Research On Biomimetic Lateralline Sensor Applied To Micro Autonomous Underwater Vehicles

Various countries in the world have paid great attention to the exploration of marine resources,and the development of underwater vehicles has also become increasingly mature.The Unmanned Autonomous Underwater Vehicle(AUV),which equipped with side-scan sonar,camera and other detection equipment,is used in the exploration of the marine environment.The biggest problem currently exists is that it cannot communicate with control equipment after diving into water and only sail on a preset track.Studies have showed that fish can swim freely in seawater thanks to its highly sensitive lateral line organs,which can monitor the changes of velocity,pressure,and vibration in real time.In this paper,based on the biological principle of lateral line organs,a biomimetic lateral line sensor for micro-autonomous underwater vehicles is designed to add a pair of intelligent“eyes” for autonomous underwater vehicles.Firstly,this paper analyzes the trend of the dynamic development of underwater vehicles and lateral line sensors,and introduces the necessity and significance of the research on the lateral line sensors.In addition,this paper introduces the biological mechanism of fish lateral line organ sensing fluid.A bionic lateral line sensor was designed using bionics method.The working principle of the device was introduced.Secondly,this paper makes a mathematical model of the sensor's physical model,establishes mathematical formula of the sensor system based on the knowledge of engineering mechanics,through analyzes the formula,The result shows that the input and output relationship is a linear relationship when the input volume of the sensor is pressure.And the input-output relationship appears as a quadratic curve relationship when the input volume of the sensor is fluid velocity information.In order to verify whether the mathematical model is established correctly or not,the paper uses finite element analysis method to simulate the physical model of the sensor.Through the computational fluid dynamics(CFD)method,the empirical formula for the detection of the fluid is verified by the sensor model designed in this paper.The relationship between the fluid velocity and the pressure generated a quadratic relationship.With the same method to analyze the input-output relationship,the results show as a linear relationship when the sensor input is pressure.The final results of the finite element analysis are exactly the same as those obtained by the mathematical model.The pressure distribution and fluid characteristics of the underwater vehicle equipped with lateral line sensor are analyzed by the finite element analysis method,and the rational layout of sensor is determined.Finally,this paper introduces the design idea of two aspects of the sensor experimentaldevice and signal acquisition and processing.As the same time,a simple experiment test was carried out on the assembled sensor with the strain gauge and oscilloscope respectively,and the verification results show that the sensor has a good detection effect.