CN111679329B - Array scanning transmitter and receiver based on triaxial gyroscope structure - Google Patents
Array scanning transmitter and receiver based on triaxial gyroscope structure Download PDFInfo
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- CN111679329B CN111679329B CN201910182014.2A CN201910182014A CN111679329B CN 111679329 B CN111679329 B CN 111679329B CN 201910182014 A CN201910182014 A CN 201910182014A CN 111679329 B CN111679329 B CN 111679329B
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- 230000005670 electromagnetic radiation Effects 0.000 claims description 6
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- 230000008447 perception Effects 0.000 claims description 3
- 238000003491 array Methods 0.000 abstract description 8
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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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- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Life Sciences & Earth Sciences (AREA)
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- Gyroscopes (AREA)
Abstract
The invention discloses an array scanning transmitter based on a triaxial gyroscope structure, which comprises: the device comprises a triaxial gyroscope, a signal excitation device and a rotation control device, and a sensor array arranged on the triaxial gyroscope; the triaxial gyroscope includes: the device comprises a large ring, a middle ring, a small ring, two first connecting shafts and two third connecting shafts; the signal excitation device is used for transmitting an electric signal, the electric signal is converted into electromagnetic waves or sound waves through the sensor array, and the environment to be detected is scanned; the rotation control device is used for controlling the rotation speed and the rotation direction of the connecting shaft; the sensor arrays are equally spaced on the ring. An array scanning receiver based on a tri-axial gyroscope structure, comprising: the device comprises a triaxial gyroscope, a signal receiving and processing device, a rotation control device and a sensor array. The space omnibearing scanning can be performed, and the scanning detection efficiency is improved. The spatial resolution is flexibly configured, the spatial full coverage scanning can be realized, 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 an array scanning receiver based on a triaxial gyroscope structure.
Background
The existing array scanning transmitters and receivers have the forms of linear arrays, curve arrays, plane arrays, curved surface 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 is randomly moved; when the transmitter transmits the phase-controllable signal, the array can have a larger transmission azimuth angle even if the array is fixed, but a detection blind area still exists. The phased spherical array has no scanning blind area in theory, 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 existing in the prior art.
To achieve the above object, in one aspect, the present invention provides an array scanning transmitter based on a tri-axis gyroscope structure, including: the device comprises a triaxial gyroscope, a signal excitation device and a rotation control device, and a sensor array arranged on the triaxial gyroscope; wherein,
The triaxial gyroscope includes: the large ring, the middle ring and the small ring are connected with the peripheral support through two first connecting shafts, the straight line where the two first connecting shafts are positioned is the 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 positioned is the 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 positioned is the rotating shaft of the small ring;
The signal excitation device is connected with the sensor array through internal circuits of the large ring, the middle ring, the small ring, the first connecting shaft, the second connecting shaft and the third connecting shaft, and is used for transmitting electric signals, and the electric signals are converted into electromagnetic waves or sound waves through the sensor array so as to scan the environment to be tested;
The rotation control device is positioned on the first connecting shaft, the second connecting shaft and the third connecting shaft or 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 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 which is arranged on the big circular ring, the middle circular ring and the small circular ring at equal intervals, so that the excitation direction of the sensor signals is vertical to the plane of the circular ring.
Preferably, the distance between the sensors in the sensor array is calculated according to the wavelength of the electrical signal emitted by the signal excitation device.
Preferably, the method is suitable for various working environments, wherein water environment scanning can be performed after airtight water-proof treatment.
Preferably, when the sensor array is an electro-magnetic sensor, the tri-axial gyroscope uses a material with zero magnetic resistance characteristics to reduce interference with electromagnetic radiation.
Preferably, when the sensor array is an acousto-electric sensor, the tri-axial gyroscope is made of a material with an 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 tri-axis gyroscope structure, comprising: the device comprises a triaxial gyroscope, a signal receiving and processing device and a rotation control device, and a sensor array arranged on the triaxial gyroscope; wherein,
The triaxial gyroscope includes: the large ring, the middle ring and the small ring are connected with the peripheral support through two first connecting shafts, the straight line where the two first connecting shafts are positioned is the 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 positioned is the 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 positioned is the rotating shaft of the small ring;
The signal receiving and processing device is connected with the sensor array through the inner circuits of the large ring, the middle ring, the small ring, the first connecting shaft, the second connecting shaft and the third connecting shaft, and is used for receiving electromagnetic waves or sound waves in the 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 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 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 which is arranged on the big circular ring, the middle circular ring and the small circular ring at equal intervals, so that the maximum perception direction of the sensor signal is vertical to the plane of the circular ring.
Preferably, the distance between the sensors in the sensor array is calculated according to the wavelength of the working signal corresponding to the signal receiving and processing device.
Preferably, the method is suitable for various working environments, wherein water environment scanning can be performed after airtight water-proof treatment.
Preferably, when the sensor array is an electro-magnetic sensor, the tri-axial gyroscope uses a material with zero magnetic resistance characteristics to reduce interference with electromagnetic radiation.
Preferably, when the sensor array is an acousto-electric sensor, the tri-axial gyroscope is made of a material with an 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 space omnibearing scanning can be performed, and the scanning detection efficiency is improved. The transmitter and the receiver can work together to complete the active detection function; the receiver can also work independently to complete the passive detection function. The spatial resolution is flexibly configured, the spatial full coverage scanning can be realized, 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 required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a three-axis gyroscope;
FIG. 2 is a schematic diagram of an inner ring of a three-axis gyroscope structure and an array of sensors on the ring of the three-axis gyroscope structure of an array scanning transmitter or receiver of the three-axis gyroscope structure according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a triaxial gyroscope structure of an array scanning transmitter or receiver according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
An array scanning transmitter based on a tri-axial gyroscope structure, comprising: the device comprises a triaxial gyroscope, a signal excitation device and a rotation control device, and a sensor array arranged on the triaxial gyroscope; wherein,
A tri-axis gyroscope as shown in figure 1. Comprising the following steps: big ring 5, well ring 6 and little ring 7, big ring 5 is connected with the peripheral hardware support through two first connecting axle 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 second connecting axle 2 place straight lines are the rotation axis of well ring 6, little ring 7 is connected with well ring 6 through two third connecting axles 3, two third connecting axle 3 place straight lines are the rotation axis of little ring 6.
The sensor array 8 is an annular array as shown in fig. 2. The annular arrays are arranged on the large ring 5, the middle ring 6 and the small ring 7 at equal intervals, so that the excitation direction of the sensor signals is perpendicular to the plane of the ring.
In one embodiment, the spacing of the sensors in the sensor array is calculated from 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 inner circuits of the large ring 5, the middle ring 6, the small ring 7, the first connecting shaft 1, the second connecting shaft 2 and the third connecting shaft 3, and is used for transmitting electric signals which are converted into electromagnetic waves or sound waves through the sensor array and scanning the environment to be detected.
The rotation control device is located on the first connecting shaft 1, the second connecting shaft 2 and the third connecting shaft 3, or connects the first connecting shaft 1, the second connecting shaft 2 and the third connecting shaft 3 through the inner circuits 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 the water environment can be scanned after the airtight water-proof treatment; the whole device can also be packaged in a shell which does not influence the signal emission of the whole device so as to isolate the influence of external pressure, temperature, humidity and other factors.
In one embodiment, the sensor array 8 is an electro-magnetic sensor, in which case the tri-axis gyroscope uses a material with zero magnetic resistance characteristics to reduce interference with electromagnetic radiation.
In another embodiment, the sensor array 8 is an acousto-electric sensor, where the tri-axial gyroscope is made of a material with an acoustic resistivity close to the environment to be measured, so as to reduce interference with acoustic radiation.
An array scanning receiver based on a tri-axial gyroscope structure, comprising: the device comprises a triaxial gyroscope, a signal receiving and processing device and a rotation control device, and a sensor array arranged on the triaxial gyroscope; wherein,
A tri-axis gyroscope as shown in figure 1. Comprising the following steps: big ring 5, well ring 6 and little ring 7, big ring 5 is connected with the peripheral hardware support through two first connecting axle 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 second connecting axle 2 place straight lines are the rotation axis of well ring 6, little ring 7 is connected with well ring 6 through two third connecting axles 3, two third connecting axle 3 place straight lines are the rotation axis of little ring 6.
The sensor array 8 is an annular array as shown in fig. 2. The annular arrays are arranged on the large ring 5, the middle ring 6 and the small ring 7 at equal intervals, so that the maximum perception direction of the sensor signals is perpendicular to the plane of the ring.
In one embodiment, the distance between the sensors in the sensor array is calculated according to the wavelength of the working 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 inner circuits of the large ring 5, the middle ring 6, the small ring 7, the first connecting shaft 1, the second connecting shaft 2 and the third connecting shaft 3, and is used for receiving electromagnetic waves or sound waves in the 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 located on the first connecting shaft 1, the second connecting shaft 2 and the third connecting shaft 3, or connects the first connecting shaft 1, the second connecting shaft 2 and the third connecting shaft 3 through the inner circuits 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 the water environment can be scanned after the airtight water-proof treatment; the whole device can also be packaged in a shell which does not influence the signal emission of the whole device so as to isolate the influence of external pressure, temperature, humidity and other factors.
In one embodiment, the sensor array 8 is an electro-magnetic sensor, in which case the tri-axis gyroscope uses a material with zero magnetic resistance characteristics to reduce interference with electromagnetic radiation.
In another embodiment, the sensor array 8 is an acousto-electric sensor, where the tri-axial gyroscope is made of a material with an acoustic resistivity close to the environment to be measured, so as to reduce interference with acoustic radiation.
The invention provides an array scanning transmitter and a receiver based on a triaxial gyroscope structure, which can perform space omnibearing scanning and improve the scanning detection efficiency. The transmitter and the receiver can work together to complete the active detection function; the receiver can also work independently to complete the passive detection function. The spatial resolution is flexibly configured, the spatial full coverage scanning can be realized, and the scanning result can be obtained in real time.
The foregoing detailed description of the invention has been presented for purposes of illustration and description, and it should be understood that the invention is not limited to the particular embodiments disclosed, but is intended to cover all modifications, equivalents, alternatives, and improvements within the spirit and principles of the invention.
Claims (6)
1. An array scanning transmitter based on triaxial gyroscope structure is applicable to multiple operational environment, wherein, can carry out water environment scanning after airtight water proof treatment, includes: triaxial gyroscope, its characterized in that still includes: the signal excitation device and the rotation control device are arranged on the sensor array on the triaxial gyroscope; wherein,
The tri-axial gyroscope includes: the device comprises a large ring, a middle ring and a small ring, wherein the large ring is connected with an external support through two first connecting shafts, the straight line where the two first connecting shafts are positioned 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 positioned 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 positioned is a rotating shaft of the small ring;
the signal excitation device is connected with the sensor array through internal circuits of the large ring, the middle ring, the small ring, the first connecting shaft, the second connecting shaft and the third connecting shaft, and is used for transmitting electric signals, and the electric signals are converted into electromagnetic waves or acoustic waves through the sensor array to scan the environment to be tested;
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 ring, the middle ring, the first connecting shaft, the second connecting shaft and the third connecting shaft, and 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, the annular array is arranged on the large ring, the middle ring and the small ring at equal intervals, so that the excitation direction of sensor signals is perpendicular to the plane of the ring, and the distance between the sensors in the sensor array is calculated according to the wavelength of the electric signals emitted by the signal excitation device.
2. The array scanning transmitter of claim 1, wherein when the sensor array is an electro-magnetic sensor, the tri-axial gyroscope uses a zero reluctance property material to reduce interference with electromagnetic radiation.
3. The array scanning transmitter of claim 1, wherein when the sensor array is an acousto-electric sensor, the tri-axial gyroscope uses a material with an acoustic resistivity close to that of the environment to be measured to reduce interference with acoustic radiation.
4. An array scanning receiver based on triaxial gyroscope structure is applicable to multiple operational environment, wherein, can carry out water environment scanning after airtight water proof treatment, includes: triaxial gyroscope, its characterized in that still includes: the signal receiving and processing device and the rotation control device are arranged on the sensor array on the triaxial gyroscope; wherein,
The tri-axial gyroscope includes: the device comprises a large ring, a middle ring and a small ring, wherein the large ring is connected with an external support through two first connecting shafts, the straight line where the two first connecting shafts are positioned 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 positioned 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 positioned 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 ring, the middle ring, the small ring, the first connecting shaft, the second connecting shaft and the 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 ring, the middle ring, the first connecting shaft, the second connecting shaft and the third connecting shaft, and 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, the annular array is arranged on the large ring, the middle ring and the small ring at equal intervals, so that the maximum perception direction of sensor signals is perpendicular to the plane of the ring, and the distance between the sensors in the sensor array is calculated according to the working signal wavelength corresponding to the signal receiving and processing device.
5. The array scanning receiver of claim 4, wherein when the sensor array is an electro-magnetic sensor, the tri-axial gyroscope uses a zero reluctance property material to reduce interference with electromagnetic radiation.
6. The array scanning receiver of claim 4, wherein when the sensor array is an acousto-electric sensor, the tri-axial gyroscope uses a material with an acoustic resistivity close to the environment to be measured to reduce interference with acoustic radiation.
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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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| CN103185573A (en) * | 2011-12-30 | 2013-07-03 | 百度在线网络技术（北京）有限公司 | Sensor data acquisition method and sensor data acquisition apparatus for three-axis gyroscope of simulator |
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