CN113189653A - Equipment, method and device for detecting underwater vehicle and computer readable storage medium - Google Patents
Equipment, method and device for detecting underwater vehicle and computer readable storage medium Download PDFInfo
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- CN113189653A CN113189653A CN202110564912.1A CN202110564912A CN113189653A CN 113189653 A CN113189653 A CN 113189653A CN 202110564912 A CN202110564912 A CN 202110564912A CN 113189653 A CN113189653 A CN 113189653A
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- 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
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
Abstract
The invention discloses a submarine vehicle detection device, which comprises a ferromagnetic orientation component, a rotating shaft and a processor, wherein the processor is arranged on the rotating shaft; the ferromagnetic orientation component comprises a bar magnet and a magnetic sensing element; the sensing surface of the magnetic sensing element faces to the side surface of the bar magnet, which is parallel to the first direction; the rotating shaft is connected with the ferromagnetic orientation component, so that the first surface of the ferromagnetic orientation component periodically changes the orientation along a preset track; and the processor is connected with the magnetic sensing element and used for receiving the voltage signal generated by the magnetic sensing element and determining the position information of the underwater vehicle according to the voltage signal. The invention monitors the displacement of the middle position of the 0 magnetic point of the corresponding bar magnet through the magnetic sensing element to obtain the direction of the underwater vehicle entering the detection range relative to the ferromagnetic orientation component, and has higher precision and accuracy without being influenced by environmental factors. The invention also provides a method and a device for detecting the underwater vehicle and a computer readable storage medium with the advantages.
Description
Technical Field
The invention relates to the field of underwater vehicle detection, in particular to underwater vehicle detection equipment, method and device and a computer readable storage medium.
Background
With the development of science, deep sea also becomes the field actively explored and utilized by human beings, however, in order to avoid marine collision or the situation that the local territorial security of the country is endangered by the submerged aircraft of other countries, the demand of people for timely mastering the position of the submerged aircraft is increasing.
The existing detection of the underwater vehicle is generally divided into a method for detecting the residual magnetism of the underwater vehicle adopted by an anti-submarine scout and a sonar detection method adopted by a large-scale water-surface ship, however, the two methods have obvious defects, the former method is highly dependent on the residual magnetism of the underwater vehicle, and the detection method is invalid if the residual magnetism of the underwater vehicle is small or the underwater vehicle is demagnetized; the latter has poor detection effect on the squelched target, is easily influenced by ocean background noise, and can cause sonar failure and be difficult to detect once the underwater vehicle approaches to the position below the surface naval vessel within a certain distance because the naval vessel has large noise.
In summary, it is obvious that the existing anti-latency technologies all have relatively harsh requirements on the target itself or the environment, have relatively poor universality and low precision in an extreme environment, and therefore, finding an anti-latency method with high universality, good precision and little influence by the environment becomes a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
The invention aims to provide a device, a method and a device for detecting a submersible vehicle and a computer readable storage medium, which are used for solving the problems that the detection means of the submersible vehicle in the prior art is harsh in condition, low in universality and low in measurement precision.
In order to solve the technical problem, the invention provides a submarine vehicle detection device, which comprises a ferromagnetic orientation component, a rotating shaft and a processor, wherein the processor is arranged on the rotating shaft;
the ferromagnetic orientation component comprises a bar magnet and a magnetic sensing element;
the sensing surface of the magnetic sensing element faces to the side surface of the bar magnet, which is parallel to the first direction; the induction surface covers the displacement stroke of the middle position of the 0 magnetic point; the first direction is the arrangement direction of the N pole and the S pole of the bar magnet;
the rotating shaft is connected with the ferromagnetic orientation component, so that the first surface of the ferromagnetic orientation component periodically changes the orientation along a preset track; the first surface is a surface on the bar magnet, which is perpendicular to the first direction;
the processor is connected with the magnetic sensing element and used for receiving a voltage signal generated by the magnetic sensing element and determining the position information of the underwater vehicle according to the voltage signal; and the voltage signal is a voltage change signal caused by displacement of the middle position of the 0 magnetic point of the bar magnet along the first direction when the underwater vehicle enters a scanning range.
Optionally, in the underwater vehicle detection device, the underwater vehicle detection device comprises a plurality of ferromagnetic orientation components with different setting positions.
Optionally, in the underwater vehicle detection device, the processor determines underwater vehicle orientation information according to an orientation of the first surface corresponding to the maximum displacement distance in the first direction in the 0 magnetic point, and determines underwater vehicle position information according to the underwater vehicle orientation information corresponding to the plurality of ferromagnetic orientation components.
Optionally, in the submersible vehicle detection apparatus, a single ferromagnetic orientation assembly comprises a plurality of magneto-sensitive elements.
Optionally, in the underwater vehicle detection device, when a single ferromagnetic orientation component comprises two magnetic sensing elements oppositely arranged on two sides of the bar magnet, the underwater vehicle detection device further comprises a differential amplifier;
the differential amplifier is used for determining a unidirectional voltage signal according to the voltage signals sent by the two magnetic sensing elements;
and the processor determines the position information of the underwater vehicle according to the voltage signal.
Optionally, in the underwater vehicle detection device, the underwater vehicle detection device further includes an amplifying circuit;
the amplifying circuit is used for amplifying the electric signal between the ferromagnetic orientation component and the processor.
A method of underwater vehicle detection comprising:
acquiring a voltage signal from a ferromagnetic orientation component; the ferromagnetic orientation component comprises a bar magnet and a magnetic sensing element; the sensing surface of the magnetic sensing element faces to the side surface of the bar magnet, which is parallel to the first direction; the induction surface covers the displacement stroke of the middle position of the 0 magnetic point; the first direction is the arrangement direction of the N pole and the S pole of the bar magnet; the first surface of the ferromagnetic orientation component periodically changes orientation along a preset track; the first surface is a surface on the bar magnet, which is perpendicular to the first direction; the voltage signal is a voltage change signal caused by displacement of the middle position of the 0 magnetic point of the bar magnet along a first direction when the underwater vehicle enters a scanning range;
and determining the position information of the underwater vehicle according to the voltage signal.
Optionally, in the method for detecting a submersible vehicle, the determining the position information of the submersible vehicle according to the voltage signal includes:
when the underwater vehicle detection equipment comprises a plurality of ferromagnetic orientation components with different setting positions, determining orientation information of the underwater vehicle according to the orientation of the corresponding first surface when the displacement distance of the 0 magnetic point median along the first direction is maximum;
and determining the position information of the underwater vehicle according to the orientation information of the underwater vehicle corresponding to the ferromagnetic orientation components.
A submersible vehicle detection arrangement comprising:
the acquisition module is used for acquiring a voltage signal from the ferromagnetic orientation component; the ferromagnetic orientation component comprises a bar magnet and a magnetic sensing element; the sensing surface of the magnetic sensing element faces to the side surface of the bar magnet, which is parallel to the first direction; the induction surface covers the displacement stroke of the middle position of the 0 magnetic point; the first direction is the arrangement direction of the N pole and the S pole of the bar magnet; the first surface of the ferromagnetic orientation component periodically changes orientation along a preset track; the first surface is a surface on the bar magnet, which is perpendicular to the first direction; the voltage signal is a voltage change signal caused by displacement of the middle position of the 0 magnetic point of the bar magnet along a first direction when the underwater vehicle enters a scanning range;
and the positioning module is used for determining the position information of the underwater vehicle according to the voltage signal.
A computer readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of any of the above-mentioned methods of underwater vehicle detection.
The invention provides a piece of underwater vehicle detection equipment, which comprises a ferromagnetic orientation component, a rotating shaft and a processor; the ferromagnetic orientation component comprises a bar magnet and a magnetic sensing element; the sensing surface of the magnetic sensing element faces to the side surface of the bar magnet, which is parallel to the first direction; the induction surface covers the displacement stroke of the middle position of the 0 magnetic point; the first direction is the arrangement direction of the N pole and the S pole of the bar magnet; the rotating shaft is connected with the ferromagnetic orientation component, so that the first surface of the ferromagnetic orientation component periodically changes the orientation along a preset track; the first surface is a surface on the bar magnet, which is perpendicular to the first direction; the processor is connected with the magnetic sensing element and used for receiving a voltage signal generated by the magnetic sensing element and determining the position information of the underwater vehicle according to the voltage signal; and the voltage signal is a voltage change signal caused by displacement of the middle position of the 0 magnetic point of the bar magnet along the first direction when the underwater vehicle enters a scanning range.
The invention utilizes the characteristic that when a ferromagnetic material appears in a magnetic ferromagnetic field, the ferromagnetic material can 'drag' the 0 magnetic point middle position of the magnet, and monitors the displacement of the 0 magnetic point middle position of the corresponding bar magnet through the magnetic sensing element to obtain the direction of the underwater vehicle entering the detection range relative to the ferromagnetic orientation component, thereby further judging the specific position of the underwater vehicle. The invention also provides a method and a device for detecting the underwater vehicle and a computer readable storage medium with the beneficial effects.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the description of the embodiments or the prior art 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 it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of the submersible vehicle detection device provided by the invention;
FIG. 2 is a top view of one embodiment of a submersible vehicle detection arrangement provided by the present invention;
FIG. 3 is a schematic view of the magnetic field of the bar magnet without external influence;
FIG. 4 is a schematic diagram of the magnetic field after ferromagnetic material is present in the magnetic field range of a bar magnet;
FIG. 5 is a schematic representation of the submersible vehicle detection apparatus of the present invention comprising a plurality of the ferromagnetic orienting components described to determine the position of the submersible vehicle;
FIG. 6 is a schematic structural diagram of another embodiment of the submersible vehicle detection device provided by the invention;
FIG. 7 is a schematic flow chart of an embodiment of a method for detecting a submersible vehicle according to the present invention;
fig. 8 is a schematic structural diagram of an embodiment of the underwater vehicle detection device provided by the invention.
Detailed Description
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the 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.
The core of the invention is to provide a submarine vehicle detection device, the structure diagram of one embodiment of which is shown in fig. 1 and is called as the first embodiment, and the device comprises a ferromagnetic orientation component, a rotating shaft 20 and a processor 30;
the ferromagnetic orientation component comprises a bar magnet 12 and a magnetic sensing element 11;
the sensing surface of the magnetic sensing element 11 faces the side surface of the bar magnet 12 parallel to the first direction; the induction surface covers the displacement stroke of the middle position of the 0 magnetic point; the first direction is the arrangement direction of the N pole and the S pole of the bar magnet 12;
the rotating shaft 20 is connected to the ferromagnetic orientation component, so that the first surface of the ferromagnetic orientation component periodically changes orientation along a preset track; the first surface is a surface perpendicular to the first direction on the bar magnet 12;
the processor 30 is connected with the magnetic sensing element 11 and is used for receiving a voltage signal generated by the magnetic sensing element 11 and determining the position information of the underwater vehicle according to the voltage signal; the voltage signal is a voltage change signal caused by displacement of the middle position of the 0 magnetic point of the bar magnet 12 along the first direction when the underwater vehicle enters a scanning range.
Fig. 1 is a front view of the present embodiment, wherein the rotating shaft 20 is a single-axis rotating platform, it should be noted that the position of the magnetic sensing element 11 in fig. 1 is only one embodiment, and other positions can be selected in practical production as long as the displacement of the center of the 0-magnetic point along the first direction can be measured; fig. 2 is a plan view corresponding to the structure of fig. 1, and the broken line in fig. 1 and 2 only indicates the signal connection between the magnetic sensor 11 and the processor 30, and does not indicate the actual installation position of the signal line.
Fig. 3 is a magnetic field diagram of the bar magnet 12, a magnetic field (hereinafter referred to as a 0-magnetic-point magnetic field) in a similar point space is generated at a median of a 0 magnetic point of the bar magnet 12, and the 0-magnetic-point magnetic field moves along a centerline of the 0 magnetic point. Fig. 4 is a schematic diagram of the influence of the ferromagnetic material on the magnetic field of the bar magnet 12, where the centerline of the 0 magnetic point of the old bit is the centerline of the 0 magnetic point without the influence of the ferromagnetic material, and the centerline of the 0 magnetic point after the ferromagnetic material is added is the centerline of the 0 magnetic point of the new bit in fig. 4, it can be seen that the median of the 0 magnetic point moves toward the ferromagnetic material.
In a preferred embodiment, the underwater vehicle detection device comprises a plurality of ferromagnetic orientation components with different setting positions, and the plurality of ferromagnetic orientation components with different setting positions can obtain the position information of the target underwater vehicle according to the parameters of the different ferromagnetic orientation components.
Specifically, the processor 30 determines the orientation information of the underwater vehicle according to the orientation of the first surface corresponding to the maximum displacement distance along the first direction in the 0 magnetic point, and determines the position information of the underwater vehicle according to the orientation information of the underwater vehicle corresponding to the plurality of ferromagnetic orientation components.
It has been described above that the first surface changes its orientation periodically along a predetermined trajectory, for example, the ferromagnetic orientation component is mounted on a single-axis rotation platform (i.e., the rotation shaft 20), and the rotation platform drives the parallel magnets to rotate in a certain plane, or a double-axis rotation platform is used to realize any angle rotation in three-dimensional space, which can be selected according to actual needs.
As can be seen from fig. 4, when the ferromagnetic material block is located right in front of the first surface of the bar magnet 12, the position change amount of the center of the 0 magnetic point, that is, the displacement of the center of the 0 magnetic point, is the largest, and therefore, the maximum displacement distance of the center of the 0 magnetic point along the first direction is determined, and the underwater vehicle is located in the direction corresponding to the first surface (that is, the direction of the perpendicular bisector of the first surface). A schematic of a plurality of the ferromagnetic orientation assemblies to determine the position of the vehicle is shown in figure 5.
The use of a conventional linear hall element (GS stage), a conventional magnet (3000GS) with a volume Φ 10 × 70mm, and a 100-fold amplifier, allows meter-level detection of a Φ 200 × 10mm discus. The test results were influenced (but with certainty) by the gravitational field.
According to the experimental results, high-end equipment (a high-sensitivity magnetic sensing element 11PT grade, a high-strength magnet and a high-power amplifier) is adopted, and the KM-grade detection of the submarine-sized underwater vehicle can be realized by matching with computer data analysis.
The invention provides a submarine vehicle detection device, which comprises a ferromagnetic orientation component, a rotating shaft 20 and a processor 30; the ferromagnetic orientation component comprises a bar magnet 12 and a magnetic sensing element 11; the sensing surface of the magnetic sensing element 11 faces the side surface of the bar magnet 12 parallel to the first direction; the induction surface covers the displacement stroke of the middle position of the 0 magnetic point; the first direction is the arrangement direction of the N pole and the S pole of the bar magnet 12; the rotating shaft 20 is connected to the ferromagnetic orientation component, so that the first surface of the ferromagnetic orientation component periodically changes orientation along a preset track; the first surface is a surface perpendicular to the first direction on the bar magnet 12; the processor 30 is connected with the magnetic sensing element 11 and is used for receiving a voltage signal generated by the magnetic sensing element 11 and determining the position information of the underwater vehicle according to the voltage signal; the voltage signal is a voltage change signal caused by displacement of the middle position of the 0 magnetic point of the bar magnet 12 along the first direction when the underwater vehicle enters a scanning range. According to the invention, by utilizing the characteristic that when a ferromagnetic material appears in a magnetic ferromagnetic field, the magnet 0 magnetic point middle position can be dragged, the magnetic sensing element 11 is used for monitoring the displacement of the corresponding strip magnet 12 magnetic point 0 middle position, the direction of the underwater vehicle entering the detection range relative to the ferromagnetic orientation component is obtained, and further the specific position of the underwater vehicle can be judged.
On the basis of the first embodiment, the ferromagnetic orientation component is further improved to obtain a second embodiment, which is shown in fig. 6, and includes a ferromagnetic orientation component, a rotating shaft 20 and a processor 30;
the ferromagnetic orientation component comprises a bar magnet 12 and a magnetic sensing element 11;
the sensing surface of the magnetic sensing element 11 faces the side surface of the bar magnet 12 parallel to the first direction; the induction surface covers the displacement stroke of the middle position of the 0 magnetic point; the first direction is the arrangement direction of the N pole and the S pole of the bar magnet 12;
the rotating shaft 20 is connected to the ferromagnetic orientation component, so that the first surface of the ferromagnetic orientation component periodically changes orientation along a preset track; the first surface is a surface perpendicular to the first direction on the bar magnet 12;
the processor 30 is connected with the magnetic sensing element 11 and is used for receiving a voltage signal generated by the magnetic sensing element 11 and determining the position information of the underwater vehicle according to the voltage signal; the voltage signal is a voltage change signal caused by displacement of the middle position of the 0 magnetic point of the bar magnet 12 along the first direction when the underwater vehicle enters a scanning range;
a single said ferromagnetic orientation component comprises a plurality of magneto-sensitive elements 11.
In this embodiment, a plurality of magnetic sensors 11 are provided for each ferromagnetic orientation component, that is, the displacement of the neutral position in the 0 magnetic point is measured by the plurality of magnetic sensors 11, so as to improve the measurement accuracy.
When a single ferromagnetic orientation component comprises two magnetic sensing elements 11 arranged oppositely on two sides of the bar magnet 12, the underwater vehicle detection device further comprises a differential amplifier;
the differential amplifier is used for determining a unidirectional voltage signal according to the voltage signals sent by the two magnetic sensing elements 11;
the processor 30 determines the position information of the underwater vehicle according to the voltage signal.
The two magnetic sensing elements 11 are oppositely arranged on two sides of the bar magnet 12, voltages generated by the two magnetic sensing elements 11 are the same in size and opposite in direction, the differential amplifier is used for amplifying an electric signal and converting the electric signal into a one-way voltage signal, subsequent processing is facilitated, and the processing flow is simplified while the measurement precision is improved. Of course, other numbers of the magnetic sensors 11 may be selected for the same bar magnet 12 according to the actual situation.
Furthermore, the underwater vehicle detection device also comprises an amplifying circuit;
the amplifying circuit is used for amplifying the electric signal from the ferromagnetic orientation component to the processor 30.
The electric signals are amplified and then are easier to process by the processor 30, and are less susceptible to external interference, so that the detection precision and the detection accuracy are improved; still further, the amplifying circuit is a high power amplifier; it should be noted that the amplifying circuit may be disposed between the magnetic sensor 11 and the differential amplifying circuit, and is used for amplifying the minute current of the magnetic sensor 11; or between the differential discharge circuit and the processor 30, for amplifying the unidirectional voltage signal.
The invention also provides a method for detecting a submersible vehicle, wherein the flow diagram of one specific embodiment is shown in fig. 7, which is called as a third specific embodiment and comprises the following steps:
s101: acquiring a voltage signal from a ferromagnetic orientation component; the ferromagnetic orientation component comprises a bar magnet 12 and a magnetic sensing element 11; the sensing surface of the magnetic sensing element 11 faces the side surface of the bar magnet 12 parallel to the first direction; the induction surface covers the displacement stroke of the middle position of the 0 magnetic point; the first direction is the arrangement direction of the N pole and the S pole of the bar magnet 12; the first surface of the ferromagnetic orientation component periodically changes orientation along a preset track; the first surface is a surface perpendicular to the first direction on the bar magnet 12; the voltage signal is a voltage change signal caused by displacement of the middle position of the 0 magnetic point of the bar magnet 12 along the first direction when the underwater vehicle enters a scanning range.
S102: and determining the position information of the underwater vehicle according to the voltage signal.
The method specifically comprises the following steps:
s1021: when the underwater vehicle detection device comprises a plurality of ferromagnetic orientation components with different setting positions, the orientation information of the underwater vehicle is determined according to the orientation of the corresponding first surface when the displacement distance of the 0 magnetic point median position along the first direction is maximum.
S1022: and determining the position information of the underwater vehicle according to the orientation information of the underwater vehicle corresponding to the ferromagnetic orientation components.
In particular, in comparison with the description of the underwater vehicle detection device in the foregoing, the present embodiment corresponds to the description of the method performed by the processor 30 of the underwater vehicle detection device in the foregoing.
The invention provides a piece of underwater vehicle detection equipment, which comprises a voltage signal acquisition module, a detection module and a control module, wherein the voltage signal acquisition module acquires a voltage signal from a ferromagnetic orientation component; the ferromagnetic orientation component comprises a bar magnet 12 and a magnetic sensing element 11; the sensing surface of the magnetic sensing element 11 faces the side surface of the bar magnet 12 parallel to the first direction; the induction surface covers the displacement stroke of the middle position of the 0 magnetic point; the first direction is the arrangement direction of the N pole and the S pole of the bar magnet 12; the first surface of the ferromagnetic orientation component periodically changes orientation along a preset track; the first surface is a surface perpendicular to the first direction on the bar magnet 12; the voltage signal is a voltage change signal caused by displacement of the middle position of the 0 magnetic point of the bar magnet 12 along the first direction when the underwater vehicle enters a scanning range; and determining the position information of the underwater vehicle according to the voltage signal. According to the invention, by utilizing the characteristic that when a ferromagnetic material appears in a magnetic ferromagnetic field, the magnet 0 magnetic point middle position can be dragged, the magnetic sensing element 11 is used for monitoring the displacement of the corresponding strip magnet 12 magnetic point 0 middle position, the direction of the underwater vehicle entering the detection range relative to the ferromagnetic orientation component is obtained, and further the specific position of the underwater vehicle can be judged.
In the following, the underwater vehicle detection device provided by the embodiment of the present invention is introduced, and the underwater vehicle detection device described below and the underwater vehicle detection method described above may be referred to correspondingly.
Fig. 8 is a block diagram of a structure of a submersible vehicle detection device according to an embodiment of the present invention, and referring to fig. 8, the submersible vehicle detection device may include:
an acquisition module 100 for acquiring a voltage signal from the ferromagnetic orientation component; the ferromagnetic orientation component comprises a bar magnet 12 and a magnetic sensing element 11; the sensing surface of the magnetic sensing element 11 faces the side surface of the bar magnet 12 parallel to the first direction; the induction surface covers the displacement stroke of the middle position of the 0 magnetic point; the first direction is the arrangement direction of the N pole and the S pole of the bar magnet 12; the first surface of the ferromagnetic orientation component periodically changes orientation along a preset track; the first surface is a surface perpendicular to the first direction on the bar magnet 12; the voltage signal is a voltage change signal caused by displacement of the middle position of the 0 magnetic point of the bar magnet 12 along the first direction when the underwater vehicle enters a scanning range;
and the positioning module 200 is used for determining the position information of the underwater vehicle according to the voltage signal.
As a preferred embodiment, the positioning module 200 specifically includes:
the orientation unit is used for determining orientation information of the underwater vehicle according to the orientation of the corresponding first surface when the displacement distance of the 0 magnetic point median along the first direction is maximum when the underwater vehicle detection equipment comprises a plurality of ferromagnetic orientation components with different setting positions;
and the comprehensive positioning unit is used for determining the position information of the underwater vehicle according to the orientation information of the underwater vehicle corresponding to the ferromagnetic orientation assemblies.
The invention provides a submersible vehicle detection device, which comprises an acquisition module 100, a detection module and a control module, wherein the acquisition module is used for acquiring a voltage signal from a ferromagnetic orientation component; the ferromagnetic orientation component comprises a bar magnet 12 and a magnetic sensing element 11; the sensing surface of the magnetic sensing element 11 faces the side surface of the bar magnet 12 parallel to the first direction; the induction surface covers the displacement stroke of the middle position of the 0 magnetic point; the first direction is the arrangement direction of the N pole and the S pole of the bar magnet 12; the first surface of the ferromagnetic orientation component periodically changes orientation along a preset track; the first surface is a surface perpendicular to the first direction on the bar magnet 12; the voltage signal is a voltage change signal caused by displacement of the middle position of the 0 magnetic point of the bar magnet 12 along the first direction when the underwater vehicle enters a scanning range; and the positioning module 200 is used for determining the position information of the underwater vehicle according to the voltage signal. According to the invention, by utilizing the characteristic that when a ferromagnetic material appears in a magnetic ferromagnetic field, the magnet 0 magnetic point middle position can be dragged, the magnetic sensing element 11 is used for monitoring the displacement of the corresponding strip magnet 12 magnetic point 0 middle position, the direction of the underwater vehicle entering the detection range relative to the ferromagnetic orientation component is obtained, and further the specific position of the underwater vehicle can be judged.
The underwater vehicle detection device of this embodiment is used to implement the above-mentioned underwater vehicle detection method, and therefore, the specific implementation of the underwater vehicle detection device may refer to the previous embodiment parts of the underwater vehicle detection method, for example, the obtaining module 100 and the positioning module 200, which are respectively used to implement the steps S101 and S102 in the above-mentioned underwater vehicle detection method, so that the specific implementation thereof may refer to the description of the corresponding embodiment parts, and will not be described again here.
The present invention also provides a computer readable storage medium having a computer program stored thereon, which, when executed by the processor 30, implements the steps of any of the above-described methods of underwater vehicle detection. The invention provides a submarine vehicle detection device, which comprises a ferromagnetic orientation component, a rotating shaft 20 and a processor 30; the ferromagnetic orientation component comprises a bar magnet 12 and a magnetic sensing element 11; the sensing surface of the magnetic sensing element 11 faces the side surface of the bar magnet 12 parallel to the first direction; the induction surface covers the displacement stroke of the middle position of the 0 magnetic point; the first direction is the arrangement direction of the N pole and the S pole of the bar magnet 12; the rotating shaft 20 is connected to the ferromagnetic orientation component, so that the first surface of the ferromagnetic orientation component periodically changes orientation along a preset track; the first surface is a surface perpendicular to the first direction on the bar magnet 12; the processor 30 is connected with the magnetic sensing element 11 and is used for receiving a voltage signal generated by the magnetic sensing element 11 and determining the position information of the underwater vehicle according to the voltage signal; the voltage signal is a voltage change signal caused by displacement of the middle position of the 0 magnetic point of the bar magnet 12 along the first direction when the underwater vehicle enters a scanning range. According to the invention, by utilizing the characteristic that when a ferromagnetic material appears in a magnetic ferromagnetic field, the magnet 0 magnetic point middle position can be dragged, the magnetic sensing element 11 is used for monitoring the displacement of the corresponding strip magnet 12 magnetic point 0 middle position, the direction of the underwater vehicle entering the detection range relative to the ferromagnetic orientation component is obtained, and further the specific position of the underwater vehicle can be judged.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is to be noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by the processor 30, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The details of the underwater vehicle detection device, the method, the device and the computer readable storage medium provided by the invention are described above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. The underwater vehicle detection equipment is characterized by comprising a ferromagnetic orientation component, a rotating shaft and a processor;
the ferromagnetic orientation component comprises a bar magnet and a magnetic sensing element;
the sensing surface of the magnetic sensing element faces to the side surface of the bar magnet, which is parallel to the first direction; the induction surface covers the displacement stroke of the middle position of the 0 magnetic point; the first direction is the arrangement direction of the N pole and the S pole of the bar magnet;
the rotating shaft is connected with the ferromagnetic orientation component, so that the first surface of the ferromagnetic orientation component periodically changes the orientation along a preset track; the first surface is a surface on the bar magnet, which is perpendicular to the first direction;
the processor is connected with the magnetic sensing element and used for receiving a voltage signal generated by the magnetic sensing element and determining the position information of the underwater vehicle according to the voltage signal; and the voltage signal is a voltage change signal caused by displacement of the middle position of the 0 magnetic point of the bar magnet along the first direction when the underwater vehicle enters a scanning range.
2. The undersea vehicle detection apparatus of claim 1 wherein said undersea vehicle detection apparatus includes a plurality of ferromagnetic orientation members disposed in different positions.
3. The undersea vehicle detection apparatus of claim 2 wherein said processor determines undersea vehicle orientation information based on an orientation of said first surface corresponding to a maximum displacement distance along said first direction in said 0-pole position and determines said undersea vehicle position information based on undersea vehicle orientation information corresponding to a plurality of said ferromagnetic orientation assemblies.
4. A submersible vehicle detection apparatus as claimed in any one of claims 1 to 3 wherein a single said ferromagnetic orientation assembly comprises a plurality of magneto-sensitive elements.
5. The underwater vehicle detection apparatus of claim 4 further comprising a differential amplifier when a single said ferromagnetic orientation assembly includes two magneto-sensitive elements disposed opposite each other on either side of said bar magnet;
the differential amplifier is used for determining a unidirectional voltage signal according to the voltage signals sent by the two magnetic sensing elements;
and the processor determines the position information of the underwater vehicle according to the voltage signal.
6. The undersea vehicle detection apparatus of claim 5 wherein said undersea vehicle detection apparatus further comprises an amplification circuit;
the amplifying circuit is used for amplifying the electric signal between the ferromagnetic orientation component and the processor.
7. A method of underwater vehicle detection, comprising:
acquiring a voltage signal from a ferromagnetic orientation component; the ferromagnetic orientation component comprises a bar magnet and a magnetic sensing element; the sensing surface of the magnetic sensing element faces to the side surface of the bar magnet, which is parallel to the first direction; the induction surface covers the displacement stroke of the middle position of the 0 magnetic point; the first direction is the arrangement direction of the N pole and the S pole of the bar magnet; the first surface of the ferromagnetic orientation component periodically changes orientation along a preset track; the first surface is a surface on the bar magnet, which is perpendicular to the first direction; the voltage signal is a voltage change signal caused by displacement of the middle position of the 0 magnetic point of the bar magnet along a first direction when the underwater vehicle enters a scanning range;
and determining the position information of the underwater vehicle according to the voltage signal.
8. The method of undersea vehicle detection according to claim 7, wherein said determining of undersea vehicle position information from said voltage signal comprises:
when the underwater vehicle detection equipment comprises a plurality of ferromagnetic orientation components with different setting positions, determining orientation information of the underwater vehicle according to the orientation of the corresponding first surface when the displacement distance of the 0 magnetic point median along the first direction is maximum;
and determining the position information of the underwater vehicle according to the orientation information of the underwater vehicle corresponding to the ferromagnetic orientation components.
9. A submersible vehicle detection device, comprising:
the acquisition module is used for acquiring a voltage signal from the ferromagnetic orientation component; the ferromagnetic orientation component comprises a bar magnet and a magnetic sensing element; the sensing surface of the magnetic sensing element faces to the side surface of the bar magnet, which is parallel to the first direction; the induction surface covers the displacement stroke of the middle position of the 0 magnetic point; the first direction is the arrangement direction of the N pole and the S pole of the bar magnet; the first surface of the ferromagnetic orientation component periodically changes orientation along a preset track; the first surface is a surface on the bar magnet, which is perpendicular to the first direction; the voltage signal is a voltage change signal caused by displacement of the middle position of the 0 magnetic point of the bar magnet along a first direction when the underwater vehicle enters a scanning range;
and the positioning module is used for determining the position information of the underwater vehicle according to the voltage signal.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the submersible vehicle detection method according to any one of claims 7 to 8.
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