Three-dimensional space weak magnetic detection device and method and storage medium

Abstract

The embodiment of the invention provides a three-dimensional space weak magnetic detection device and method and a storage medium. The device comprises a frame body; a plurality of magnetic sensors are arranged in the detection frame body, the magnetic sensors are uniformly arranged on the surface of the detection frame body, the detection directions of the two magnetic sensors symmetrically arranged on the detection frame body are opposite, and the two magnetic sensors symmetrically arranged on the detection frame body are completely the same; a plurality of signal conditioning circuits, wherein the two magnetic sensors symmetrically arranged on the detection frame body are connected to the same signal conditioning circuit; the transmission assembly is arranged on the frame body, and the detection frame body is connected with the frame body through the transmission assembly; the transmission assembly and the output end of each signal conditioning circuit are electrically connected with the control assembly. According to the device provided by the embodiment of the invention, magnetic field intensity measurement in a three-dimensional space can be realized, and the sensitivity and the accuracy of magnetic field measurement are effectively improved.

Description

Technical Field

[0001] This application relates to, but is not limited to, the field of magnetic field detection technology, and particularly relates to a three-dimensional space weak magnetic field detection device, method, and storage medium. Background Art

[0002] A magnetic field measuring instrument using the Hall sensor principle is an advanced magnetic field measuring device. Its principle is based on the Hall effect, which has become the core theoretical basis of such instruments since its discovery in 1879. When a current is passed through the Hall probe of the instrument, when an external magnetic field acts on the probe perpendicular to the current direction, the carriers in the probe are deflected under the action of the Lorentz force, and a potential difference, that is, the Hall voltage, is formed on both sides of the probe. This voltage is proportional to the magnetic field strength. By measuring the Hall voltage and based on the known current magnitude, probe parameters, etc., the magnetic field strength can be calculated.

[0003] In a magnetic measurement instrument with a single Hall element, the instrument can only measure the magnetic field in a specific direction. For the case where the magnetic field direction is not completely consistent with the probe measurement direction, a large error will occur. Because the Hall effect is based on the principle that a Hall voltage is generated when the magnetic field is perpendicular to the current direction. When the magnetic field direction has a certain inclination, the actually measured magnetic field strength is only the component of the magnetic field in the probe measurement direction, rather than the true magnetic field strength. Summary of the Invention

[0004] The following is an overview of the subject matter described in detail in this article. This overview is not intended to limit the scope of protection of the claims.

[0005] Embodiments of this application provide a three-dimensional space weak magnetic field detection device, method, and storage medium, which can achieve magnetic field strength measurement in three-dimensional space and effectively improve the sensitivity and accuracy of magnetic field measurement.

[0006] To achieve the above object, a three-dimensional space weak magnetic field detection device according to a first aspect of an embodiment of the present application includes: a frame body; a detection frame body, in which a plurality of magnetic sensors are arranged. The magnetic sensors are evenly arranged on the surface of the detection frame body. The detection directions of two magnetic sensors symmetrically arranged on the detection frame body are opposite, and the two magnetic sensors symmetrically arranged on the detection frame body are exactly the same. Herein, symmetric arrangement means that the connection line of the two magnetic sensors passes through the center of the detection frame body, and the detection directions of the two magnetic sensors are collinear with the connection line of the two magnetic sensors; a plurality of signal conditioning circuits, two magnetic sensors symmetrically arranged on the detection frame body are connected to the same signal conditioning circuit, and the signal conditioning circuit is used to adjust and process the difference between the magnetic induction signals generated by the two connected magnetic sensors; a transmission component, arranged on the frame body, the detection frame body is connected to the frame body through the transmission component, and the transmission component is used to drive the detection frame body to move in three-dimensional space; a control component, the output ends of the transmission component and each signal conditioning circuit are respectively electrically connected to the control component, and the control component determines the magnetic field intensity at the corresponding position in three-dimensional space according to the magnetic output signals of each signal conditioning circuit.

[0007] In some embodiments, the signal conditioning circuit includes an input power supply, a variable resistor, a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, and a differential amplifier; the excitation input end of one of the magnetic sensors is connected to the input power supply through the variable resistor and the first resistor, and its magnetic induction output end is connected to the positive input end of the differential amplifier through the second resistor; the excitation input end of the other magnetic sensor is connected to the input power supply through the variable resistor and the first resistor, and its magnetic induction output end is connected to the negative input end of the differential amplifier through the third resistor, and the resistance value of the second resistor is equal to the resistance value of the third resistor; the negative input end of the differential amplifier is connected to the output end of the differential amplifier through the fourth resistor, and the output end of the differential amplifier is electrically connected to the control component through the fifth resistor. The control component acquires the output signal of the signal conditioning circuit and the voltage across the first resistor, and determines the initial magnetic intensity in the detection direction of the magnetic sensor at the corresponding position in three-dimensional space according to the output signal of the signal conditioning circuit and the voltage across the first resistor.

[0008] In some embodiments, the three-dimensional space weak magnetic field detection device further includes a temperature sensor, the temperature sensor is arranged on the detection frame body, the temperature sensor is electrically connected to the control component, and the control component acquires the ambient temperature of the detection frame body through the temperature sensor and adjusts the magnetic induction intensity according to the ambient temperature.

[0009] In some embodiments, the frame body includes a first transmission rod, a second transmission rod, and a first fixing rod. The transmission assembly includes a suspension frame, a first transmission motor, a second transmission motor, and a plurality of transmission belts. The transmission belts are respectively arranged on the first transmission rod and the second transmission rod. The first transmission rod is fixedly arranged on the first fixing rod. The second transmission rod abuts against the transmission belt on the first transmission rod. The first transmission motor is arranged on the first transmission rod. The first transmission motor is used to control the rotation of the transmission belt on the first transmission rod to control the second transmission rod to move along the first transmission rod. The suspension frame abuts against the transmission belt on the second transmission rod. The second transmission motor is arranged on the second transmission rod. The second transmission motor is used to control the rotation of the transmission belt on the second transmission rod to control the suspension frame to move along the second transmission rod. The first transmission motor and the second transmission motor are respectively electrically connected to the control assembly. The suspension frame is used to install the detection frame body.

[0010] In some embodiments, the frame body further includes a second fixing rod, a third transmission rod, and a bearing plate. The second fixing rod is fixedly connected to the first fixing frame. The third transmission rod is fixedly connected to the second fixing rod. The transmission belt is arranged on the third transmission rod. The bottom of the bearing plate abuts against the transmission belt on the third transmission rod. The transmission assembly further includes a third transmission motor. The third transmission motor is arranged on the third transmission rod. The third transmission motor is used to control the transmission of the transmission belt on the third transmission rod to control the bearing plate to move along the third transmission rod. The third transmission motor is electrically connected to the control assembly. The bearing plate is used to place the magnetic generator.

[0011] In some embodiments, the bearing plate includes an upper plate body and a lower plate body. The bottom of the lower plate body abuts against the transmission belt on the third transmission rod. The upper plate body is used to place the magnetic generator. The upper plate body and the lower plate body are connected by a guiding screw rod. A buffer spring is sleeved on the guiding screw rod. One end of the guiding screw rod is provided with a rotating handle. The rotating handle is used to control the distance between the upper plate body and the lower plate body.

[0012] In addition, to achieve the above object, a three-dimensional space weak magnetic field detection method is proposed in the second aspect of the present application. The method is applied to the three-dimensional space weak magnetic field detection device described in the first aspect, and the method includes: obtaining the magnetic output signals output by each signal conditioning circuit; based on the magnetic output signals of each signal conditioning circuit and the specific parameters of the signal conditioning circuit and the corresponding magnetic inductor, respectively determining the initial magnetic intensity in the detection direction where the magnetic inductor is located; and determining the magnetic field intensity at the position where the detection frame is located according to the initial magnetic intensities in each detection direction.

[0013] In some embodiments, the signal conditioning circuit includes an input power supply, a variable resistor, a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, and a differential amplifier. The formula for determining the initial magnetic intensity is: ; where, for the current signal conditioning circuit and the two connected magnetic inductors connected thereto, B represents the initial magnetic intensity in the detection direction of the magnetic inductor, represents the output voltage of the signal conditioning circuit, represents the voltage across the first resistor, represents the resistance value of the first resistor, represents the Hall sensitivity of the magnetic inductor.

[0014] In some embodiments, the three-dimensional space weak magnetic field detection device further includes a temperature sensor. Before respectively determining the initial magnetic intensity in the detection direction where the magnetic inductor is located based on the magnetic output signals of each signal conditioning circuit and the specific parameters of the signal conditioning circuit and the corresponding magnetic inductor, it further includes: obtaining the ambient temperature of the three-dimensional space weak magnetic field detection device; adjusting the Hall sensitivity of the magnetic inductor based on the ambient temperature. The formula for adjusting the Hall sensitivity is: ; where, represents the Hall sensitivity of the magnetic inductor, represents the thickness of the magnetic inductor, represents the reference Hall coefficient of the magnetic inductor, represents the actual Hall coefficient of the magnetic inductor under the influence of the ambient temperature, represents the reference temperature corresponding to the reference Hall coefficient, represents the ambient temperature, represents a preset temperature adjustment coefficient.

[0015] To achieve the above object, a third aspect of the embodiments of the present application provides a storage medium, which is a computer-readable storage medium. The storage medium stores a computer program, and when the computer program is executed by a processor, the three-dimensional space weak magnetic detection method described in the second aspect above is implemented.

[0016] According to the solution provided by the embodiments of the present application, a detection frame is placed in the three-dimensional space where the frame body is located. A plurality of magnetic sensors are evenly arranged in the detection frame, and the magnetic sensors are symmetrically arranged in pairs on the surface of the detection frame. Since the two symmetrically arranged magnetic sensors are exactly the same, based on the respective detection directions of the magnetic sensors, the magnetic field intensity values measured by the two magnetic sensors are equal and opposite in direction. At this time, the magnetic induction module composed of the two symmetrically arranged magnetic sensors can detect the magnetic field intensity in one direction in the three-dimensional space. By integrating the magnetic field intensities measured by the magnetic induction groups in each direction, the true magnetic field intensity in the three-dimensional space can be obtained; moreover, when the detection frame is displaced or the magnetic field intensity at the position where the detection frame is located changes, the magnetic induction signals output by the two magnetic sensors change equally and in opposite directions. At this time, the difference between the two magnetic induction signals will increase or decrease twice the value of the magnetic field intensity change in the same direction; the above two magnetic sensors are connected to the same signal conditioning circuit. When the signal conditioning circuit generates noise, the magnetic induction signals output by the two magnetic sensors change equally and in the same direction. At this time, the difference between the two magnetic induction signals will eliminate the value of the noise signal. Therefore, by calculating the difference between the magnetic induction signals output by the two magnetic sensors through the signal conditioning circuit and performing adjustment processing, when the position of the detection frame changes or the magnetic field intensity in the environment changes, the signal conditioning circuit can amplify the change degree of the magnetic induction signal, making it easier for the control component to identify and calculate the magnetic induction signal. And when the induction circuit composed of the magnetic sensor and the signal conditioning circuit generates noise, the signal conditioning circuit can effectively eliminate the noise signal, thereby reducing the influence of the noise signal on the magnetic field intensity recognition result and improving the sensitivity and accuracy of weak magnetic detection.

[0017] Other features and advantages of the present application will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present application. The objectives and other advantages of the present application can be achieved and obtained through the structures specifically pointed out in the specification, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings are used to provide a further understanding of the technical solutions of the present application, and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solutions of the present application, and do not constitute a limitation to the technical solutions of the present application.

[0019] Figure 1An optional system block diagram of the three-dimensional space weak magnetic detection device provided by the embodiment of the present application; Figure 2 An optional structural schematic diagram of the three-dimensional space weak magnetic detection device provided by the embodiment of the present application; Figure 3 Provided by the embodiment of the present application Figure 2 The specific structural schematic diagram of position A in Figure 4 Provided by the embodiment of the present application Figure 2 The specific structural schematic diagram of position B in Figure 5 An optional structural schematic diagram of the detection frame body provided by the embodiment of the present application; Figure 6 An optional circuit schematic diagram of the signal conditioning circuit provided by the embodiment of the present application; Figure 7 An optional structural schematic diagram of the three-dimensional space weak magnetic detection device provided by the embodiment of the present application; Figure 8 Provided by the embodiment of the present application Figure 7 The specific structural schematic diagram of position C in Figure 9 An optional structural schematic diagram of the carrier plate provided by the embodiment of the present application; Figure 10 An optional flow schematic diagram of the three-dimensional space weak magnetic detection method provided by the embodiment of the present application; Figure 11 An optional flow schematic diagram of adjusting the Hall sensitivity by the ambient temperature provided by the embodiment of the present application; Figure 12 An optional structural schematic diagram of the three-dimensional space weak magnetic signal detection and control device provided by the embodiment of the present application; Figure 13 An optional hardware structural schematic diagram of the electronic device provided by the embodiment of the present application. Detailed implementation manners

[0020] This part will describe in detail the specific embodiments of the present application. The preferred embodiments of the present application are shown in the drawings. The function of the drawings is to supplement the description of the text part of the specification, enabling people to intuitively and vividly understand each technical feature and the overall technical solution of the present application, but it should not be construed as a limitation on the protection scope of the present application.

[0021] In the description of the present application, it should be understood that for the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc., it is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application.

[0022] In the description of the present application, the meaning of several is one or more, the meaning of multiple is more than two. Greater than, less than, exceeding, etc. are understood not to include the present number, and above, below, within, etc. are understood to include the present number. If the first and second are described, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0023] In the description of the present application, unless otherwise clearly defined, words such as setting, installing, and electrical connection should be understood in a broad sense. Those skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0024] Currently, in a magnetic measurement instrument with a single Hall element, the instrument can only measure the magnetic field in a specific direction. For the case where the magnetic field direction is not completely consistent with the probe measurement direction, a large error will occur. Because the Hall effect is based on the principle that a Hall voltage is generated when the magnetic field is perpendicular to the current direction. When the magnetic field direction has a certain inclination, the actually measured magnetic field strength is only the component of the magnetic field in the probe measurement direction, rather than the true magnetic field strength.

[0025] Regarding the problem that the actually measured magnetic field intensity is only the component of the magnetic field in the probe measurement direction rather than the true magnetic field intensity, the present application provides a three-dimensional space weak magnetic detection device, method, and storage medium. The three-dimensional space weak magnetic detection device includes: a frame body; a detection frame body, in which a plurality of magnetic sensors are arranged. The magnetic sensors are evenly arranged on the surface of the detection frame body. The detection directions of two symmetrically arranged magnetic sensors on the detection frame body are opposite, and the two symmetrically arranged magnetic sensors on the detection frame body are exactly the same; a plurality of signal conditioning circuits, two symmetrically arranged magnetic sensors on the detection frame body are connected to the same signal conditioning circuit. The signal conditioning circuit is used to adjust and process the difference between the magnetic induction signals generated by the two connected magnetic sensors; a transmission component, arranged on the frame body, the detection frame body is connected to the frame body through the transmission component, and the transmission component is used to drive the detection frame body to move in three-dimensional space; a control component, the output ends of the transmission component and each signal conditioning circuit are respectively electrically connected to the control component, and the control component determines the magnetic field intensity at the corresponding position in three-dimensional space according to the magnetic output signals of each signal conditioning circuit; According to the solution provided by the embodiments of the present application, the magnetic field intensity measurement in three-dimensional space can be realized, and the sensitivity and accuracy of magnetic field measurement can be effectively improved.

[0026] The three-dimensional space weak magnetic detection device, method, and storage medium provided by the embodiments of the present application are specifically described through the following embodiments. First, the three-dimensional space weak magnetic detection device in the embodiments of the present application is described.

[0027] The following further elaborates on the embodiments of the present application in conjunction with the accompanying drawings.

[0028] Refer to Figures 1 to 5 , an embodiment of the present application provides a three-dimensional space weak magnetic detection device, including: A frame body; A detection frame body 200, in which a plurality of magnetic sensors 201 are arranged. The magnetic sensors 201 are evenly arranged on the surface of the detection frame body 200. The detection directions of two symmetrically arranged magnetic sensors 201 on the detection frame body 200 are opposite, and the two symmetrically arranged magnetic sensors 201 on the detection frame body 200 are exactly the same. Among them, symmetric arrangement means that the connection line of the two magnetic sensors 201 passes through the center of the detection frame body 200, and the detection directions of the two magnetic sensors 201 are collinear with the connection line of the two magnetic sensors 201; A plurality of signal conditioning circuits 300, two symmetrically arranged magnetic sensors 201 on the detection frame body 200 are connected to the same signal conditioning circuit 300. The signal conditioning circuit 300 is used to adjust and process the difference between the magnetic induction signals generated by the two connected magnetic sensors 201; The transmission component 400 is arranged on the frame body. The detection frame body 200 is connected to the frame body through the transmission component 400. The transmission component 400 is used to drive the detection frame body 200 to move in a three-dimensional space. The control component 500. The output ends of the transmission component 400 and each signal conditioning circuit 300 are electrically connected to the control component 500 respectively. The control component 500 determines the magnetic field strength at the corresponding position in the three-dimensional space according to the magnetic output signals of each signal conditioning circuit 300.

[0029] It can be understood that the detection frame body 200 is placed in the three-dimensional space where the frame body is located. A plurality of magnetic sensors 201 are evenly arranged in the detection frame body 200. The magnetic sensors 201 are symmetrically arranged in pairs on the surface of the detection frame body 200. Since the two symmetrically arranged magnetic sensors 201 are exactly the same, based on the detection directions of the magnetic sensors 201 respectively, the magnetic field strength values measured by the two magnetic sensors 201 are equal and opposite in direction. Assuming that the magnetic induction signal output by one of the magnetic sensors 201 is B, then the magnetic induction signal output by the other magnetic sensor 201 is -B; and when the detection frame body 200 is displaced, or the magnetic field strength at the position where the detection frame body 200 is located changes, the magnetic induction signals output by the two magnetic sensors 201 change equally and in opposite directions. Assuming that the magnetic induction signal output by one of the magnetic sensors 201 is B + a, then the magnetic induction signal output by the other magnetic sensor 201 is -B - a; the above two magnetic sensors 201 are connected to the same signal conditioning circuit 300. When the signal conditioning circuit 300 generates noise, the magnetic induction signals output by the two magnetic sensors 201 change equally and in the same direction. Assuming that the signal conditioning circuit 300 generates a noise signal c, the magnetic induction signal output by one of the magnetic sensors 201 is B + c, and the magnetic induction signal output by the other magnetic sensor 201 is -B + c. Therefore, by calculating the difference between the magnetic induction signals output by the two magnetic sensors 201 through the signal conditioning circuit 300 and performing adjustment processing, when the position of the detection frame body 200 changes, or the magnetic field strength in the environment changes, the signal conditioning circuit 300 can amplify the change degree of the magnetic induction signal, so that the control component 500 can more easily identify and calculate the magnetic induction signal. And when the induction circuit composed of the magnetic sensor 201 and the signal conditioning circuit 300 generates noise, the signal conditioning circuit 300 can effectively eliminate the noise signal, thereby reducing the influence of the noise signal on the magnetic field strength recognition result and improving the sensitivity and accuracy of weak magnetic detection.

[0030] Since the two magnetic sensors 201 with symmetric settings are exactly the same, when the magnetic induction signal output by one magnetic sensor 201 is B, the magnetic induction signal output by the other magnetic sensor 201 is -B. When the magnetic field strength changes, the magnetic induction signal output by one magnetic sensor 201 becomes B + a, and the magnetic induction signal output by the other magnetic sensor 201 becomes -B - a. At this time, the difference between the magnetic induction signals of the two magnetic sensors 201 is 2B + 2a. When the magnetic sensor 201 and the signal conditioning circuit 300 generate noise c, one magnetic induction signal becomes B + c, and the signal output by the other magnetic induction becomes -B + c. At this time, the difference between the magnetic induction signals of the two magnetic sensors 201 is 2B.

[0031] The detection directions of the two magnetic sensors 201 symmetrically arranged on the surface of the detection frame 200 can simultaneously face the center of the detection frame 200 or simultaneously face away from the center of the detection frame 200. The two magnetic sensors 201 symmetrically arranged on the surface of the detection frame 200 being exactly the same means the Hall coefficient, Hall sensitivity, thickness, input / output resistance, offset voltage, and temperature adjustment coefficient between the Hall sensitivity and the ambient temperature of the two magnetic sensors 201.

[0032] Refer to Figure 5 As shown, the detection frame 200 can be a cube. Six magnetic sensors 201 are arranged inside the detection frame 200, that is, three magnetic induction groups. The magnetic sensors 201 are respectively installed at the midpoints of the six faces of the detection frame 200. The three magnetic induction groups respectively include HXA and HXB in the x-axis direction, HYA and HYB in the y-axis direction, and HZA and HZB in the z-axis direction.

[0033] The detection frame 200 can also be a sphere. Taking the center of the sphere as the origin, a three-dimensional coordinate system is drawn. The magnetic sensors 201 are respectively arranged at the six points where the three-dimensional coordinate axes intersect the spherical surface; among the six magnetic sensors 201, the magnetic sensors 201 that are pairwise symmetric and have opposite detection directions form magnetic induction combinations. The three magnetic induction combinations respectively detect the components of the magnetic field strength in three mutually perpendicular directions in three-dimensional space. The control component 500 calculates the magnetic field strength at the position where the detection frame 200 is located according to the parallelogram rule based on the three components.

[0034] In addition, refer to Figure 6As shown, in some embodiments of the present application, the signal conditioning circuit 300 includes an input power supply VCC, a variable resistor R6, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, and a differential amplifier 301. The excitation input terminal of one magnetic inductor 201 is connected to the input power supply VCC through the variable resistor R6 and the first resistor R1, and its magnetic induction output terminal is connected to the positive input terminal of the differential amplifier 301 through the second resistor R2. The excitation input terminal of the other magnetic inductor 201 is connected to the input power supply VCC through the variable resistor R6 and the first resistor R1, and its magnetic induction output terminal is connected to the negative input terminal of the differential amplifier 301 through the third resistor R3. The resistance value of the second resistor R2 is equal to the resistance value of the third resistor R3. The negative input terminal of the differential amplifier 301 is connected to the output terminal of the differential amplifier 301 through the fourth resistor R4. The output terminal of the differential amplifier 301 is electrically connected to the control component 500 through the fifth resistor R5. The control component 500 obtains the output signal of the signal conditioning circuit 300 and the voltage across the first resistor R1, and determines the initial magnetic intensity in the detected direction of the magnetic inductor 201 at the corresponding position in the three-dimensional space according to the output signal of the signal conditioning circuit 300 and the voltage across the first resistor R1.

[0035] In this embodiment, taking the magnetic inductor 201 as a Hall element and the magnetic induction signal output by the magnetic inductor 201 as the Hall output voltage as an example, the excitation input terminal of the Hall element is connected to the input power supply through the variable resistor R6 and the first resistor R1, and the excitation output terminal is grounded. The magnetic induction output terminal of one Hall element is connected to the positive input terminal of the differential amplification circuit through the second resistor R2, and the magnetic induction output terminal of the other Hall element is connected to the negative input terminal of the differential amplification circuit through the third resistor R3.

[0036] Two mutually symmetric Hall elements output Hall output voltages that are equal in magnitude and opposite in direction based on the magnetic field environment they are in. The Hall output voltages output by the two magnetic inductors 201 are equivalent to differential-mode signals, while the offset voltage of the magnetic inductor 201 and the noise voltage generated by the magnetic inductor 201 or the signal adjustment circuit have the same direction and the same magnitude of influence on the Hall output voltage. Therefore, the noise voltage belongs to the common-mode signal. The differential amplifier 301 can amplify the differential-mode signal while reducing the influence of the common-mode signal, thereby improving the recognition of the magnetic induction signal and reducing the interference of the noise signal.

[0037] Figure 6In it, the second resistor R2 and the third resistor R3 are used to prevent the output voltage of the magnetic inductor 201 from being too large and damaging the differential amplifier 301, the fifth resistor R5 is used to prevent the output voltage of the differential amplifier 301 from being too large and damaging the control component 500, and the fourth resistor R4 is used to connect the negative input terminal and the output terminal of the differential amplifier 301, which helps to reduce the common-mode gain between the two input terminals, thereby improving the ability of the differential amplifier 301 to suppress common-mode signals, reducing the influence of common-mode noise in the circuit, and improving the signal-to-noise ratio of the circuit. Assuming that the magnetic induction signals of the two magnetic inductors 201 are U1 and U2 respectively, the output voltage after differential amplification is: ; Among them, represents the resistance value of the fourth resistor R4, represents the resistance values of the second resistor R2 and the third resistor R3, represents the output voltage of the differential amplifier 301.

[0038] The two magnetic inductors 201 and the first resistor R1 are in the same loop. The current flowing through the first resistor R1 is twice the drive current of the two magnetic inductors 201. When the internal resistance of the magnetic inductor 201 changes due to the magnetoresistance effect and temperature changes, the drive current of the two magnetic inductors 201 changes, and the current flowing through the first resistor R1 also changes accordingly. Moreover, the magnetic induction signal output by the magnetic inductor 201 and the voltage across the first resistor R1 are both proportional to the drive current. Assuming that the drive current flowing through the two magnetic inductors 201 is I, the voltage across both sides of the first resistor R1 is , and the output voltage of the differential amplifier circuit satisfies . Therefore, by alternately outputting the voltage and the voltage across both sides of the first electron , the initial magnetic intensity in the i-th direction at the current position can be obtained: .

[0039] After calculating the initial magnetic intensities , and in the three directions, since the magnetic induction intensity is a vector, according to the parallelogram rule, the magnetic field intensity at this position is , and 's vector sum, and its magnitude is , and the direction is , as well as , represents the angle between the magnetic field intensity B and the x-axis, represents the angle between the magnetic field intensity B and the y-axis, represents the angle between the magnetic field strength B and the z-axis.

[0040] In addition, in some embodiments of the present application, the three-dimensional weak magnetic detection device further includes a temperature sensor 600. The temperature sensor 600 is disposed on the detection frame 200. The temperature sensor 600 is electrically connected to the control component 500. The control component 500 obtains the ambient temperature of the detection frame 200 through the temperature sensor 600 and adjusts the magnetic induction intensity according to the ambient temperature.

[0041] The control component 500 obtains the ambient temperature where the magnetic inductor 201 is located through the temperature sensor 600, and there is a linear relationship between the Hall coefficient of the magnetic inductor 201 and the ambient temperature ; where represents the reference Hall coefficient of the magnetic inductor 201, represents the reference temperature corresponding to the reference Hall coefficient, T represents the ambient temperature, represents the actual Hall coefficient at the ambient temperature, represents the preset temperature adjustment coefficient.

[0042] After adjusting the Hall coefficient through the ambient temperature, there is also a linear relationship between the Hall sensitivity and the Hall coefficient. Specifically, , where represents the thickness of the magnetic inductor 201. Substituting the adjusted Hall sensitivity into the calculation formula of the initial magnetic intensity, the initial magnetic intensity affected by the current ambient temperature can be calculated.

[0043] In addition, referring to Figures 2 to 4 , and Figure 7 and Figure 8 shown, in some embodiments of the present application, the frame includes a first transmission rod 110, a second transmission rod 120, and a first fixing rod 140. The transmission component 400 includes a suspension frame 450, a first transmission motor 410, a second transmission motor 420, and a plurality of transmission belts 440. The transmission belts 440 are respectively disposed on the first transmission rod 110 and the second transmission rod 120; The first transmission rod 110 is fixedly disposed on the first fixing rod 140. The second transmission rod 120 abuts against the transmission belt 440 on the first transmission rod 110. The first transmission motor 410 is disposed on the first transmission rod 110. The first transmission motor 410 is used to control the rotation of the transmission belt 440 on the first transmission rod 110 to control the movement of the second transmission rod 120 along the first transmission rod 110. The suspension frame 450 abuts against the transmission belt 440 on the second transmission rod 120. The second transmission motor 420 is disposed on the second transmission rod 120. The second transmission motor 420 is used to control the rotation of the transmission belt 440 on the second transmission rod 120 to control the movement of the suspension frame 450 along the second transmission rod 120; The first drive motor 410 and the second drive motor 420 are respectively electrically connected to the control component 500, and the suspension frame 450 is used for installing the detection frame 200.

[0044] Specifically, the number of the first fixing rods 140 and the first drive rods 110 is two each. The first fixing rods 140 are placed parallel to each other on the plane of the three-dimensional space. The first drive rods 110 are respectively fixedly arranged on the two first fixing rods 140. The first drive rods 110 are perpendicular to the first fixing rods 140. A sliding groove is provided on the surface of the first drive rods 110, and the drive belt 440 is arranged in the sliding groove. The second drive rod 120 is arranged between the two first drive rods 110. First drive wheels 121 are provided at both ends of the second drive rod 120. The first drive wheels 121 at both ends of the second drive rod 120 are respectively in contact with the drive belts 440 on the two first drive rods 110. The first drive motor 410 is arranged on one of the first drive rods 110. When the first drive motor 410 controls the drive belt 440 on the first drive rod 110 to rotate, the drive belt 440 drives the first drive wheel 121 to slide, and the first drive wheel 121 at the other end on the second drive rod 120 also slides along the drive belt 440 on the other first drive rod 110, so as to realize the displacement of the second drive rod 120 on the vertical plane.

[0045] Similar to the first drive rod 110, a sliding groove is also provided on the surface of the second drive rod 120. Another drive belt 440 is arranged in the sliding groove of the second drive rod 120. The second drive motor 420 is arranged at one end of the second drive rod 120. The second drive motor 420 extends a second drive wheel 421. One end of the drive belt 440 on the second drive rod 120 is sleeved on the second drive wheel 421. The suspension wheel on the suspension frame 450 is in contact with the drive belt 440 on the second drive rod 120. When the second drive motor 420 controls the second drive wheel 421 to rotate, the drive belt 440 on the second drive rod 120 rotates accordingly, so as to drive the suspension frame 450 to slide along the second drive rod 120.

[0046] Refer to Figure 3 As shown, the suspension frame 450 includes a first suspension wheel 451 and a plurality of second suspension wheels 452. The second suspension wheels 452 are in contact with the drive belt 440 on the second drive rod 120. The first suspension wheel 451 suspends the detection frame 200 through a suspension belt 453. The drive belt 440 on the second drive rod 120 drives the second suspension wheels 452 to rotate, so as to control the suspension frame 450 to move along the second drive rod 120. By rotating the first suspension wheel 451, the suspension belt 453 drives the detection frame 200 to rotate, so that the attitude of the detection frame 200 can be adjusted.

[0047] In addition, the three-dimensional weak magnetic field detection device proposed in the embodiments of the present application can detect the three-dimensional magnetic field generated by a magnetic generator (not shown in the figure). The frame further includes a second fixing rod 150, a third transmission rod 130, and a bearing plate 160. The second fixing rod 150 is fixedly connected to the first fixing rod 140, and the second fixing rod 150 is perpendicular to the first fixing rod 140. The third transmission rod 130 is fixedly connected to the second fixing rod 150, and the third transmission rod 130 is perpendicular to the second fixing rod 150. A sliding groove is also provided on the third transmission rod 130, and a transmission belt 440 is also provided in the sliding groove. The bearing plate 160 is provided on the third transmission rod 130, and the bottom of the bearing plate 160 abuts against the transmission belt 440 of the third transmission rod 130. One end of the third transmission rod 130 is provided with a third transmission motor 430, and the third transmission motor 430 extends out a third transmission wheel 431. One end of the transmission belt 440 on the third transmission rod 130 is sleeved on the third transmission wheel 431. The third transmission motor 430 controls the rotation of the third transmission wheel 431, thereby controlling the rotation of the transmission belt 440 on the third transmission rod 130. The transmission belt 440 drives the bearing plate 160 to move along the third transmission rod 130, so that a relative displacement is generated between the magnetic generator in the bearing plate 160 and the detection frame 200.

[0048] The first transmission rod 110, the second transmission rod 120, and the third transmission rod 130 are perpendicular to each other pairwise. A three-dimensional coordinate system can be established with the frame. It can be set that the direction where the third transmission rod 130 is located is the x-axis, the direction where the second transmission rod 120 is located is the y-axis, and the direction where the first transmission rod 110 is located is the z-axis. Therefore, when the bearing plate 160 slides along the third transmission rod 130, the magnetic generator makes a displacement on the x-axis. When the suspension frame 450 slides along the second transmission rod 120, the detection frame 200 makes a displacement on the y-axis. When the second transmission rod 120 slides along the first transmission rod 110, the detection frame 200 makes a displacement on the z-axis. The frame builds a three-dimensional coordinate system between the detection frame 200 and the bearing plate 160. By respectively controlling the displacements of the detection frame 200 and the bearing plate 160, the detection frame 200 can detect the magnetic field intensity at any point on the three-dimensional magnetic field formed by the magnetic generator. At the same time, in the process of controlling the relative displacement between the detection frame 200 and the magnetic generator, if it is necessary to control the displacement of the detection frame 200, only the single second transmission rod 120 needs to be displaced by controlling the first transmission motor 410, or the suspension frame 450 needs to be displaced by controlling the second transmission motor 420. And if it is necessary to control the displacement of the magnetic generator, only the bearing plate 160 needs to be displaced by controlling the third transmission motor 430. It can be seen that the frame proposed in the embodiments of the present application does not require large-scale movement between each rod. In each adjustment movement, at most only one rod needs to be displaced, so that the operating power of the transmission motor can be reduced, and the stability of the frame can also be improved.

[0049] The first drive motor 410, the second drive motor 420, and the third drive motor 430 are respectively electrically connected to the control component 500. The control component 500 sends pulse signals to the first drive motor 410, the second drive motor 420, and the third drive motor 430 respectively according to the set displacement control program. The drive motor converts the pulse signal into an angular displacement through pulse signal conversion control technology. The frequency and number of the pulse signals determine the rotational speed and position of the drive motor. The control component 500 sends control signals to the first drive motor 410, the second drive motor 420, and the third drive motor 430 respectively, including the enable signal, pulse signal, and direction signal of the motor. The frequency of the pulse signal corresponds to the rotational speed of the drive motor, thereby controlling the displacement speed of the detection frame 200 and the magnetic generator. When the drive motor receives the pulse signal sent by the control component 500, it rotates a fixed angle (step angle) in the set direction, and its rotation runs step by step at a fixed angle.

[0050] In addition, referring to Figure 9 As shown, the carrier plate 160 includes an upper plate body 161 and a lower plate body 162. The bottom of the lower plate body 162 abuts against the transmission belt 440 on the third transmission rod 130. The upper plate body 161 is used to place the magnetic generator. The upper plate body 161 and the lower plate body 162 are connected by a guiding screw rod 163. A buffer spring 164 is sleeved on the guiding screw rod 163. One end of the guiding screw rod 163 is provided with a rotating handle 165, and the rotating handle 165 is used to control the distance between the upper plate body 161 and the lower plate body 162.

[0051] Specifically, a plurality of screw holes are provided on both the upper plate body 161 and the lower plate body 162. The head of the guiding screw rod 163 abuts against the upper part of the upper plate body 161. The guiding screw rod 163 sequentially passes through the screw holes of the upper plate body 161 and the lower plate body 162 and is screwed and fixed to the rotating handle 165 located below the lower plate body 162. A buffer spring 164 is also sleeved on the part of the guiding screw rod 163 between the upper plate body 161 and the lower plate body 162. When the rotating handle 165 and the guiding screw rod 163 are tightened, the upper plate body 161 and the lower plate body 162 compress the buffer spring 164. The buffer spring 164 applies its own elastic force to the upper plate body 161 and the lower plate body 162 respectively, increasing the contact pressure between the upper plate body 161 and the head of the guiding screw rod 163, and between the lower plate body 162 and the rotating handle 165, so as to make the guiding screw rod 163, the upper plate body 161, the lower plate body 162, and the rotating handle 165 more tightly connected, avoid loosening of the guiding screw rod 163, and improve the stability performance of the carrier plate 160; in addition, when the carrier plate 160 shakes, the buffer spring 164 can absorb the vibration of the upper plate body 161 and the lower plate body 162 through deformation, thereby reducing the risk of damage to the magnetic generator caused by shaking, that is, improving the stability of the carrier plate 160.

[0052] In addition, as shown in Figure 10 FIG. [FIGURE NUMBER], an embodiment of the present application further provides a three-dimensional space weak magnetic field detection method, which is applied to the three-dimensional space weak magnetic field detection device in the above embodiment. The three-dimensional space weak magnetic field detection method includes, but is not limited to, the following steps S1010 to S1030: Step S1010: Obtain the magnetic output signals output by each signal conditioning circuit; Step S1020: Based on the magnetic output signals of each signal conditioning circuit and the specific parameters of the signal conditioning circuit and the corresponding magnetic sensor, respectively determine the initial magnetic intensity in the detection direction where the magnetic sensor is located; Step S1030: Determine the magnetic field intensity at the position where the detection frame is located according to the initial magnetic intensities in each detection direction.

[0053] It can be understood that the above three-dimensional space weak magnetic field detection method and the three-dimensional space weak magnetic field detection device are based on the same inventive concept, and will not be elaborated herein.

[0054] In a specific embodiment, as shown in Figure 11 FIG. [FIGURE NUMBER], before calculating the initial magnetic intensity of the magnetic sensor in the detection direction, it is necessary to adjust the parameters of the magnetic sensor according to the ambient temperature. The specific steps include the following steps S1110 to S1120: Step S1110: Obtain the ambient temperature of the three-dimensional space weak magnetic field detection device; Step S1120: Adjust the Hall sensitivity of the magnetic sensor based on the ambient temperature. The adjustment formula for the Hall sensitivity is: ; where represents the Hall sensitivity of the magnetic sensor, represents the thickness of the magnetic sensor, represents the reference Hall coefficient of the magnetic sensor, represents the actual Hall coefficient of the magnetic sensor under the influence of the ambient temperature, represents the reference temperature corresponding to the reference Hall coefficient, represents the ambient temperature, represents the preset temperature adjustment coefficient.

[0055] After adjusting the Hall sensitivity according to the ambient temperature, calculate the initial magnetic intensity in the corresponding detection direction based on the circuit states of the respective circuit elements of the signal conditioning circuit: ; Please note that the [FIGURE NUMBER] in the translation needs to be replaced with the actual figure number in the original patent text.Among them, for the current signal conditioning circuit and two connected magnetic sensors connected thereto, B represents the initial magnetic intensity in the detection direction of the magnetic sensor, represents the output voltage of the signal conditioning circuit, represents the voltage across the first resistor, represents the resistance value of the first resistor, represents the Hall sensitivity of the magnetic sensor.

[0056] After successively passing through the symmetrically arranged magnetic sensor 201 and the corresponding signal conditioning circuit and calculating the initial magnetic intensity in each detection direction, since the magnetic induction intensity in three-dimensional space is a vector, therefore, by the parallelogram rule, the initial magnetic intensities in each detection direction are vectorially added to obtain the magnetic field intensity at the current position.

[0057] In addition, referring to Figure 12 shown, an embodiment of the present application also proposes a three-dimensional space weak magnetic signal detection control device 1200. The three-dimensional space weak magnetic signal determination device includes: An acquisition module 1201, configured to acquire the magnetic output signals output by each signal conditioning circuit; A first processing module 1202, configured to respectively determine the initial magnetic intensity in the detection direction where the magnetic sensor is located based on the magnetic output signals of each signal conditioning circuit and the specific parameters of the signal conditioning circuit and the corresponding magnetic sensor; A second processing module 1203, configured to determine the magnetic field intensity at the position where the detection frame is located based on the initial magnetic intensities in each detection direction.

[0058] It can be understood that the specific implementation manner of the three-dimensional space weak magnetic signal detection control device 1200 is basically the same as the specific embodiment of the above three-dimensional space weak magnetic detection method, and will not be elaborated herein.

[0059] In addition, referring to Figure 13 , Figure 13 schematically shows the hardware structure of an electronic device in another embodiment. The electronic device includes: A processor 1301, which can be implemented in a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, etc., and is used to execute related programs to implement the technical solutions provided by the embodiments of the present application; The memory 1302 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM), etc. The memory 1302 can store an operating system and other application programs. When implementing the technical solutions provided in the embodiments of this specification through software or firmware, the relevant program codes are stored in the memory 1302 and are called by the processor 1301 to execute the three-dimensional space weak magnetic field detection method of the embodiments of this application. For example, execute the Figure 10 method steps S1010 to S1030 described above, Figure 11 and the method steps S1110 to S1120 described above; The input / output interface 1303 is used to implement information input and output; The communication interface 1304 is used to implement communication and interaction between this device and other devices. It can communicate through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.); The bus 1305 transmits information between the various components of the device (such as the processor 1301, the memory 1302, the input / output interface 1303, and the communication interface 1304); Among them, the processor 1301, the memory 1302, the input / output interface 1303, and the communication interface 1304 are communicatively connected to each other inside the device through the bus 1305.

[0060] The embodiments of this application also provide a storage medium. The storage medium is a computer-readable storage medium for computer-readable storage. The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the above three-dimensional space weak magnetic field detection method. For example, execute the Figure 10 method steps S1010 to S1030 described above, Figure 11 and the method steps S1110 to S1120 described above.

[0061] As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory can include high-speed random access memory, and can also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory optionally includes a memory remotely located relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above networks include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0062] The embodiments described in the embodiments of the present application are to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. As those skilled in the art know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

[0063] Those skilled in the art can understand that Figures 10 to 11 the technical solutions shown in do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or combine certain steps, or different steps.

[0064] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0065] Those of ordinary skill in the art can understand that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, and their appropriate combinations.

[0066] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0067] It should be understood that in this application, "at least one (item)" means one or more, and "a plurality" means two or more. "And / or" is used to describe the relationship between associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist simultaneously. Here, A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single items or plural items. For example, at least one (item) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0068] In several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the above division of units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of devices or units can be in electrical, mechanical, or other forms.

[0069] The units described above as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0070] In addition, in each embodiment of this application, the functional units can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0071] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of various embodiments of this application. The aforementioned storage medium includes: various media that can store programs, such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0072] The preferred embodiments of the embodiments of this application have been described above with reference to the accompanying drawings. However, this does not limit the scope of the rights of the embodiments of this application. Any modification, equivalent replacement, and improvement made by those skilled in the art without departing from the scope and essence of the embodiments of this application shall fall within the scope of the rights of the embodiments of this application.

Claims

1. A three-dimensional space weak magnetic field detection device, characterized in that Including: Frame body; Detection frame body, in which a plurality of magnetic sensors are arranged. The magnetic sensors are evenly arranged on the surface of the detection frame body. The detection directions of two magnetic sensors symmetrically arranged on the detection frame body are opposite, and the two magnetic sensors symmetrically arranged on the detection frame body are exactly the same. Among them, symmetric arrangement means that the connection line between the two magnetic sensors passes through the center of the detection frame body, and the detection directions of the two magnetic sensors are collinear with the connection line between the two magnetic sensors; A plurality of signal conditioning circuits. Two magnetic sensors symmetrically arranged on the detection frame body are connected to the same signal conditioning circuit. The signal conditioning circuit is used for adjusting and processing the difference between the magnetic induction signals generated by the two magnetic sensors connected thereto; Transmission assembly, arranged on the frame body. The detection frame body is connected to the frame body through the transmission assembly. The transmission assembly is used for driving the detection frame body to move in three-dimensional space; Control assembly. The output ends of the transmission assembly and each signal conditioning circuit are respectively electrically connected to the control assembly. The control assembly determines the magnetic field intensity at the corresponding position in three-dimensional space according to the magnetic output signals of each signal conditioning circuit.

2. The three-dimensional space weak magnetic field detection device according to claim 1, wherein The signal conditioning circuit includes an input power supply, a variable resistor, a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor and a differential amplifier; The excitation input end of one of the magnetic sensors is connected to the input power supply through the variable resistor and the first resistor, and its magnetic induction output end is connected to the positive input end of the differential amplifier through the second resistor. The excitation input end of the other magnetic sensor is connected to the input power supply through the variable resistor and the first resistor, and its magnetic induction output end is connected to the negative input end of the differential amplifier through the third resistor. The resistance value of the second resistor is equal to the resistance value of the third resistor; The negative input end of the differential amplifier is connected to the output end of the differential amplifier through the fourth resistor. The output end of the differential amplifier is electrically connected to the control assembly through the fifth resistor. The control assembly acquires the output signal of the signal conditioning circuit and the voltage across the first resistor, and determines the initial magnetic intensity in the detection direction of the magnetic sensor at the corresponding position in three-dimensional space according to the output signal of the signal conditioning circuit and the voltage across the first resistor.

3. The three-dimensional space weak magnetic field detection device according to claim 1, wherein, The three-dimensional space weak magnetic detection device further includes a temperature sensor. The temperature sensor is arranged on the detection frame body. The temperature sensor is electrically connected to the control assembly. The control assembly acquires the ambient temperature of the detection frame body through the temperature sensor and adjusts the magnetic induction intensity according to the ambient temperature.

4. The three-dimensional space weak magnetic field detection device according to claim 1, characterized in that, The frame body includes a first transmission rod, a second transmission rod and a first fixing rod. The transmission assembly includes a suspension frame, a first transmission motor, a second transmission motor and a plurality of transmission belts. The transmission belts are respectively arranged on the first transmission rod and the second transmission rod; The first transmission rod is fixedly arranged on the first fixed rod. The second transmission rod abuts against the transmission belt on the first transmission rod. The first transmission motor is arranged on the first transmission rod and is used to control the rotation of the transmission belt on the first transmission rod so as to control the movement of the second transmission rod along the first transmission rod. The hanging frame abuts against the transmission belt on the second transmission rod. The second transmission motor is arranged on the second transmission rod and is used to control the rotation of the transmission belt on the second transmission rod so as to control the movement of the hanging frame along the second transmission rod; The first transmission motor and the second transmission motor are respectively electrically connected to the control component. The hanging frame is used for installing the detection frame body.

5. The three-dimensional space weak magnetic field detection device according to claim 4, characterized in that, The frame body further includes a second fixed rod, a third transmission rod and a bearing plate. The second fixed rod is fixedly connected to the first fixed frame. The third transmission rod is fixedly connected to the second fixed rod. A transmission belt is arranged on the third transmission rod. The bottom of the bearing plate abuts against the transmission belt on the third transmission rod. The transmission component further includes a third transmission motor. The third transmission motor is arranged on the third transmission rod and is used to control the transmission of the transmission belt on the third transmission rod so as to control the movement of the bearing plate along the third transmission rod. The third transmission motor is electrically connected to the control component. The bearing plate is used for placing the magnetic generator.

6. The three-dimensional space weak magnetic field detection device according to claim 5, characterized in that, The bearing plate includes an upper plate body and a lower plate body. The bottom of the lower plate body abuts against the transmission belt on the third transmission rod. The upper plate body is used for placing the magnetic generator. The upper plate body and the lower plate body are connected by a guiding screw rod. A buffer spring is sleeved on the guiding screw rod. One end of the guiding screw rod is provided with a rotating handle, and the rotating handle is used to control the distance between the upper plate body and the lower plate body.

7. A three-dimensional space weak magnetic field detection method, characterized in that The method is applied to the three-dimensional space weak magnetic detection device according to any one of claims 1 to 6, and the method includes: Obtain the magnetic output signals output by each signal conditioning circuit; Based on the magnetic output signals of each signal conditioning circuit and the specific parameters of the signal conditioning circuit and the corresponding magnetic inductor, respectively determine the initial magnetic intensity in the detection direction where the magnetic inductor is located; Determine the magnetic field intensity at the position where the detection frame body is located according to the initial magnetic intensities in each detection direction.

8. The three-dimensional space weak magnetic field detection method according to claim 7, characterized in that The signal conditioning circuit includes an input power supply, a variable resistor, a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor and a differential amplifier. The formula for determining the initial magnetic intensity is: ； Among them, for the current signal conditioning circuit and the two connected magnetic sensors connected thereto, B represents the initial magnetic intensity in the detection direction of the magnetic sensor, represents the output voltage of the signal conditioning circuit, represents the voltage across the first resistor, represents the resistance value of the first resistor, represents the Hall sensitivity of the magnetic sensor.

9. The three-dimensional space weak magnetic field detection method according to claim 7, characterized in that, The three-dimensional space weak magnetic detection device also includes a temperature sensor. Before respectively determining the initial magnetic intensity in the detection direction where the magnetic inductor is located based on the magnetic output signals of each signal conditioning circuit and the specific parameters of the signal conditioning circuit and the corresponding magnetic inductor, it further includes: Obtain the ambient temperature of the three-dimensional space weak magnetic detection device; Adjust the Hall sensitivity of the magnetic inductor based on the ambient temperature, and the adjustment formula for the Hall sensitivity is: ； Among them, represents the Hall sensitivity of the magnetic inductor, represents the thickness of the magnetic inductor, represents the reference Hall coefficient of the magnetic inductor, represents the actual Hall coefficient of the magnetic inductor under the influence of the ambient temperature, represents the reference temperature corresponding to the reference Hall coefficient, represents the ambient temperature, represents a preset temperature adjustment coefficient.

10. A storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the three-dimensional space weak magnetic field detection method according to any one of claims 7 to 9.

Images