CN113341355A - Three-dimensional space electromagnetic field distribution measuring system and testing method - Google Patents
Three-dimensional space electromagnetic field distribution measuring system and testing method Download PDFInfo
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Abstract
The invention discloses a three-dimensional space electromagnetic field distribution measuring system and a testing method, which belong to the technical field of electromagnetic field measurement and comprise the following steps: the system comprises a test object, a receiving end and a control processing end; the test object comprises an electromagnetic generating device and a power amplifier; the receiving end comprises an electromagnetic field receiving probe and a three-dimensional scanning frame; the control processing end comprises a frequency spectrograph, a driver, a vector signal source, a data processor and a display control platform; the display control platform downloads the modulation signals to a vector signal source, and the output signals are connected to the electromagnetic generating device through a power amplifier through the vector signal source; the display control platform controls the three-dimensional scanning frame to run along a preset track through the driver, drives an electromagnetic field receiving probe fixedly connected with a tray of the three-dimensional scanning frame to receive electromagnetic waves generated by the electromagnetic generating device along the set track, and draws the stored data into a field distribution diagram in real time through a field intensity value measured by the frequency spectrograph and storing the field distribution diagram into the memory. The test efficiency of the spatial field measurement can be improved.
Description
Technical Field
The invention belongs to the technical field of electromagnetic field measurement, and particularly relates to a three-dimensional space electromagnetic field distribution measurement system and a test method.
Background
With the development of wireless energy transmission technology, radar technology and electromagnetic compatibility technology, the measurement of the spatial transmission characteristics of electromagnetic waves becomes more and more important, and the measurement accuracy plays a key role in the design and theoretical analysis of a system no matter the distribution rule of the transmission energy of remote high-power microwave transmitting equipment in the space or the distribution rule of the peripheral field intensity of a detection chip is researched. In the technical field of microwave wireless energy transmission, high-gain antennas, near-field focusing and wave vector regulation and control technologies need to be verified through experiments, and a receiving-end rectifying antenna and a rectifying circuit need to be designed according to measurement results. In the field of radar technology, the formation and control of phased array radar beams are studied, and field distribution needs to be tested. In the technical field of electromagnetic compatibility, when equipment needs to be subjected to electromagnetic compatibility simulation design to meet related radiation safety standards, electromagnetic field distribution measurement in a three-dimensional space of the equipment is an effective analysis and verification means, electromagnetic waves can be visualized in the three-dimensional space, a test result is taken as guidance, and a radiation quantity over-standard part can be accurately measured so as to deduce an electromagnetic interference source. Therefore, in order to promote the development of the related art, the three-dimensional electromagnetic field distribution measurement needs to be gradually automated and refined. The unmanned aerial vehicle-mounted space electromagnetic field measurement system is provided and used domestically, the system is composed of an unmanned aerial vehicle platform, a field probe and a test software assembly, the unmanned aerial vehicle uses a RTK differential positioning system, the positioning precision can reach the centimeter magnitude, the unmanned aerial vehicle used in the method is limited by a battery in power supply, the cruising ability is mostly 25-30 minutes, the measurement can not be completed at one time under most conditions, the test can not be continuously performed, and when the field intensity is measured to be large, the problem of electromagnetic compatibility is easy to occur, the unmanned aerial vehicle is caused to be disordered and even damaged, and the test of millimeter magnitude precision can not be completed at the same time. Therefore, the three-dimensional space electromagnetic field distribution measuring system and the three-dimensional space electromagnetic field distribution measuring method have practical significance for verifying the space transmission characteristics of electromagnetic waves and promoting the development of wireless energy transmission technology, radar technology and electromagnetic compatibility technology.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides a three-dimensional space electromagnetic field distribution measuring system and a testing method, which can realize automatic, high-precision and real-time data processing, can select various structural configurations according to actual working conditions, and are suitable for electromagnetic field distribution testing in the fields of wireless energy transmission technology, radar technology, electromagnetic compatibility and the like.
To achieve the above object, according to one aspect of the present invention, there is provided a three-dimensional spatial electromagnetic field distribution measuring system including: the system comprises a test object, a receiving end and a control processing end;
the test object comprises an electromagnetic generating device; the receiving end comprises an electromagnetic field receiving probe and a three-dimensional scanning frame; the control processing end comprises a frequency spectrograph, a driver, a vector signal source, a data processor and a display control platform;
the electromagnetic generating device is connected with the vector signal source, the electromagnetic field receiving probe is installed on the three-dimensional scanning frame and connected with the frequency spectrograph, the three-dimensional scanning frame is connected with the driver, the vector signal source is connected with the power amplifier, the display control platform is respectively connected with the frequency spectrograph, the driver and the vector signal source, and the data processor is connected with the display control platform;
the display control platform downloads a modulation signal to the vector signal source and sends an output signal to the electromagnetic generating device through the vector signal source;
the display control platform controls the three-dimensional scanning frame to run along a set track through the driver, drives the electromagnetic field receiving probe fixedly connected to the three-dimensional scanning frame tray to receive electromagnetic waves generated by the electromagnetic generating device along the set track, stores field intensity values measured by the frequency spectrograph into a memory in the display control platform, and then draws stored data into a field distribution diagram in real time through the data processor.
When the test object is an antenna, the radiation characteristic of the antenna is utilized to convert the electric signal energy into electromagnetic wave energy in space, and the electromagnetic wave energy is directionally radiated to a certain direction to achieve specific electromagnetic activities, and different antenna forms and different regulation and control means can generate different radiation results at a far field; when the test object is a tested device with a radiation standard to be measured, the mode is passive electromagnetic radiation which does not pass through an antenna, the passive electromagnetic radiation is generated accidentally when the electronic device works, and when the electromagnetic radiation quantity is high, the passive electromagnetic radiation can become an interference source.
The distance between the test object and the receiving end changes with different test objects, and can be changed within the range of several centimeters to several meters.
In some optional embodiments, when the test object is an antenna, the test object further includes a power amplifier located between the electromagnetic generating device and the vector signal source, and the modulation signal set by the display and control platform is downloaded to the vector signal source, and the vector signal source connects the output signal to the electromagnetic generating device through the power amplifier.
The power amplifier has the characteristic of stable amplitude and phase, and is used for amplifying a low-power microwave signal output by the vector signal source (or the vector network analyzer) in proportion when a test object is an antenna so as to ensure that the electromagnetic field receiving probe can obtain larger input power at the same distance.
In some optional embodiments, the electromagnetic field receiving probe is an electric field probe, a magnetic field probe, or a test antenna for capturing different electromagnetic signals from the electromagnetic generating device.
The electromagnetic field receiving probe needs to be type-selected according to different application scenarios, generally needs to consider the sensitivity, resolution and frequency response characteristics of the probe, and should have good flatness to ensure that the electromagnetic field receiving probe can be coupled to clear signal characteristics.
In some optional embodiments, the three-dimensional gantry comprises: the electromagnetic field receiving probe comprises a movable transverse rod capable of moving up and down along a vertical rod, a transverse moving sliding block which is sleeved on the movable transverse rod in a sliding fit manner and can move left and right, a tray which is detachably arranged on the transverse moving sliding block and used for mounting an electromagnetic field receiving probe, a limiting stopper used for limiting the moving positions of the movable transverse rod, the transverse moving sliding block and a base, and a base capable of sliding on a guide rail.
The tray of the three-dimensional scanning frame is fixedly connected with the electromagnetic field receiving probe, the electromagnetic field receiving probe can be driven by three motors to run on a set three-dimensional track, and the stepping precision of the three-dimensional scanning frame in a space of one cubic meter reaches a millimeter level.
The three-dimensional trajectory needs to be set according to different test objects. If the test object is a chip or a circuit board, the test object can run on a space track of a plurality of millimeters around the circuit board model. If the test object is an antenna, the test object can run in a cubic track in a space parallel to the antenna opening surface.
The tray and the vertical rod are made of non-metal materials under normal conditions so as to reduce measurement errors caused by electromagnetic disturbance, and the limit stoppers are arranged at the end points of three operation dimensions so as to prevent the sliding block from moving out of an effective range and falling off.
The frequency spectrograph is used for measuring the amplitude of a field, has enough amplitude testing precision, sensitivity, dynamic range and resolution bandwidth, has storage and operation functions, and can be connected with a display control platform through a standard interface for remote control.
The driver can download a program, can control the three-dimensional scanning frame to work according to the space position of a programming point in a program file, accurately controls the position, the movement speed and the stay time of the three shafts, has a certain storage space, and can carry out serial port communication and internet access communication.
The operating speed is typically a fixed value. The stay time needs to be comprehensively set according to the characteristics of the test object radiating electromagnetic waves and the performance of the control processing end instrument, and is generally 3-5 seconds.
When the electromagnetic generating device is an antenna, the vector signal source is connected with a power amplifier in a test object, and when the radiation power is insufficient at a far field position, the power amplifier can be additionally arranged in the middle.
The display control platform is connected with the data processor, the frequency spectrograph, the driver and the vector signal source, serves as an information interaction center, and is used for displaying and controlling the setting parameters of the data processor, the frequency spectrograph, the driver and the vector signal source, and obtaining and displaying the field distribution image after data processing.
The data processor is connected with the display control platform and used for calling the amplitude measured by the frequency spectrograph in the database and converting the amplitude into a three-dimensional field intensity distribution graph through a related algorithm.
Three coordinate axes and field intensity values in the database can be extracted by using matlab, and then a three-dimensional mesh graph or a three-dimensional curved surface graph can be drawn by using mesh and plot basic commands.
According to another aspect of the present invention, there is provided a three-dimensional spatial electromagnetic field distribution testing method, including:
s1, selecting a position with a clean and undisturbed electromagnetic environment in a test field;
s2, selecting a proper electromagnetic field receiving probe, setting the movement speed of the three-dimensional scanning frame and the sampling time of each monitoring point, and calculating the required sampling point interval, wherein the sampling interval delta is less than lambda/2, and lambda is the wavelength of the electromagnetic wave in vacuum;
s3, setting the running track of the three-dimensional scanning frame in the three-dimensional space according to the test requirement of the field;
s4, starting the electromagnetic test object, and operating according to the given working condition;
s5, collecting the measured field distribution data and reserving the data in the memory of the display control platform in sequence;
and S6, extracting data, processing the data and generating a field distribution diagram.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
by adopting the scheme, the three-dimensional space electromagnetic field distribution measuring system and the testing method provided by the invention are effective and feasible, and the testing system with the characteristics of automation, high precision, real-time data processing and the like can be realized by selecting a proper electromagnetic field receiving probe and setting proper running parameters (including the track, the speed and the retention time of a receiving end three-dimensional scanning frame and the setting of the scanning time, the resolution bandwidth and the maximum holding track of a control processing end frequency spectrograph) only by combining with actual measurement requirements.
Drawings
FIG. 1 is a schematic diagram illustrating an electromagnetic field distribution measuring system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a system for measuring far-field distribution of electromagnetic waves according to an embodiment;
FIG. 3 is a diagram showing a moving trace in a three-dimensional space of a monitoring point for measuring the far-field distribution of electromagnetic waves;
FIG. 4 is a schematic view of a system for measuring near-field distribution of electromagnetic fields according to a second embodiment;
in the figure: the device comprises a 1-three-dimensional scanning frame, a 2-far field test antenna, a 3-control processing end, a 4-radiation antenna, a 5-near field test probe and a 6-near field object to be tested.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example one
For the structure of the three-dimensional electromagnetic field far-field distribution measuring system, as shown in fig. 1, the electromagnetic wave far-field distribution measuring system is as shown in fig. 2, in order to realize the three-dimensional far-field measurement, an electromagnetic wave test object is an array antenna 4, a receiving end controls the three-dimensional scanning frame 1 to run along a set track, meanwhile, the three-dimensional scanning frame 1 is fixedly connected with a far-field test antenna 2 which also receives electromagnetic waves along the set track, a field strength value measured by a frequency spectrograph is stored in a memory in a display control platform, and a data processor draws stored data into a field distribution diagram in real time. The three-dimensional space electromagnetic field distribution measuring system in the first embodiment mainly comprises a test object, a receiving end and a control processing end 3, wherein the test object comprises an array antenna 4 and a power amplifier; the receiving end comprises a far-field test antenna 2 and a three-dimensional scanning frame 1; the control processing terminal 3 comprises a frequency spectrograph, a driver, a vector signal source, a data processor and a display control platform.
The test object is an array antenna 4, the radiation characteristic of the array antenna is utilized to convert the electric signal energy into electromagnetic wave energy in space, and the electromagnetic wave energy is directionally radiated to a certain direction, so that the specific electromagnetic activity is achieved, different antenna forms and different regulating and controlling means can generate different radiation results at a far field, and according to the design of an antenna array surface or different regulating and controlling means, X-shaped wave beams or circular wave beams can be generated at the far field.
The power amplifier has the characteristics of stable amplitude and stable phase, can amplify a low-power microwave modulation signal output by the vector signal source in proportion, and can ensure that the far-field test antenna 2 can obtain larger input power at the same distance when the antenna transmits electromagnetic waves, so that the identification degree of the signal is improved.
When the electromagnetic wave receiving probe is a far-field test antenna, a monopole antenna can be selected, the opening surface of the receiving antenna is parallel to the opening surface of the transmitting antenna in the test process, and the polarization directions of the receiving antenna and the transmitting antenna are the same, so that the receiving antenna and the transmitting antenna can be coupled to clear signal characteristics.
Three-dimensional scanning frame tray fixedly connected with far field test antenna utilizes three motor to drive the electromagnetism probe and moves on predetermined three-dimensional orbit, and three-dimensional scanning frame step precision reaches the millimeter order of magnitude in the space of a cubic meter, and tray and montant part should constitute by non-metallic material under the normal conditions, and glass fiber reinforced plastics are selected for use here to reduce the measuring error that electromagnetic disturbance arouses, through set up the stopper in the extreme point department of three operation dimension, prevent that the slider from moving out of effective range and causing and drop.
The microwave input end of the frequency spectrograph is connected with a far-field test antenna for measuring the amplitude of a field, a monopole antenna is selected, the frequency spectrograph has enough amplitude test precision, sensitivity, dynamic range and resolution bandwidth, has storage and operation functions, can be connected with a display and control platform through a standard interface for remote control, responds to the measurement parameters set by the display and control platform, and sends the data obtained by testing to a memory in the display and control platform for storage.
The driver can download the program, can carry out work according to the space position control three-dimensional scanning frame of programming point in the program file, and accurate control triaxial position, velocity of motion and dwell time have certain memory space to can carry out serial communication and net gape communication. The example supports rich movement instructions such as file calling and the like, open user-defined instructions, PLT files and G code files imported by the display control platform, and controls the motor to step at any speed.
The display control platform is connected with the data processor, the frequency spectrograph, the driver and the vector signal source, serves as an information interaction center, and is used for displaying and controlling the setting parameters of each module and the field distribution image after data processing.
And the data processor is connected with the display control platform and used for calling the amplitude value measured by the frequency spectrograph in the database and converting the amplitude value into a three-dimensional field intensity distribution map through related algorithm software.
The three-dimensional space electromagnetic field testing method in the embodiment comprises the following steps:
s1: selecting a position with a clean and undisturbed electromagnetic environment in a test field;
the test environment usually carries out the measurement of antenna far field in the microwave darkroom, if the place distance is not enough can move to open field, need record far field test antenna department's electromagnetic environment before formal measurement, avoid causing measurement error because of surrounding environment influence.
S2, selecting a proper electromagnetic field receiving probe, setting the movement speed of the three-dimensional scanning frame and the sampling time of each monitoring point, and calculating the required sampling point interval;
the electromagnetic field receiving probe is a far field testing antenna, and the antenna coefficients of the electromagnetic waves with different frequencies are different and can be obtained by looking up a table. In practical situations, the movement speed is selected according to the wavelength of the electromagnetic wave emitted by the antenna, and if the wavelength is shorter, the movement speed is reduced. When the sampled signal is a pulse wave, the sampling time of each test point needs to be kept 3-5S to ensure that the maximum value of the pulse is obtained, and the sampling interval delta is less than lambda/2, wherein lambda is the wavelength of the electromagnetic wave in vacuum.
S3, designing the running track of the three-dimensional scanning frame in the three-dimensional space according to the test requirements of the field;
in this example, the far-field test trace is shown in fig. 3, and after the yoz plane is scanned by the measuring point, the yoz plane is scanned again after stepping by Δ along the x-axis, and then the scanning is finished until the x-axis specified coordinate is reached.
S4, starting the electromagnetic generating device to operate according to the given working condition;
the display control platform sets a required modulation signal and downloads the modulation signal to a vector signal source, and an output signal is connected to the array antenna through the power amplifier, so that the far-field test antenna can obtain larger input power at the same distance, and the identification degree of the signal is improved.
S5, collecting the measured field distribution data and reserving the data in the memory of the display control platform in sequence;
the selected memory is a hard disk, so that the capacity is large, and the data is stored more safely and reliably.
S6, extracting data by the data processor, processing the data and generating a field distribution diagram;
according to the points measured by the motion trail, a field distribution diagram is drawn, the diagram can be a three-dimensional diagram or a two-dimensional diagram, the magnitude of the field intensity value is represented by adopting a thermodynamic diagram, the shape and the magnitude of the main beam at different distances can be seen on a yoz plane, and the beam angle and the attenuation rule can be deduced on an xoz plane.
The embodiment is a far-field test system for wireless energy transmission, has the characteristics of high precision, real-time data processing and the like, and can meet the measurement requirement of a wireless energy transmission technology. If the distance between the antenna and the three-dimensional scanning frame is moved to the near-field distance, the test system can also test the near field.
Example two
For the three-dimensional space electromagnetic field near-field distribution measuring system, as shown in fig. 4, the near-field device under test 6 may be a printed circuit board or an antenna near-field area, and when the test object is a printed circuit board, the normal operation of the device may generate an electromagnetic field around the device. The electromagnetic field receiving probe is an electric field probe 5, the field intensity in the environment can be received by the dipole antenna generally, and the electromagnetic field receiving probe needs to be calibrated before use so as to ensure the accuracy and reliability of the measurement. During near-field scanning, the electric field probe is generally required to be close to a device to be detected, a design point moves in a three-dimensional space track, linear motion or circular arc motion can be carried out according to the shape characteristics of the device to be detected, the sampling interval delta is less than lambda/2, and lambda is the wavelength of a main interference frequency band of an electromagnetic field in vacuum. The field distribution image generated by data processing can be two-dimensional or three-dimensional, and the high-radiation area is displayed on the display and control platform at a glance.
By utilizing the three-dimensional space electromagnetic field near field measurement system and the test method, the display control platform is connected with the frequency spectrograph or the vector network analyzer, the scanning position of the electric field probe is automatically controlled at high precision, the system can be effectively applied to the electromagnetic compatibility design of a circuit, the position and the frequency band range of a stray source can be accurately positioned, and the test efficiency is improved.
The invention has the characteristics of automatic measurement, high precision, effective data storage and the like, can design the motion trail measured by the probe according to the test requirement, has the stepping precision reaching millimeter magnitude, and measures the three-dimensional space electromagnetic field distribution near the object to be measured when the object to be measured works or the space electromagnetic field distribution at the antenna radiation far field. Through the data processor, draw out three-dimensional space electromagnetic field distribution diagram, can promote the efficiency of space field measurement's test under the complicated scene test of fields such as wireless energy transmission, radar and electromagnetic compatibility to play an important role.
It should be noted that, according to the implementation requirement, each step/component described in the present application can be divided into more steps/components, and two or more steps/components or partial operations of the steps/components can be combined into new steps/components to achieve the purpose of the present invention.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A three-dimensional spatial electromagnetic field distribution measurement system, comprising: the system comprises a test object, a receiving end and a control processing end;
the test object comprises an electromagnetic generating device; the receiving end comprises an electromagnetic field receiving probe and a three-dimensional scanning frame; the control processing end comprises a frequency spectrograph, a driver, a vector signal source, a data processor and a display control platform;
the electromagnetic generating device is connected with the vector signal source, the electromagnetic field receiving probe is installed on the three-dimensional scanning frame and connected with the frequency spectrograph, the three-dimensional scanning frame is connected with the driver, the display control platform is respectively connected with the frequency spectrograph, the driver and the vector signal source, and the data processor is connected with the display control platform;
the display control platform downloads a modulation signal to the vector signal source and sends an output signal to the electromagnetic generating device through the vector signal source;
the display control platform controls the three-dimensional scanning frame to run along a set track through the driver, drives the electromagnetic field receiving probe fixedly connected to the three-dimensional scanning frame tray to receive electromagnetic waves generated by the electromagnetic generating device along the set track, stores field intensity values measured by the frequency spectrograph into a memory in the display control platform, and then draws stored data into a field distribution diagram in real time through the data processor.
2. The system of claim 1, wherein the test object can be an antenna or a device under test, when the test object is an antenna, the radiation characteristic of the antenna is utilized to convert the electrical signal energy into electromagnetic wave energy in space, and the electromagnetic wave energy is directionally radiated to a certain direction to achieve specific electromagnetic activities, and different antenna forms and different regulating and controlling means generate different radiation results in a far field; when the test object is a tested device with a radiation standard to be measured, the mode is passive electromagnetic radiation which does not pass through an antenna, the passive electromagnetic radiation is generated accidentally when the electronic device works, and when the electromagnetic radiation quantity is high, the passive electromagnetic radiation can become an interference source.
3. The system according to claim 2, wherein when the test object is an antenna, the test object further comprises a power amplifier located between the electromagnetic generating device and the vector signal source, the modulated signal set by the display and control platform is downloaded to the vector signal source, and the output signal is connected to the electromagnetic generating device through the power amplifier via the vector signal source.
4. The system of claim 3, wherein the electromagnetic field receiving probe is an electric field probe, a magnetic field probe, or a test antenna for capturing different electromagnetic signals from the electromagnetic generating device.
5. The system of claim 4, wherein the three-dimensional gantry comprises: the electromagnetic field receiving probe comprises a movable transverse rod capable of moving up and down along a vertical rod, a transverse moving sliding block which is sleeved on the movable transverse rod in a sliding fit manner and can move left and right, a tray which is detachably arranged on the transverse moving sliding block and used for mounting an electromagnetic field receiving probe, a limiting stopper used for limiting the moving positions of the movable transverse rod, the transverse moving sliding block and a base, and a base capable of sliding on a guide rail.
6. The system of claim 5, wherein the three-dimensional gantry is stepped to a millimeter accuracy in a cubic meter of space.
7. The system of claim 6, wherein the driver is used for controlling the three-dimensional scanning frame to work, precisely controlling the three-axis directions, the movement speed and the stay time, having a certain storage space, and being capable of serial port communication and internet port communication.
8. A three-dimensional electromagnetic field distribution testing method based on the three-dimensional electromagnetic field distribution measuring system of any one of claims 1 to 7, comprising:
selecting a position with a clean and undisturbed electromagnetic environment in a test field;
selecting a proper electromagnetic field receiving probe, setting the movement speed of the three-dimensional scanning frame and the sampling time of each monitoring point, and calculating the required sampling point interval;
setting a running track of the three-dimensional scanning frame in a three-dimensional space according to the test requirement of a field;
starting an electromagnetic test object, and operating according to a given working condition;
collecting the measured field distribution data and sequentially storing the field distribution data in a memory of the display control platform;
and extracting data, processing the data and generating a field distribution diagram.
9. The method of claim 8, wherein the sample point interval Δ is: Δ < λ/2, λ being the wavelength of the electromagnetic wave in vacuum.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114049465A (en) * | 2021-11-19 | 2022-02-15 | 北京航空航天大学 | Electromagnetic wave dynamic three-dimensional display method suitable for complex curved surface |
| CN116303473A (en) * | 2023-05-11 | 2023-06-23 | 长鹰恒容电磁科技(成都)有限公司 | Database construction method, device, equipment and readable storage medium |
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| CN116303473B (en) * | 2023-05-11 | 2024-04-19 | 长鹰恒容电磁科技(成都)有限公司 | Database construction method, device, equipment and readable storage medium |
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