A Novel Thermal Tactile Sensor Based on Micro Thermoelectric Generator for Underwater Flow Direction Perception.
A Novel Thermal Tactile Sensor Based on Micro Thermoelectric Generator for Underwater Flow Direction Perception.
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DOI：
10.3390/s23125375
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发表时间：
2023-06-06
期刊：
影响因子：
--
通讯作者：
Xu M
中科院分区：
文献类型：
--
作者：
Liu C;Chen N;Xing G;Chen R;Shao T;Shan B;Pan Y;Xu M
水下机器人在海洋资源开发中可以独立作业。然而，水流扰动是水下机器人必须面对的挑战之一。水下流向传感方法是克服这些挑战的可行途径，但面临着现有传感器与水下机器人集成和维护费用高等困难。本文提出了一种基于微型温差发电器（MTEG）热传导特性的水下水流方向传感方法，建立了理论模型。为了验证该模型，制作了一台流向传感器样机，在三种典型工况下进行了实验。三种典型的流动方向条件是：条件1，其中流动方向平行于x轴;条件2，其中流动方向与x轴成45 °角;以及条件3，其是基于条件1和条件2的可变流动方向条件。根据实验数据，样机输出电压在三种工况下的变化规律和阶数均符合理论模型，说明样机能够识别三种工况下的流向。实验数据表明，在流速0~5 m/s、流向变化0~90 °的范围内，样机能在0~2 s内准确识别出水流方向。首次将MTEG应用于水下流向感知，与传统的水下流向感知方法相比，本研究提出的水下流向感知方法成本低，易于在水下航行器上应用，在水下航行器上具有很大的应用前景。此外，MTEG可以利用水下航行器电池的废热作为能源，实现自供电工作，大大提高了其实用价值。
Underwater vehicles can operate independently in the exploitation of marine resources. However, water flow disturbance is one of the challenges underwater vehicles must face. The underwater flow direction sensing method is a feasible way to overcome the challenges but faces difficulties such as integrating the existing sensors with underwater vehicles and high-cost maintenance fees. In this research, an underwater flow direction sensing method based on the thermal tactility of the micro thermoelectric generator (MTEG) is proposed, with the theoretical model established. To verify the model, a flow direction sensing prototype is fabricated to carry out experiments under three typical working conditions. The three typical flow direction conditions are: condition No. 1, in which the flow direction is parallel to the x-axis; condition No. 2, in which the flow direction is at an angle of 45° to the x-axis; and condition No. 3, which is a variable flow direction condition based on condition No. 1 and condition No. 2. According to the experimental data, the variations and orders of the prototype output voltages under three conditions fit the theoretical model, which means the prototype can identify the flow direction of three conditions. Besides, experimental data show that in the flow velocity range of 0~5 m/s and the flow direction variation range of 0~90°, the prototype can accurately identify the flow direction in 0~2 s. The first time utilizing MTEG on underwater flow direction perception, the underwater flow direction sensing method proposed in this research is cheaper and easier to be applied on the underwater vehicles than traditional underwater flow direction sensing methods, which means it has great application prospects in underwater vehicles. Besides, the MTEG can utilize the waste heat of the underwater vehicle battery as the energy source to achieve self-powered work, which greatly enhances its practical value.
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