CN111679329A - Array scanning transmitter and receiver based on three-axis gyroscope structure - Google Patents
Array scanning transmitter and receiver based on three-axis gyroscope structure Download PDFInfo
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- CN111679329A CN111679329A CN201910182014.2A CN201910182014A CN111679329A CN 111679329 A CN111679329 A CN 111679329A CN 201910182014 A CN201910182014 A CN 201910182014A CN 111679329 A CN111679329 A CN 111679329A
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- 238000000034 method Methods 0.000 claims description 5
- 230000005670 electromagnetic radiation Effects 0.000 claims description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/12—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with electromagnetic waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
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Abstract
The invention discloses an array scanning transmitter based on a triaxial gyroscope structure, which comprises: the device comprises a three-axis gyroscope, a signal excitation device, a rotation control device and a sensor array arranged on the three-axis gyroscope; the triaxial gyroscope includes: the connecting device comprises a large circular ring, a middle circular ring, a small circular ring, two first connecting shafts and two third connecting shafts; the signal excitation device is used for emitting an electric signal, and the electric signal is converted into electromagnetic waves or sound waves through the sensor array to scan the environment to be detected; the rotation control device is used for controlling the rotation speed and the rotation direction of the connecting shaft; the sensor arrays are arranged on the circular ring at equal intervals. An array scanning receiver based on a tri-axis gyroscope structure, comprising: the device comprises a three-axis gyroscope, a signal receiving and processing device, a rotation control device and a sensor array. The scanning device can perform space omnidirectional scanning and improve the efficiency of scanning detection. The spatial resolution ratio is flexibly configured, the scanning can be carried out in a space full coverage mode, and the scanning result can be obtained in real time.
Description
Technical Field
The invention relates to the field of electromagnetic waves and sound waves, in particular to an array scanning transmitter and a receiver based on a three-axis gyroscope structure.
Background
The existing array scanning transmitter and receiver have the forms based on linear arrays, curved arrays, planar arrays, curved arrays, spherical arrays and the like; when the transmitter transmits a fixed phase signal, if the array does not move, the transmitting direction is fixed in a range, and if the array moves, the transmitting direction moves randomly; when the transmitter transmits the phase controllable signal, the array can have a large transmitting azimuth angle even if the array is fixed, but a detection blind area still exists. The phased spherical array theoretically has no scanning blind area, but has the defects of large volume, large mass and limited scanning precision by the density of the spherical array.
Disclosure of Invention
The invention aims to solve the defects in the prior art.
To achieve the above object, in one aspect, the present invention provides an array scanning transmitter based on a three-axis gyroscope structure, including: the device comprises a three-axis gyroscope, a signal excitation device, a rotation control device and a sensor array arranged on the three-axis gyroscope; wherein,
the triaxial gyroscope includes: the large ring is connected with an external support through two first connecting shafts, the straight line where the two first connecting shafts are located is a rotating shaft of the large ring, the middle ring is connected with the large ring through two second connecting shafts, the straight line where the two second connecting shafts are located is a rotating shaft of the middle ring, the small ring is connected with the middle ring through two third connecting shafts, and the straight line where the two third connecting shafts are located is a rotating shaft of the small ring;
the signal excitation device is connected with the sensor array through internal circuits of the large circular ring, the middle circular ring, the small circular ring, the first connecting shaft, the second connecting shaft and the third connecting shaft, the signal excitation device is used for transmitting an electric signal, and the electric signal is converted into electromagnetic waves or sound waves through the sensor array to scan an environment to be measured;
the rotation control device is positioned on the first connecting shaft, the second connecting shaft and the third connecting shaft or is connected with the first connecting shaft, the second connecting shaft and the third connecting shaft through internal circuits of the large circular ring, the middle circular ring, the first connecting shaft, the second connecting shaft and the third connecting shaft, and the rotation control device is used for controlling the rotation speed and the rotation direction of the first connecting shaft, the second connecting shaft and the third connecting shaft;
the sensor array is an annular array, and the annular array is arranged on the large circular ring, the middle circular ring and the small circular ring at equal intervals, so that the excitation direction of a sensor signal is vertical to the plane of the circular ring.
Preferably, the spacing between each sensor in the sensor array is calculated according to the wavelength of the electrical signal emitted by the signal excitation device.
The method is preferably suitable for various working environments, wherein water environment scanning can be performed after closed water-resisting treatment.
Preferably, when the sensor array is an electro-magnetic-to-electrical sensor, the tri-axial gyroscope is made of a material with zero reluctance characteristics to reduce interference with electromagnetic wave radiation.
Preferably, when the sensor array is an acoustic-electric sensor, the three-axis gyroscope is made of a material with acoustic resistivity close to that of the environment to be measured, so as to reduce interference on acoustic wave radiation.
In another aspect, the present invention provides an array scanning receiver based on a three-axis gyroscope structure, including: the device comprises a three-axis gyroscope, a signal receiving and processing device, a rotation control device and a sensor array arranged on the three-axis gyroscope; wherein,
the triaxial gyroscope includes: the large ring is connected with an external support through two first connecting shafts, the straight line where the two first connecting shafts are located is a rotating shaft of the large ring, the middle ring is connected with the large ring through two second connecting shafts, the straight line where the two second connecting shafts are located is a rotating shaft of the middle ring, the small ring is connected with the middle ring through two third connecting shafts, and the straight line where the two third connecting shafts are located is a rotating shaft of the small ring;
the signal receiving and processing device is connected with the sensor array through internal circuits of the large circular ring, the middle circular ring, the small circular ring, the first connecting shaft, the second connecting shaft and the third connecting shaft, and the signal receiving and processing device is used for receiving electromagnetic waves or sound waves in an environment to be detected and further processing the received electromagnetic waves or sound waves to obtain a scanning result of the environment to be detected;
the rotation control device is positioned on the first connecting shaft, the second connecting shaft and the third connecting shaft or is connected with the first connecting shaft, the second connecting shaft and the third connecting shaft through internal circuits of the large circular ring, the middle circular ring, the first connecting shaft, the second connecting shaft and the third connecting shaft, and the rotation control device is used for controlling the rotation speed and the rotation direction of the first connecting shaft, the second connecting shaft and the third connecting shaft;
the sensor array is an annular array, and the annular array is arranged on the large circular ring, the middle circular ring and the small circular ring at equal intervals, so that the maximum sensing direction of a sensor signal is vertical to the plane of the circular ring.
Preferably, the distance between each sensor in the sensor array is calculated according to the working signal wavelength corresponding to the signal receiving and processing device.
The method is preferably suitable for various working environments, wherein water environment scanning can be performed after closed water-resisting treatment.
Preferably, when the sensor array is an electro-magnetic-to-electrical sensor, the tri-axial gyroscope is made of a material with zero reluctance characteristics to reduce interference with electromagnetic wave radiation.
Preferably, when the sensor array is an acoustic-electric sensor, the three-axis gyroscope is made of a material with acoustic resistivity close to that of the environment to be measured, so as to reduce interference on acoustic wave radiation.
The invention has the advantages that: the scanning device can perform space omnidirectional scanning and improve the efficiency of scanning detection. The transmitter and the receiver can work in a matched manner to complete the active detection function; the receiver can also work independently to complete the passive detection function. The spatial resolution ratio is flexibly configured, the scanning can be carried out in a space full coverage mode, and the scanning result can be obtained in real time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a three-axis gyroscope;
fig. 2 is a schematic diagram of an inner ring of a triaxial gyroscope structure and an on-ring sensor array of an array scanning transmitter or receiver of the triaxial gyroscope structure according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a three-axis gyroscope structure of an array scanning transmitter or receiver of the three-axis gyroscope structure in the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An array scanning transmitter based on a three-axis gyroscope structure, comprising: the device comprises a three-axis gyroscope, a signal excitation device, a rotation control device and a sensor array arranged on the three-axis gyroscope; wherein,
a three axis gyroscope, as shown in figure 1. The method comprises the following steps: big ring 5, well ring 6 and small circle ring 7, big ring 5 is connected with the peripheral hardware support through two first connecting axles 1, two first connecting axle 1 place straight lines are the rotation axis of big ring 5, well ring 6 is connected with big ring 5 through two second connecting axles 2, two 2 place straight lines of second connecting axle are the rotation axis of well ring 6, small circle ring 7 is connected with well ring 6 through two third connecting axles 3, two 3 place straight lines of third connecting axle are the rotation axis of small circle ring 6.
The sensor array 8 is an annular array, as shown in fig. 2. The annular arrays are arranged on the large circular ring 5, the middle circular ring 6 and the small circular ring 7 at equal intervals, so that the excitation direction of the sensor signal is vertical to the plane of the circular ring.
In one embodiment, the spacing between the sensors in the sensor array is calculated based on the wavelength of the electrical signal emitted by the signal excitation device. As shown in fig. 3.
The signal excitation device is connected with the sensor array 8 through the internal lines of the large circular ring 5, the middle circular ring 6, the small circular ring 7, the first connecting shaft 1, the second connecting shaft 2 and the third connecting shaft 3, the signal excitation device is used for emitting an electric signal, and the electric signal is converted into electromagnetic waves or sound waves through the sensor array to scan an environment to be measured.
The rotation control device is positioned on the first connecting shaft 1, the second connecting shaft 2 and the third connecting shaft 3 or is connected with the first connecting shaft 1, the second connecting shaft 2 and the third connecting shaft 3 through inner lines of the large ring 5, the middle ring 6, the first connecting shaft 1, the second connecting shaft 2 and the third connecting shaft 3, and the rotation control device is used for controlling the rotation speed and the rotation direction of the first connecting shaft 1, the second connecting shaft 2 and the third connecting shaft 3.
The invention is suitable for various working environments, wherein water environment scanning can be carried out after closed water-resisting treatment; the whole device can be packaged in a shell which does not influence the emission signal of the device, so as to isolate the influence of factors such as external pressure, temperature, humidity and the like.
In one embodiment, the sensor array 8 is an electro-magnetic-to-electrical sensor, in which case the tri-axial gyroscope uses a material with zero reluctance characteristics to reduce interference with electromagnetic radiation.
In another embodiment, the sensor array 8 is an acousto-electric sensor, where the tri-axis gyroscope uses a material with a resistivity close to that of the environment to be measured to reduce interference with acoustic radiation.
An array scanning receiver based on a tri-axis gyroscope structure, comprising: the device comprises a three-axis gyroscope, a signal receiving and processing device, a rotation control device and a sensor array arranged on the three-axis gyroscope; wherein,
a three axis gyroscope, as shown in figure 1. The method comprises the following steps: big ring 5, well ring 6 and small circle ring 7, big ring 5 is connected with the peripheral hardware support through two first connecting axles 1, two first connecting axle 1 place straight lines are the rotation axis of big ring 5, well ring 6 is connected with big ring 5 through two second connecting axles 2, two 2 place straight lines of second connecting axle are the rotation axis of well ring 6, small circle ring 7 is connected with well ring 6 through two third connecting axles 3, two 3 place straight lines of third connecting axle are the rotation axis of small circle ring 6.
The sensor array 8 is an annular array, as shown in fig. 2. The annular arrays are arranged on the large circular ring 5, the middle circular ring 6 and the small circular ring 7 at equal intervals, so that the maximum sensing direction of the sensor signals is vertical to the plane of the circular ring.
In one embodiment, the spacing between the sensors in the sensor array is calculated based on the wavelength of the operating signal corresponding to the signal receiving and processing device. As shown in fig. 3.
The signal receiving and processing device is connected with the sensor array 8 through the internal circuits of the large circular ring 5, the middle circular ring 6, the small circular ring 7, the first connecting shaft 1, the second connecting shaft 2 and the third connecting shaft 3, and the signal receiving and processing device is used for receiving electromagnetic waves or sound waves in an environment to be detected and further processing the received electromagnetic waves or sound waves to obtain a scanning result of the environment to be detected;
the rotation control device is positioned on the first connecting shaft 1, the second connecting shaft 2 and the third connecting shaft 3 or is connected with the first connecting shaft 1, the second connecting shaft 2 and the third connecting shaft 3 through inner lines of the large ring 5, the middle ring 6, the first connecting shaft 1, the second connecting shaft 2 and the third connecting shaft 3, and the rotation control device is used for controlling the rotation speed and the rotation direction of the first connecting shaft 1, the second connecting shaft 2 and the third connecting shaft 3.
The invention is suitable for various working environments, wherein water environment scanning can be carried out after closed water-resisting treatment; the whole device can be packaged in a shell which does not influence the emission signal of the device, so as to isolate the influence of factors such as external pressure, temperature, humidity and the like.
In one embodiment, the sensor array 8 is an electro-magnetic-to-electrical sensor, in which case the tri-axial gyroscope uses a material with zero reluctance characteristics to reduce interference with electromagnetic radiation.
In another embodiment, the sensor array 8 is an acousto-electric sensor, where the tri-axis gyroscope uses a material with a resistivity close to that of the environment to be measured to reduce interference with acoustic radiation.
The invention provides an array scanning transmitter and a receiver based on a three-axis gyroscope structure, which can carry out space omnibearing scanning and improve the scanning detection efficiency. The transmitter and the receiver can work in a matched manner to complete the active detection function; the receiver can also work independently to complete the passive detection function. The spatial resolution ratio is flexibly configured, the scanning can be carried out in a space full coverage mode, and the scanning result can be obtained in real time.
The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. An array scanning transmitter based on a three-axis gyroscope structure, comprising: a three-axis gyroscope, comprising: the signal excitation device and the rotation control device are arranged on the three-axis gyroscope; wherein,
the three-axis gyroscope includes: the large ring is connected with an external support through two first connecting shafts, the straight line where the two first connecting shafts are located is a rotating shaft of the large ring, the middle ring is connected with the large ring through two second connecting shafts, the straight line where the two second connecting shafts are located is a rotating shaft of the middle ring, the small ring is connected with the middle ring through two third connecting shafts, and the straight line where the two third connecting shafts are located is a rotating shaft of the small ring;
the signal excitation device is connected with the sensor array through internal circuits of the large circular ring, the middle circular ring, the small circular ring, the first connecting shaft, the second connecting shaft and the third connecting shaft, the signal excitation device is used for transmitting an electric signal, and the electric signal is converted into electromagnetic waves or sound waves through the sensor array to scan an environment to be measured;
the rotation control device is positioned on the first connecting shaft, the second connecting shaft and the third connecting shaft or is connected with the first connecting shaft, the second connecting shaft and the third connecting shaft through internal circuits of the large circular ring, the middle circular ring, the first connecting shaft, the second connecting shaft and the third connecting shaft, and the rotation control device is used for controlling the rotation speed and the rotation direction of the first connecting shaft, the second connecting shaft and the third connecting shaft;
the sensor array is an annular array, and the annular array is arranged on the large circular ring, the middle circular ring and the small circular ring at equal intervals, so that the excitation direction of a sensor signal is perpendicular to the plane of the circular ring.
2. An array scanning transmitter according to claim 1, wherein the spacing between each sensor in the sensor array is calculated from the wavelength of the electrical signal emitted by the signal excitation device.
3. The array scanning transmitter of claim 1, adapted for multiple working environments, wherein water environment scanning is performed after a closed water-proof treatment.
4. The array scanning transmitter of claim 1, wherein the three-axis gyroscope is made of a material with zero magnetic resistance characteristic when the sensor array is an electromagnetic-electric sensor, so as to reduce interference with electromagnetic wave radiation.
5. An arrayed scanning transmitter according to claim 1 wherein, where the sensor array is an acousto-electric sensor, the tri-axial gyroscope is formed from a material having a resistivity close to that of the environment to be measured to reduce interference with acoustic radiation.
6. An array scanning receiver based on a tri-axis gyroscope structure, comprising: a three-axis gyroscope, comprising: the device comprises a signal receiving and processing device, a rotation control device and a sensor array arranged on the three-axis gyroscope; wherein,
the three-axis gyroscope includes: the large ring is connected with an external support through two first connecting shafts, the straight line where the two first connecting shafts are located is a rotating shaft of the large ring, the middle ring is connected with the large ring through two second connecting shafts, the straight line where the two second connecting shafts are located is a rotating shaft of the middle ring, the small ring is connected with the middle ring through two third connecting shafts, and the straight line where the two third connecting shafts are located is a rotating shaft of the small ring;
the signal receiving and processing device is connected with the sensor array through internal circuits of a large circular ring, a middle circular ring, a small circular ring, a first connecting shaft, a second connecting shaft and a third connecting shaft, and is used for receiving electromagnetic waves or sound waves in an environment to be detected and further processing the received electromagnetic waves or sound waves to obtain a scanning result of the environment to be detected;
the rotation control device is positioned on the first connecting shaft, the second connecting shaft and the third connecting shaft or is connected with the first connecting shaft, the second connecting shaft and the third connecting shaft through internal circuits of the large circular ring, the middle circular ring, the first connecting shaft, the second connecting shaft and the third connecting shaft, and the rotation control device is used for controlling the rotation speed and the rotation direction of the first connecting shaft, the second connecting shaft and the third connecting shaft;
the sensor array is an annular array, and the annular array is arranged on the large circular ring, the middle circular ring and the small circular ring at equal intervals, so that the maximum sensing direction of a sensor signal is perpendicular to the plane of the circular ring.
7. An array scanning receiver according to claim 6, wherein the spacing between each sensor in the sensor array is calculated from the wavelength of the operating signal corresponding to the signal receiving and processing means.
8. The array scanning receiver of claim 6, adapted for multiple operating environments, wherein water environment scanning is performed after a closed water-isolation process.
9. The array scan receiver of claim 6, wherein the three-axis gyroscope is made of a material with zero magneto-resistive characteristics to reduce interference with electromagnetic radiation when the sensor array is an electro-magnetic-to-electrical sensor.
10. An array scanning receiver as claimed in claim 6, wherein the three axis gyroscope is made of a material having a resistivity close to that of the environment to be measured, when the sensor array is an acousto-electric sensor, to reduce interference with acoustic radiation.
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| CN112305075A (en) * | 2020-10-28 | 2021-02-02 | 济南大学 | Layout method of piezoelectric ultrasonic sensor and application of piezoelectric ultrasonic sensor in omnibearing on-line monitoring of cement concrete hydration process |
| CN114877942A (en) * | 2022-05-18 | 2022-08-09 | 自然资源部第二海洋研究所 | Autonomous stable seabed bottom shape and boundary layer close-range observation device and application method |
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| CN112305075B (en) * | 2020-10-28 | 2023-02-03 | 济南大学 | Layout method of piezoelectric ultrasonic sensor and application of piezoelectric ultrasonic sensor in omnibearing on-line monitoring of cement concrete hydration process |
| CN114877942A (en) * | 2022-05-18 | 2022-08-09 | 自然资源部第二海洋研究所 | Autonomous stable seabed bottom shape and boundary layer close-range observation device and application method |
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| CN111679329B (en) | 2024-05-07 |
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