slots 111 and lower slots 121, the rotation of the turntable 11 relative to the base plate 12 is limited.

[0036] Preferably, the Hall chip 2 is fixed on the chip holder 7, and the bottom of the chip holder 7 is provided with a positioning part 71; the turntable 11 is provided with a positioning groove 112, and the positioning part 71 and the positioning groove 112 are connected by a profile; the turntable 11 is also fixed with a positioning connecting part 113; the base plate 12 is provided with a countersunk through hole 122, and the connecting assembly also includes a connecting pin 14, the top of the connecting pin 14 is fixed in the positioning hole of the positioning connecting part 113 and abuts against the stepped surface of the countersunk through hole 122. The cooperation between the positioning part 71 and the positioning groove 112 can limit the position of the chip holder 7 relative to the turntable 11, so that the Hall chip 2 can be aligned with the magnet 5 in the initial state. The connection of the turntable 11 by the connecting pin 14 can ensure that the turntable 11 can rotate relative to the base plate 12, while limiting the axial position of the turntable 11 and the base plate 12, that is, the position along the normal of the reference plane, and preventing the turntable 11 from detaching from the base plate 12.

[0037] Specifically, the Hall chip 2 itself is waterproof encapsulated. After the pins of the Hall chip 2 are wired, they are threaded through and waterproof encapsulated with Ecoflex 00-30 flexible silicone. The flexible silicone is filled into the pin grooves on both sides of the chip holder 7 and the circular groove on the upper side of the turntable 11, which not only fixes the chip holder 7 to the turntable 11, but also waterproofs and seals the Hall chip 2 and the wiring, ensuring signal stability and underwater durability. The head of the connecting pin 14 passes through the countersunk through hole 122 and is inserted into the positioning hole, and is fixed with glue. The head of the connecting pin 14 abuts against the stepped surface of the countersunk through hole 122. The connecting pin 14 prevents the turntable 11 from separating from the base plate 12, and the connecting pin 14 also acts as a pivot, ensuring that the turntable 11 can be rotated after the pin 13 is removed.

[0038] Preferably, the mounting frame 1 further includes a mounting bracket 16, which includes a base plate and side plates fixed at both ends of the base plate. The base plate has connecting through holes, and the upper ends of the side plates are fixed to the side of the base plate 12 away from the turntable 11. The entire device is installed and fixed by the mounting bracket 16, and the mounting bracket 16 facilitates the installation of connecting nails 14.

[0039] Preferably, two outer frame connecting brackets 15 are fixedly provided on the side of the turntable 11 away from the base plate 12. The two outer frame connecting brackets 15 are arranged opposite to each other and spaced apart along a first direction. An outer frame rotation shaft 151 is fixedly provided on the upper part of the outer frame connecting bracket 15. The axes of the two outer frame rotation shafts 151 are coaxial and arranged along the first direction. The outer frame 31 is rotatably mounted on the two outer frame rotation shafts 151. The outer frame connecting brackets 15 can move the outer frame 31 away from the turntable 11, thereby leaving space for the rotation of the outer frame 31; at the same time, the two outer frame connecting brackets 15 can leave a mounting position for the chip holder 7, ensuring that the Hall chip 2 and the magnet 5 are properly aligned.

[0040] Specifically, two first grooves are formed on the upper surface of the outer frame 31, and two second grooves are formed on the side of the inner frame 33. The two hook-shaped ends of the second torsion spring are hooked into the first and second grooves, respectively. Two third grooves are formed on the lower surface of the outer frame 31, and a fourth groove is formed on the side of the outer frame connecting bracket 15. The two hook-shaped ends of the first torsion spring are hooked into the third and fourth grooves, respectively.

[0041] Specifically, the mounting bracket 1, chip holder 7, outer frame 31 and inner frame 33 can all be made by 3D printing. Complex shapes can be integrally formed, which has the characteristics of being lightweight, low cost and easy to integrate.

[0042] The working principle of the device in this application is as follows:

[0043] The bionic beard 4 is brought to a stationary initial state, ensuring that the magnet 5 at the end of the bionic beard 4 remains directly opposite the magnetic induction unit of the Hall chip 2 without displacement. The triaxial magnetic flux density in space remains unchanged. Calculations using the magnetic flux density-displacement formula show that the magnet 5 is still at the origin and has not undergone any displacement. The magnetic flux density-displacement formula is the equation given in the Hall chip 2 instruction manual, as follows:

[0044]

[0045]

[0046]

[0047]

[0048] in Indicates the yaw angle. This indicates the pitch angle, and n represents the distance between the magnet and the chip. This indicates the magnitude of the magnetic flux in the X direction. Indicates the magnitude of the magnetic flux in the Y direction. This represents the magnitude of the magnetic flux in the Z direction, where k is a constant and needs to be calibrated by performing device measurements on Hall chip 2.

[0049] Under the excitation of the steady flow field, the bionic beard 4 drives the carbon fiber rod 6 to move. The universal joint component provides the restoring force through the torsion spring. The bionic beard 4 drives the magnet 5 to move periodically, causing the triaxial magnetic flux density in space to change. The displacement information of the magnet 5 can be obtained by calculation through the formula, thereby further obtaining the flow field information.

[0050] When the bionic beard 4 yaws around the first direction X, the magnetic flux density in the Y direction changes, while the magnetic flux density in the X and Z directions remains unchanged. The signal analysis unit can calculate the displacement change of the magnet unit's end in the Y direction using the magnetic flux density-displacement formula. When the bionic beard 4 pitches around the second direction Y, the magnetic flux density in the X direction changes, while the magnetic flux density in the Y and Z directions remains unchanged. The signal analysis unit can calculate the displacement change of the magnet unit's end in the X-axis using the magnetic flux density-displacement formula. Furthermore, by analyzing the magnetic flux density signals in the three spatial directions, the outflow direction and velocity are obtained. When the bionic beard 4 oscillates under the influence of the flow field, it synchronously drives the carbon fiber rod 6 and the magnet 5 at its end to produce spatial displacement. This displacement directly causes a regular change in the distribution of the surrounding magnetic field. The Hall chip 2 captures the dynamic change data of the magnetic flux density in the X, Y, and Z directions in real time and transmits it to the signal analysis unit. The signal analysis unit substitutes the magnetic flux density signals in the three directions into a preset magnetic flux density-displacement correspondence to obtain the actual displacement of the magnet in the X and Y directions. Using the initial stationary position of magnet 5 as the origin of the coordinate system, and combining the displacement data in the X and Y directions, the direction of the displacement vector of magnet 5 in the plane can be determined. This direction is consistent with the direction of the incoming flow, thus allowing the determination of the approximate direction angle of the incoming flow. Specifically, this is achieved by first calculating the average value of the displacement data in the X and Y directions. and Through formula The angle of attack of the incoming flow is calculated. Simultaneously, during the sensor development phase, a velocity-displacement correspondence database covering different flow velocities and incoming flow direction angles was established through numerous calibration experiments. In the experiments, a steady-state flow field with known velocity and direction was set up in an annular water tank, and the sensor's displacement data under corresponding operating conditions was recorded, forming a one-to-one correspondence between flow velocity and displacement amplitude at different direction angles. That is, based on the realized data, a mapping relationship is formed between the incoming flow direction angle, flow velocity, and displacement. In practical applications, the signal analysis unit extracts the actual amplitude of the displacement in the current X and Y directions and calculates the average displacement. Based on the calculated angle of attack of the incoming flow and average displacement By comparing the flow velocity with the mapping relationship, the magnitude of the current flow velocity can be quickly determined.

[0051] Throughout the process, the universal joint component provides a stable restoring force through a torsion spring, ensuring that the oscillation of the bionic whisker 4 under the influence of the flow field remains within a controllable range, and that the magnet displacement maintains a stable correlation with the flow field parameters. The waterproof encapsulation design of the sensor avoids water interference, ensuring stable acquisition of the magnetic flux density signal. Ultimately, this enables real-time monitoring of the oscillation state of the bionic whisker 4 (including oscillation direction and amplitude), while accurately acquiring information on the direction and velocity of the incoming flow, meeting the practical needs of multi-directional flow field sensing in complex underwater environments.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A three-dimensional magnetic field biomimetic seal whisker sensor based on the Hall effect, characterized in that, include: Mounting bracket (1), Hall chip (2) and universal joint component mounted on mounting bracket (1), bionic beard (4) mounted on universal joint component, and magnet (5) mounted on bionic beard (4); the universal joint component is used for the bionic beard (4) to swing in a first direction and a second direction in a reference plane perpendicular to the center line of the bionic beard (4) after being subjected to fluid force, the first direction and the second direction are perpendicular, and the universal joint component resets the bionic beard (4) after it is no longer subjected to fluid force; the magnet (5) generates magnetic flux density as the bionic beard (4) moves. The degree change; the Hall chip (2) is used to sense magnetic field information; the universal joint component includes: an outer frame (31), an outer frame reset assembly (32), an inner frame (33) and an inner frame reset assembly (34); the outer frame (31) is rotatably connected to the mounting bracket (1), the outer frame (31) swings around a first direction, and the outer frame reset assembly (32) is used to restore the outer frame (31) to be parallel to the reference plane; the inner frame (33) is rotatably connected to the outer frame (31), the inner frame (33) swings around a second direction, and the inner frame reset assembly (34) is used to restore the inner frame (33) to be perpendicular to the reference plane.

2. The three-dimensional magnetic field biomimetic seal whisker sensor based on the Hall effect according to claim 1, characterized in that, Both the outer frame reset assembly (32) and the inner frame reset assembly (34) are elastic elements. The outer frame reset assembly (32) has the tendency to prevent the outer frame (31) from swinging relative to the mounting bracket (1), and the inner frame reset assembly (34) has the tendency to prevent the inner frame (33) from swinging relative to the outer frame (31).

3. The three-dimensional magnetic field biomimetic seal whisker sensor based on the Hall effect according to claim 2, characterized in that, The outer frame (31) is annular and has two coaxial outer frame mounting holes (311) on it. The axis of the outer frame mounting holes (311) is set along the first direction. The two outer frame mounting holes (311) of the outer frame (31) are respectively sleeved on the two outer frame rotating shafts (151) on the mounting frame (1). The outer frame reset assembly (32) uses two first torsion springs. The two first torsion springs are respectively sleeved on the two outer frame rotating shafts (151). The two ends of the first torsion springs are respectively fixed on the mounting frame (1) and the outer frame (31). The inner frame (33) is semi-circular, with inner frame rotating shafts (331) fixed at both ends. The two inner frame rotating shafts (331) are coaxially arranged. The outer frame (31) also has two coaxial inner frame mounting holes (312). The axis of the inner frame mounting holes (312) is arranged along the second direction. The inner frame rotating shafts (331) are inserted into the two inner frame mounting holes (312). The inner frame reset assembly (34) uses two second torsion springs. The two second torsion springs are respectively sleeved on the two inner frame rotating shafts (331). The two ends of the second torsion springs are respectively fixed on the outer frame (31) and the inner frame (33).

4. A three-dimensional magnetic field biomimetic seal whisker sensor based on the Hall effect according to any one of claims 1-3, characterized in that, The inner frame (33) has a magnet mounting hole. The end of the bionic beard (4) is mounted on the inner frame (33) and corresponds to the magnet mounting hole. The bionic beard (4) is located on the side of the inner frame (33) away from the mounting bracket (1). The carbon fiber rod (6) passes through the magnet mounting hole and is connected to the end of the bionic beard (4). The magnet (5) is fixed on the lower surface of the carbon fiber rod (6).

5. A three-dimensional magnetic field biomimetic seal whisker sensor based on the Hall effect according to claim 4, characterized in that, The mounting bracket (1) includes a turntable (11), a base plate (12), and a connecting component. The turntable (11) is detachably connected to the base plate (12) via the connecting component. The connecting component is used to adjust the angular position of the turntable (11) relative to the base plate (12) about the normal of the reference plane. The outer frame (31) is rotatably connected to the side of the turntable (11) away from the base plate (12).

6. A three-dimensional magnetic field biomimetic seal whisker sensor based on the Hall effect according to claim 5, characterized in that, The connecting assembly includes: a plurality of upper slots (111) on the side of the turntable (11) facing the base plate (12), a plurality of lower slots (121) on the side of the base plate (12) facing the turntable (11), and a plurality of pins (13). The plurality of upper slots (111) are evenly distributed around the circumference, the plurality of lower slots (121) are evenly distributed around the circumference, the number of pins (13) is the same as the number of upper slots (111), the number of lower slots (121) is an integer multiple of the number of upper slots (111), and the pins (13) can be radially inserted into the aligned upper slots (111) and lower slots (121).

7. A three-dimensional magnetic field biomimetic seal whisker sensor based on the Hall effect according to claim 6, characterized in that, The Hall chip (2) is fixed on the chip holder (7), and the bottom of the chip holder (7) is provided with a positioning part (71); the turntable (11) is provided with a positioning groove (112), and the positioning part (71) and the positioning groove (112) are connected by a profile; the turntable (11) is also provided with a positioning connection part (113); the base plate (12) is provided with a countersunk through hole (122), and the connecting assembly also includes a connecting nail (14), the top of the connecting nail (14) is fixed in the positioning hole of the positioning connection part (113) and abuts against the stepped surface of the countersunk through hole (122).

8. A three-dimensional magnetic field biomimetic seal whisker sensor based on the Hall effect according to claim 7, characterized in that, The mounting frame (1) also includes a mounting bracket (16), which includes a base plate and side plates fixed at both ends of the base plate. The base plate has a connecting through hole, and the upper end of the side plate is fixed on the side of the base plate (12) away from the turntable (11).

9. A three-dimensional magnetic field biomimetic seal whisker sensor based on the Hall effect according to claim 5, characterized in that, Two outer frame connecting brackets (15) are fixed on the side of the turntable (11) away from the base plate (12). The two outer frame connecting brackets (15) are arranged opposite to each other and spaced apart along the first direction. An outer frame rotating shaft (151) is fixed on the upper part of the outer frame connecting bracket (15). The axes of the two outer frame rotating shafts (151) are coaxial and arranged along the first direction. The outer frame (31) is rotatably mounted on the two outer frame rotating shafts (151).

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