Rotary scanning type electromagnetic field measuring device and measuring method

Abstract

The invention provides a rotary scanning type electromagnetic field measuring device and measuring method, and relates to the technical field of electromagnetic field measurement, and the device mainly comprises a measuring table, a lifting mechanism, a mobile positioning mechanism, a scanning mechanism and a processing unit. The lifting mechanism lifts to-be-detected equipment conveyed by an external conveyor belt to a detection position on the measuring table, the mobile positioning mechanism is used for driving the scanning mechanism to move around the to-be-detected equipment to cover all detection surfaces of the to-be-detected equipment, and the scanning mechanism obtains spatial information of the to-be-detected equipment and electromagnetic field characteristics of the to-be-detected equipment in sequence by scanning the to-be-detected equipment. The processing unit controls the movement of the mobile positioning mechanism and the measurement process of the scanning mechanism according to the scanning result of the scanning mechanism. The spatial information of the to-be-measured equipment is scanned, and the electromagnetic field characteristics of the to-be-measured equipment are accurately measured by using the five-degree-of-freedom movement of the mobile positioning mechanism and the telescopic scanning mechanism, so that the problems of low measurement accuracy and low coverage of the existing electromagnetic field measurement device are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of electromagnetic field measurement, and in particular to a rotary scanning electromagnetic field measuring device and a measuring method. Background Art

[0002] Electromagnetic field measurement refers to the use of specialized instruments to quantitatively detect the intensity and distribution of electric and magnetic fields in space. Its core purpose is to conduct environmental safety monitoring, equipment compatibility verification, and scientific research. Electromagnetic field measurement plays an important role in many fields, including communications, radar, and medical equipment. Existing electromagnetic field measurement devices mainly rely on three types of technical solutions. The first type is fixed single-point scanning, which scans the electromagnetic field on the surface of the device under test point by point. The second type is static probe array scanning, which integrates multiple probes on the same plane to achieve rapid regional scanning. The third type is an environmental fusion monitoring system, which deploys a ring sensor array for specific scenarios. Multiple sensors are fixed around the device under test, such as around a car and a car charging station, to perform a full-surround measurement of the electromagnetic field characteristics of the car charging process.

[0003] The three existing technical solutions all have their own shortcomings. The first type of fixed single-point scanning equipment is time-consuming and inefficient, and is prone to missed detection when facing equipment with complex contours; the second type of static probe array scanning equipment has an unadjustable sensor position and can only cover a single detection surface. It cannot cope with multi-angle measurements of three-dimensional equipment and has large measurement errors; the third type of environmental fusion monitoring system has a fixed position and cannot dynamically adapt to equipment of different sizes. Summary of the Invention

[0004] The main purpose of the present invention is to provide a rotating scanning electromagnetic field measuring device and a measuring method, so as to at least solve the problems of insufficient coverage and low measurement accuracy of electromagnetic field measuring equipment in the prior art.

[0005] In order to achieve the above-mentioned objectives, the present invention provides a rotating scanning electromagnetic field measuring device, comprising: a measuring platform, having a detection position above the measuring platform; a lifting mechanism, the lifting mechanism being arranged below the measuring platform and opposite to the measuring platform in the vertical direction; the lifting mechanism being used to lift the device to be measured upward in the vertical direction to the detection position; a mobile positioning mechanism, the mobile positioning mechanism being arranged on the measuring platform around the detection position; a scanning mechanism, the scanning mechanism being arranged on the mobile positioning mechanism; the mobile positioning mechanism being used to drive the scanning mechanism to move around the device to be measured to cover all detection surfaces of the device to be measured, the scanning mechanism being used to scan spatial information of the device to be measured and measure electromagnetic field characteristics of the device to be measured; a processing unit, the processing unit being arranged on the measuring platform and electrically connected to the mobile positioning mechanism and the scanning mechanism; the processing unit being used to process spatial information scanned by the scanning mechanism and to control the movement of the mobile positioning mechanism and the measurement process of the scanning mechanism.

[0006] Furthermore, the measuring platform includes: a base plate; multiple columns, which are evenly distributed and vertically arranged around the base plate; a top plate, which is horizontally arranged on the upper end surfaces of the multiple columns, and is used to carry a mobile positioning mechanism, a scanning mechanism and a processing unit; wherein a through hole is opened on the top plate, and the detection position is the area above the through hole.

[0007] Furthermore, the lifting mechanism includes: a lifting cylinder, which is arranged at the center position of the base plate in the vertical direction; a support platform, which is arranged on the upper end of the lifting cylinder; a receiving conveyor belt, which is arranged on the support platform; the receiving conveyor belt is used to receive and place the equipment to be tested, and the support platform is used to carry the receiving conveyor belt and the equipment to be tested, and the lifting cylinder is used to drive the support platform to move in the vertical direction to lift the equipment to be tested on the receiving conveyor belt to the detection position; an input conveyor belt, which is used to transfer the equipment to be tested on the external assembly line to the receiving conveyor belt; and an output conveyor belt, which is used to transfer the equipment to be tested to the next external assembly line after the equipment to be tested is tested.

[0008] Furthermore, the support platform has multiple positioning sliders, which are evenly spaced along the circumference of the support platform, and multiple columns have multiple positioning grooves along the vertical direction; multiple positioning sliders are installed one by one in the multiple positioning grooves to limit the support platform to move in the vertical direction in a horizontal posture; the support platform also has four supports, and the receiving conveyor belt includes two rotating shafts, and both ends of the two rotating shafts are passed through the supports to fix the receiving conveyor belt on the support platform.

[0009] Furthermore, the mobile positioning mechanism includes: an annular guide rail, which is arranged on the measuring table around the detection position; a mobile platform, which is installed on the annular guide rail and performs circular motion along the annular guide rail; a robotic arm, which is telescopically arranged on the mobile platform; the inner surface of the annular guide rail is provided with an inner ring slide rail, and the outer surface of the annular guide rail is provided with an outer ring slide rail and a large gear ring, the mobile platform includes a positioning motor, a pinion and a plurality of rollers, the positioning motor is fixedly arranged on the bottom plate of the mobile platform, the output shaft of the positioning motor passes through the bottom plate of the mobile platform, the pinion is fixedly arranged on the output shaft of the positioning motor, and the plurality of rollers are arranged on the bottom plate of the mobile platform; the plurality of rollers are divided into two groups and are respectively connected to the inner ring slide rail and the outer ring slide rail in a rolling manner to limit the movement of the mobile platform on the annular guide rail; the pinion is connected to the large gear ring by gear meshing, and the positioning motor drives the pinion to rotate to drive the mobile platform to move on the annular guide rail.

[0010] Furthermore, the robotic arm includes a longitudinal axis motor, a first motor, a second motor, a third motor, a first arm, a second arm, a first fixed plate and a second fixed plate; the longitudinal axis motor is fixed on the moving platform, the first fixed plate is fixed on the motor shaft of the longitudinal axis motor and is hinged to the first end of the first arm through the first motor to drive the first arm to rotate around a preset vertical axis relative to the moving platform and to swing around a first preset horizontal axis; the first end of the second arm is hinged to the second end of the first arm through the second motor to drive the second arm to swing around the second preset horizontal axis relative to the first arm; the second end of the second arm is hinged to the second fixed plate on the scanning mechanism through the third motor to drive the scanning mechanism to swing around the third preset horizontal axis relative to the second arm.

[0011] Furthermore, the scanning mechanism includes: a shielding cover, which is connected to the second fixed plate and is used to provide electromagnetic shielding for internal components; a mounting plate, which is arranged inside the shielding cover; a radar, which is installed in the middle of the mounting plate and is used to scan the spatial information of the device under test; and multiple detection heads, which form an array and are installed in the mounting plate and are used to detect the electromagnetic field characteristics of the device under test.

[0012] Furthermore, the detection head includes: an outer tube, a telescopic rod, a screw motor and a detection module. The screw motor is installed at the inner bottom end of the outer tube, the telescopic rod is telescopically installed in the outer tube, the screw motor and the telescopic rod are screwed together to drive the telescopic rod to move telescopically along the outer tube, and the detection module is installed at the end of the telescopic rod.

[0013] Furthermore, the detection module is provided with a plurality of metal contacts, the telescopic rod is provided with a plurality of spring pins, and the plurality of metal contacts are connected to the plurality of spring pins for power supply and signal transmission.

[0014] The present invention also provides an electromagnetic field measurement method, which includes: The lifting mechanism lifts the device under test upward to the detection position; the mobile positioning mechanism rotates around the device under test multiple times in all directions according to a predetermined program so that the scanning area of ​​the scanning mechanism covers all detection surfaces of the device under test; the radar synchronously scans the spatial information of the device under test; the processing unit processes the spatial information scanned by the radar and models the outline of the device under test; the processing unit controls the movement of the mobile positioning mechanism and the telescopic length of multiple detection heads on the scanning mechanism according to the modeling information to cover all detection surfaces of the device under test, the mobile positioning mechanism drives the scanning mechanism to move so that the center point of the scanning mechanism maintains a constant preset distance from the outer surface of the device under test, and the multiple detection heads change the telescopic length to maintain a constant preset distance between the ends of the multiple detection heads and the outer surface of the device under test; the multiple detection heads synchronously measure the electromagnetic field characteristics of the device under test; the processing unit processes the electromagnetic field characteristics measured by the multiple detection heads and generates a visual electromagnetic field distribution map.

[0015] In summary, the beneficial effects of the present invention are: The mobile positioning mechanism drives the scanning mechanism to move around the device under test to cover all detection surfaces. The scanning mechanism scans the device to obtain its spatial information and electromagnetic field characteristics. The processing unit controls the movement of the mobile positioning mechanism and the scanning mechanism's measurement process based on the spatial information obtained. By scanning the device's spatial information, utilizing the mobile positioning mechanism's five degrees of freedom and the retractable scanning mechanism, the device's electromagnetic field characteristics are accurately measured, achieving full coverage of all detection surfaces. This addresses the low measurement accuracy and limited coverage issues of existing electromagnetic field measurement devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings: Figure 1 is a schematic structural diagram of a rotating scanning electromagnetic field measuring device according to an embodiment of the present invention; Figure 2 1 is a schematic structural diagram of a lifting mechanism and a measuring platform of an optional rotary scanning electromagnetic field measuring device according to an embodiment of the present invention; Figure 3 Schematic diagram of a mobile positioning mechanism and a scanning mechanism of a rotary scanning electromagnetic field measuring device according to an embodiment of the present invention; Figure 4 is a partial schematic diagram of a mobile positioning mechanism of an optional rotating scanning electromagnetic field measuring device according to an embodiment of the present invention; Figure 5 1 is a schematic structural diagram of a mechanical arm and a scanning mechanism of a rotary scanning electromagnetic field measuring device according to an embodiment of the present invention; Figure 6 1 is a schematic structural diagram of a scanning mechanism of a rotary scanning electromagnetic field measuring device according to an embodiment of the present invention; Figure 7 1 is a schematic structural diagram of a detection module and a telescopic rod of an optional rotary scanning electromagnetic field measurement device according to an embodiment of the present invention.

[0017] The above drawings include the following reference numerals: 10. Measuring table; 11. Bottom plate; 12. Column; 121. Positioning groove; 13. Top plate; 131. Through hole; 20. Lifting mechanism; 21. Lifting cylinder; 22. Support platform; 221. Positioning slide; 222. Support; 23. Receiving conveyor belt; 231. Rotating shaft; 24. Incoming conveyor belt; 25. Outgoing conveyor belt; 30. Mobile positioning mechanism; 31. Annular guide rail; 311. Inner ring slide rail; 312. Outer ring slide rail; 313. Large ring gear; 32. Moving platform; 321. Positioning motor; 322. Pinion gear; 323. Roller; 33. Robotic arm; 331. Longitudinal axis motor; 332. First motor; 333. Second motor; 334. Third motor; 335. First arm; 336. Second arm; 337. First fixed plate; 338. Second fixed plate; 40. Scanning mechanism; 41. Shielding cover; 42. Mounting plate; 43. Radar; 44. Detection head; 441. Telescopic rod; 4411. Spring needle; 442. Screw motor; 443. Detection module; 4431. Metal contact; 444. Outer cylinder; 50. Processing unit. DETAILED DESCRIPTION

[0018] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0019] like Figure 1 As shown, the rotary scanning electromagnetic field measurement device and measurement method of the present invention include: a measuring platform 10, a lifting mechanism 20, a movable positioning mechanism 30, a scanning mechanism 40, and a processing unit 50. The measuring platform 10 has a detection position above it; the lifting mechanism 20 is disposed below the measuring platform 10 and vertically opposed to the measuring platform 10; the lifting mechanism 20 is used to lift the device under test upward in the vertical direction to the detection position; the movable positioning mechanism 30 is disposed on the measuring platform 10 around the detection position; the scanning mechanism 40 is disposed on the movable positioning mechanism 30; the movable positioning mechanism 30 is used to drive the scanning mechanism 40 to move around the device under test to cover all detection surfaces of the device under test; the scanning mechanism 40 is used to scan the spatial information of the device under test and measure the electromagnetic field characteristics of the device under test; the processing unit 50 is disposed on the measuring platform 10 and is electrically connected to the movable positioning mechanism 30 and the scanning mechanism 40; the processing unit 50 is used to process the spatial information scanned by the scanning mechanism 40 and control the movement of the movable positioning mechanism 30 and the measurement process of the scanning mechanism 40. By scanning the spatial information of the device under test, the processing unit 50 uses the spatial information of the device under test to control the mobile platform 32 with five degrees of freedom and the retractable scanning mechanism 40 to achieve accurate measurement of the electromagnetic field characteristics of the device under test and full coverage of all detection surfaces of the device under test, thereby solving the problems of low measurement accuracy and low coverage of existing electromagnetic field measurement devices.

[0020] Further, if Figure 1 and Figure 2 As shown, the measuring platform 10 includes: a base plate 11, multiple columns 12 and a top plate 13. The base plate 11 is made of high-strength alloy steel; in this embodiment, four columns 12 are used, and the four columns 12 are evenly distributed and vertically welded around the base plate 11. The columns are made of high-strength alloy steel; the top plate 13 is horizontally welded to the upper end faces of the multiple columns 12. The top plate is made of high-strength alloy steel. A square through hole 131 is opened in the middle of the top plate. The through hole can be reserved specifically according to the size of the device to be tested. The detection position is the area above the through hole. In this embodiment, the through hole is a square through hole with a side length of 800 mm. The top plate is used to carry and fix the mobile positioning mechanism 30, the scanning mechanism 40 and the processing unit 50.

[0021] Further, if Figure 1 and Figure 2 As shown, the lifting mechanism 20 includes: a lifting cylinder 21, a support platform 22, a receiving conveyor belt 23, an incoming conveyor belt 24 and an outgoing conveyor belt 25. In this embodiment, the cylinder model used is SMC CJ2B20-500, with a stroke of 500mm and a thrust of 1.96KN. The lifting cylinder 21 is arranged at the center position of the base plate 11 in the vertical direction; the support platform 22 is arranged at the upper end of the lifting cylinder 21, and the support platform 22 is detachably connected to the lifting cylinder 21 through a flange and bolts; a receiving conveyor belt 23 is arranged on the support platform 22; the receiving conveyor belt 23 is used to receive and place the device to be tested, and the bandwidth of the receiving conveyor belt 23 is 600mm, which is consistent with the size of the through hole of the top plate 13. The lifting cylinder 21 is used to drive the support platform 22 to move in the vertical direction to lift the device to be tested on the receiving conveyor belt 23 to the detection position; the input conveyor belt 24 is used to transfer the device to be tested on the external assembly line to the receiving conveyor belt 23; the output conveyor belt 25 is used to transfer the device to be tested on the receiving conveyor belt 23 to the next external assembly line after the device to be tested is completed. The outgoing conveyor belt 25 and the incoming conveyor belt 24 are fixed to the base plate 11 of the measuring table 10 via a steel frame structure. All three conveyor belts are roller conveyors, each driven by a Y2-801-40 motor with a power of 0.75kW and a torque of 0.48Nm. The incoming conveyor belt 24 moves toward the receiving conveyor belt 23, while the receiving conveyor belt 23 moves toward the outgoing conveyor belt 25. The outgoing conveyor belt 25 moves away from the receiving conveyor belt 23. The gap between the conveyor belts is set to 5mm, and the start and stop are triggered by a photoelectric sensor. These three conveyor belts enable assembly-line testing of the electromagnetic field characteristics of the device under test, improving the efficiency and mechanization of the test.

[0022] Further, if Figure 1 and Figure 2As shown, the support platform 22 has a plurality of positioning sliders 221, and the plurality of positioning sliders 221 are evenly spaced along the circumference of the support platform 22, and are connected to the support platform 22 by screws. The four columns 12 are each provided with a positioning groove 121 in the vertical direction; the plurality of positioning sliders 221 are installed in the plurality of positioning grooves 121 one by one to limit the support platform 22 to move in the vertical direction in a horizontal posture, and a clearance fit is adopted between the positioning sliders 221 and the positioning grooves 121, which limits the moving direction of the support platform 22 while eliminating the horizontal swing of the support platform 22, ensuring that the equipment to be tested can rise smoothly without tilting; the support platform 22 also has four supports 222, and the receiving conveyor belt 23 includes two rotating shafts 231, and both ends of the two rotating shafts 231 are passed through the supports 222 to fix the receiving conveyor belt 23 on the support platform 22, and ball bearings are used for installation between the rotating shafts 231 and the supports 222.

[0023] Further, if Figure 3 and Figure 4As shown, the mobile positioning mechanism 30 includes: an annular guide rail 31, a mobile platform 32 and a robotic arm 33. The annular guide rail 31 is welded from two arc-shaped guide rails with an arc of 180 degrees, and is horizontally fixed to the top plate 13 with multiple bolts to ensure the stability of the device thereon during movement. The center of the annular guide rail 31 is strictly aligned with the center of the measuring table 10; the mobile platform 32 is installed on the annular guide rail 31 and moves in a circle along the annular guide rail 31, and during the movement, it completely covers the area that needs to be measured on the device to be tested; the robotic arm 33 is firmly installed on the upper surface of the mobile platform 32 as the end effector, and the function of the mobile platform 32 is to carry the robotic arm 33 and the scanning mechanism 40 on the annular guide rail. 31 moves accurately and stably; the inner surface of the annular guide rail 31 is welded with a raised inner ring slide rail 311, and the outer surface of the annular guide rail 31 is welded with a raised outer ring slide rail 312. In addition, a large gear ring 313 with a module of 2 and a number of teeth of 192 is processed in an integrated manner on the outer surface of the annular guide rail 31, which has a module of 2 and a number of teeth of 192; the mobile platform 32 includes a positioning motor 321, a small gear 322 and a plurality of rollers 323. The positioning motor 321 is mounted on the bottom plate of the mobile platform 32 through a flange. The positioning motor adopts a 500W high-precision servo motor. With its own high-resolution encoder, the positioning motor can achieve a circular motion speed of 0-15° / s and a repeat positioning accuracy of ±5 arc seconds; the motor shaft is installed vertically downward and is directly connected to the small gear 322. The small gear 322 has a module of 2 and a number of teeth of 16. The module and number of teeth match the large ring gear 313. The transmission ratio between the large ring gear 313 and the small gear 322 is 12:1. In addition, a plurality of rollers 323 are installed on the bottom plate of the mobile platform 32. The rollers 323 adopt a double-row angular contact bearing structure. The number of rollers 323 is set to 4; the four rollers 323 are divided into two groups and are respectively connected to the inner ring slide rail 311 and the outer ring slide rail 312 are rollingly connected to limit the movement of the mobile platform 32 on the annular guide rail 31. The roller 323 has a pre-tightening adjustment function, which can eliminate the movement gap. At the same time, two sets of inner and outer rollers 323 and two sets of guide rails are used to stably guide and constrain the movement of the mobile platform 32; the small gear 322 is connected to the large ring gear 313 by gear meshing, and the positioning motor 321 drives the small gear 322 to rotate. The large ring gear 313 is fixedly installed on the annular guide rail 31 and remains stationary. The rotation of the small gear 322 will drive the mobile platform 32 to move around the large ring gear 313 on the annular guide rail 31.

[0024] Further, if Figure 5As shown, the robotic arm 33 includes a longitudinal axis motor 331, a first motor 332, a second motor 333, a third motor 334, a first arm 335, a second arm 336, a first fixed plate 337 and a second fixed plate 338; the longitudinal axis motor 331 is detachably fixed to the movable platform 32 by bolt connection, the first fixed plate 337 is fixed on the motor shaft of the longitudinal axis motor 331 and is hinged to the first end of the first arm 335 through the first motor 332 to drive the first arm 335 to rotate around a preset vertical axis and swing around a first preset horizontal axis relative to the movable platform 32; the first end of the second arm 336 is hinged to the second end of the first arm 335 through the second motor 333 to drive the second arm 336 to swing around the second preset horizontal axis relative to the first arm 335; the second end of the second arm 336 is hinged to the second fixed plate 338 on the scanning mechanism 40 through the third motor 334 to drive the scanning mechanism 40 to swing around the third preset horizontal axis relative to the second arm 336. The first preset horizontal axis in this application is the output shaft axis of the first motor 332, the second preset horizontal axis is the output shaft axis of the second motor 333, and the third preset horizontal axis is the output shaft axis of the third motor 334. Through the four-axis robotic arm 33 and the annular guide rail 31, the scanning mechanism 40 achieves five degrees of freedom of movement relative to the measuring table 10. The connections between the various components of the robotic arm 33 are all hinged, and the hinge can withstand large loads while providing flexibility of movement. The first arm 335 is designed to be 400mm long, and the second arm 336 is designed to be 300mm long. The two robotic arms move in coordination and can cover a hemispherical space with a diameter of 1.2 meters. The repeatability positioning accuracy of the robotic arm end is ±0.1mm, and the end can carry a maximum load of 50kg. The longitudinal axis motor 331 can bear the cantilever lever force of the entire robotic arm. It adopts the Kollmorgen TBM(S)-3120-09 motor, which has high torque and good impact resistance, a peak torque of 14.3Nm, and a built-in 17-bit encoder; the first motor 332 is the shoulder joint that takes into account both high torque and dynamic response. It adopts the Yaskawa SGM7J-04A7C6E motor with a peak torque of 13.4Nm and a built-in 20-bit absolute encoder; the second motor 333 is used as the elbow joint to drive the 300mm second arm with a small load torque. It adopts the Panasonic MSMA5AZA1G motor with a rated torque of 1.2Nm and a built-in incremental encoder; the third motor 334 is used as the wrist joint to directly control the end precision. It has ultra-high resolution and can suppress vibration. It adopts the Dazhu Motor DDM-3060-50H.

[0025] Further, if Figure 5 and Figure 6As shown, the scanning mechanism 40 includes: a shielding cover 41 , a mounting plate 42 , a radar 43 and a plurality of detection heads 44 . A shielding cover 41 is connected to the second fixing plate 338 and is used to provide electromagnetic shielding for the internal components. The shielding cover 41 adopts a double-layer structure, with an outer layer of a 1mm thick aluminum alloy shell and an inner layer adhered with carbon-based absorbing foam for absorbing electromagnetic waves. A mounting plate 42 is disposed within the shielding cover 41 and is made of rigid engineering plastic to avoid causing additional interference to the electromagnetic field. A radar 43 is disposed in the middle of the mounting plate 42. The radar adopts a miniaturized structured light scanning module used in optical radar, specifically the Chipsensing Zhixin Sensing ZX-M012A-IR MEMS structured light scanning module, which can achieve an accuracy of 1.5mm within a distance of 100mm-1000mm. It is used for reverse modeling of the device under test and obtaining spatial information of the device under test. A plurality of detection heads 44 are arranged in an array and mounted in the mounting plate 42 to detect the electromagnetic field characteristics of the device under test. In this embodiment, sixteen detection heads 44 are arranged in a 4x4 grid. The sixteen detection heads 44 simultaneously detect the electromagnetic field characteristics of the device under test, which not only improves detection efficiency but also improves measurement accuracy.

[0026] Further, if Figure 7 As shown, the detection head 44 includes: an outer tube 444, a telescopic rod 441, a screw motor 442 and a detection module 443. The screw motor 442 is installed at the inner bottom end of the outer tube 444, and the telescopic rod 441 is telescopically installed in the outer tube 444. The screw motor 442 and the telescopic rod 441 are screwed together to drive the telescopic rod 441 to telescopically move along the outer tube 444. The stroke of the screw motor 442 is ≥50mm, and the resolution is ≤0.01mm. The material of the telescopic rod 441 is insulating ceramic or engineering plastic to avoid interference with the electromagnetic field. The detection module 443 is installed at the end of the telescopic rod 441 by a snap. The detection module 443 is designed as a replaceable modular component. Different categories and models of detection modules 443 can be replaced according to measurement requirements. This embodiment uses 8 detection modules 443 containing magnetic field probes and 8 detection modules 443 containing electric field probes to form an array.

[0027] Further, if Figure 1 As shown, the detection module 443 is provided with multiple metal contacts 4431, and the telescopic rod 441 is provided with multiple spring pins 4411. This embodiment uses two spring pins 4411 and two metal contacts 4431. The current carrying capacity of the spring pins 4411 is 2A, and the contact resistance is ≤10mΩ. The surface of the two metal contacts 4431 is copper-plated. The two metal contacts 4431 are connected to the two spring pins 4411 for power supply and signal transmission. Through this connection method, the detection module 443 can be easily replaced.

[0028] Furthermore, the processing unit uses a computer and control software to process information and control other mechanisms. The computer is a high-performance industrial control computer, which includes a multi-channel high-speed data acquisition card, a high-performance CPU, and a motion control card. The multi-channel high-speed data acquisition card is used to collect signals from all detection heads 44, and the motion control card is used to accurately control the movement of the mobile positioning mechanism 30; the control software is a special measurement and control software developed based on the Windows platform, and its main functional modules include a device modeling module, a scanning planning module, a motion control module, a data acquisition and processing module, and a visualization module; the radar 43 first performs a high-speed 3D scan on the device to be tested to obtain an accurate point cloud model of the surface of the device to be tested, that is, the spatial information of the device to be tested, and the modeling module processes the point cloud model , reverse modeling is performed on the outline of the device under test, and the scanning planning module sets the scanning path of the scanning mechanism 40 according to the modeling information. It can scan globally or scan a specific area, or it can write a scanning path specifically based on the geometric characteristics of the device under test. After the scanning path is planned, the motion control module is used to analyze the scanning path, control the movement of the five motors in the mobile positioning mechanism 30 and the telescopic length of the sixteen detection heads 44 on the scanning mechanism 40. The sixteen detection heads 44 on the scanning mechanism 40 simultaneously start to measure the electromagnetic field characteristics of the device under test. The data acquisition and processing module performs time domain / frequency domain analysis and other processing on the electromagnetic field data collected by the multi-channel high-speed data acquisition card. The visualization module then generates an electromagnetic field distribution map, ultimately achieving all-round and multi-angle accurate measurement of the electromagnetic field characteristics of the device under test.

[0029] The second embodiment of the present invention further provides an electromagnetic field measurement method, which comprises: The lifting mechanism 20 lifts the device under test upward to the detection position; the mobile positioning mechanism 30 rotates around the device under test multiple times in all directions according to a predetermined program so that the scanning area of ​​the scanning mechanism 40 covers all detection surfaces of the device under test; the radar 43 synchronously scans the spatial information of the device under test, first completing the acquisition of the geometric features of the device under test and the distance information between the mobile positioning mechanism; the processing unit 50 processes the spatial information scanned by the radar 43 and models the outline of the device under test; the processing unit 50 controls the movement of the mobile positioning mechanism 30 and the telescopic length of multiple detection heads 44 on the scanning mechanism 40 according to the modeling information to cover all detection surfaces of the device under test; in the specific control, it is mainly divided into the control of the mobile positioning mechanism 30 and the scanning mechanism 40. The control of the mobile positioning mechanism 30 is to make the mobile positioning mechanism 30 drive the scanning mechanism 40 to move. The mobile positioning mechanism has five degrees of freedom and can move flexibly. The mobile positioning mechanism 30 is controlled so that the center point of the scanning mechanism 40 is aligned with the outer surface of the device under test. The surface maintains a constant preset distance. In this embodiment, the preset distance between the center point of the scanning mechanism 40 and the outer surface of the device to be tested is set to 220 mm. The preset distance here is the vertical distance between the surfaces. The control of the scanning mechanism is mainly to control the telescopic length of the multiple detection heads 44 on the scanning mechanism 40. The variable telescopic length of the multiple detection heads 44 is used to keep the end of each detection head 44 at a constant preset distance from the outer surface of the device to be tested. In this embodiment, the preset distance maintained between the end of each detection head 44 and the outer surface of the device to be tested is set to 100 mm. When the curvature of some special surfaces of the device to be tested is large and it is impossible for all detection heads 44 to maintain the preset distance from the device to be tested, the measurement is still continued. This situation is handled by calculating compensation in the processing unit 50. After the mobile positioning mechanism 30 reaches the preset position, the multiple detection heads 44 synchronously measure the electromagnetic field characteristics of the device to be tested. The processing unit processes the electromagnetic field characteristics measured by the multiple detection heads 44 and generates a visual electromagnetic field distribution map.

[0030] During specific implementation, the input conveyor belt 24 inputs the device to be tested on the external assembly line into the receiving conveyor belt 23, and the lifting mechanism 20 lifts the receiving conveyor belt 23 and the device to be tested placed on the receiving conveyor belt 23 to the detection position on the measuring table 10 through the lifting cylinder 21. The mobile positioning mechanism 30 is used to drive the scanning mechanism 40 to move around the device to be tested to cover all detection surfaces of the device to be tested. The scanning mechanism 40 first obtains the spatial information of the device to be tested by scanning the device to be tested. The processing unit 50 controls the movement of the mobile positioning mechanism 30 and the measurement process of the scanning mechanism 40 according to the spatial information scanned by the scanning mechanism 40. Then, the scanning mechanism 40 synchronously measures the electromagnetic field characteristics of the device to be tested. After that, the processing unit 50 processes the measurement data of the scanning mechanism 40 and generates an electromagnetic field distribution map. The measured device to be tested falls from the detection position through the lifting mechanism 20 and is transmitted to the output conveyor belt 25 via the receiving conveyor belt 23. After that, the detected device is transmitted to the next production line process.

[0031] In summary, the present invention's incoming conveyor belt 24 delivers the device under test (DUT) from the assembly line to the receiving conveyor belt 23. The lifting mechanism 20 lifts the receiving conveyor belt 23, along with the DUT, to the testing position on the measuring platform 10. After testing, the lifting mechanism 20 returns, and the receiving conveyor belt 23 delivers the DUT to the outgoing conveyor belt 25 for the next process step. This enables continuous, assembly-line testing, improving the efficiency and mechanization of the electromagnetic field testing device. The coordinated movement of two robotic arms can cover a hemispherical space with a diameter of 1.2 meters. The movement of the robotic arm 33 of the mobile positioning mechanism 30 allows electromagnetic field measurements to be performed on devices of various sizes. The mobile positioning mechanism 30 drives the scanning mechanism 40 to move around the DUT to cover all of its testing surfaces. The scanning mechanism 40 scans the DUT to sequentially acquire its spatial information and electromagnetic field characteristics. The processing unit 50 controls the movement of the mobile positioning mechanism 30 and the measurement process based on the spatial information obtained by the scanning mechanism 40. By scanning the spatial information of the device to be measured, utilizing the five degrees of freedom of motion of the mobile positioning mechanism 30 and the retractable scanning mechanism 40, accurate measurement of the electromagnetic field characteristics of the device to be measured is achieved, and all detection surfaces of the device to be measured are fully covered, thereby solving the problems of low measurement accuracy and low coverage of existing electromagnetic field measurement devices.

[0032] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A rotating scanning electromagnetic field measuring device, characterized in that: include: A measuring platform (10), wherein a detection position is provided above the measuring platform (10); A lifting mechanism (20), the lifting mechanism (20) being arranged below the measuring platform (10) and vertically opposed to the measuring platform (10); the lifting mechanism (20) being used to lift the device to be tested upward in the vertical direction to the detection position; A movable positioning mechanism (30), the movable positioning mechanism (30) being arranged on the measuring platform (10) around the detection position; A scanning mechanism (40), the scanning mechanism (40) being arranged on the mobile positioning mechanism (30); the mobile positioning mechanism (30) being used to drive the scanning mechanism (40) to move around the device under test so as to cover all detection surfaces of the device under test, and the scanning mechanism (40) being used to scan spatial information of the device under test and measure electromagnetic field characteristics of the device under test; A processing unit (50) is provided on the measuring platform (10) and is electrically connected to the mobile positioning mechanism (30) and the scanning mechanism (40); the processing unit (50) is used to process spatial information scanned by the scanning mechanism (40) and to control the movement of the mobile positioning mechanism (30) and the measurement process of the scanning mechanism (40).

2. The rotating scanning electromagnetic field measuring device according to claim 1, characterized in that: The measuring platform (10) comprises: bottom plate (11); A plurality of columns (12), wherein the plurality of columns (12) are evenly distributed and vertically arranged around the base plate (11); A top plate (13), the top plate (13) being horizontally arranged on the upper end surfaces of the plurality of columns (12), the top plate (13) being used to carry the mobile positioning mechanism (30), the scanning mechanism (40) and the processing unit (50); Wherein, a through hole (131) is provided on the top plate (13), and the detection position is the area above the through hole (131).

3. The rotating scanning electromagnetic field measuring device according to claim 2, characterized in that: The lifting mechanism (20) comprises: A lifting cylinder (21), the lifting cylinder (21) being arranged at a central position of the base plate (11) in a vertical direction; A support platform (22), the support platform (22) being arranged at the upper end of the lifting cylinder (21); A receiving conveyor belt (23), the receiving conveyor belt (23) is arranged on the support platform (22); the receiving conveyor belt (23) is used to receive and place the device to be tested, the support platform (22) is used to carry the receiving conveyor belt (23) and the device to be tested, and the lifting cylinder (21) is used to drive the support platform (22) to move in a vertical direction to lift the device to be tested on the receiving conveyor belt (23) to the detection position; An incoming conveyor belt (24), the incoming conveyor belt (24) being used to convey the device to be tested on the external assembly line to the receiving conveyor belt (23); An outgoing conveyor belt (25) is used to convey the device under test to the next external production line after the device under test has been tested.

4. The rotating scanning electromagnetic field measuring device according to claim 3, characterized in that: The support platform (22) has a plurality of positioning sliders (221), and the plurality of positioning sliders (221) are evenly spaced along the circumference of the support platform (22), and the plurality of columns (12) are provided with a plurality of positioning grooves (121) along the vertical direction; the plurality of positioning sliders (221) are installed in the plurality of positioning grooves (121) in a one-to-one correspondence to limit the support platform (22) to move in the vertical direction in a horizontal posture; The support platform (22) further has four supports (222), and the receiving conveyor belt (23) includes two rotating shafts (231). Both ends of the two rotating shafts (231) are inserted into the supports (222) to fix the receiving conveyor belt (23) on the support platform (22).

5. The rotating scanning electromagnetic field measuring device according to claim 1, characterized in that: The mobile positioning mechanism (30) comprises: an annular guide rail (31), the annular guide rail (31) surrounding the detection position and arranged on the measuring platform (10); A movable platform (32), the movable platform (32) being mounted on the annular guide rail (31) and performing circular motion along the annular guide rail (31); a mechanical arm (33), the mechanical arm (33) being arranged on the mobile platform (32) in a telescopic manner; The inner surface of the annular guide rail (31) is provided with an inner ring slide rail (311), the outer surface of the annular guide rail (31) is provided with an outer ring slide rail (312) and a large gear ring (313), the mobile platform (32) comprises a positioning motor (321), a small gear (322) and a plurality of rollers (323), the positioning motor (321) is fixedly arranged on the bottom plate of the mobile platform (32), the output shaft of the positioning motor (321) passes through the bottom plate of the mobile platform (32), the small gear (322) is fixedly arranged on the output shaft of the positioning motor (321), and the plurality of rollers (323) are arranged on the bottom plate of the mobile platform (32); The plurality of rollers (323) are divided into two groups and are respectively connected to the inner ring slide rail (311) and the outer ring slide rail (312) in a rolling manner to limit the movement of the mobile platform (32) on the annular guide rail (31); the small gear (322) is connected to the large gear ring (313) by gear meshing, and the positioning motor (321) drives the small gear (322) to rotate to drive the mobile platform (32) to move on the annular guide rail (31).

6. The rotating scanning electromagnetic field measuring device according to claim 5, characterized in that: The robotic arm (33) includes a longitudinal axis motor (331), a first motor (332), a second motor (333), a third motor (334), a first arm (335), a second arm (336), a first fixing plate (337), and a second fixing plate (338); The longitudinal axis motor (331) is fixed on the mobile platform (32), the first fixing plate (337) is fixed on the motor shaft of the longitudinal axis motor (331) and is hinged to the first end of the first arm (335) via the first motor (332) to drive the first arm (335) to rotate around a preset vertical axis and to swing around a first preset horizontal axis relative to the mobile platform (32); The first end of the second arm (336) is hingedly connected to the second end of the first arm (335) via the second motor (333) to drive the second arm (336) to swing relative to the first arm (335) around a second preset horizontal axis; The second end of the second arm (336) is hingedly connected to the second fixed plate (338) on the scanning mechanism (40) through the third motor (334) to drive the scanning mechanism (40) to swing around a third preset horizontal axis relative to the second arm (336).

7. The rotating scanning electromagnetic field measuring device according to claim 6, characterized in that: The scanning mechanism (40) comprises: a shielding cover (41), the shielding cover (41) being connected to the second fixing plate (338) and being used to provide electromagnetic shielding for internal components; a mounting plate (42), the mounting plate (42) being arranged inside the shielding cover (41); A radar (43), the radar (43) being installed in the middle of the mounting plate (42) and used for scanning spatial information of the device under test; A plurality of detection heads (44) are formed into an array and installed in the installation plate (42) for detecting electromagnetic field characteristics of the device to be tested.

8. The rotating scanning electromagnetic field measuring device according to claim 7, characterized in that: The detection head (44) comprises: an outer cylinder (444), a telescopic rod (441), a screw motor (442) and a detection module (443), wherein the screw motor (442) is mounted at the inner bottom end of the outer cylinder (444), the telescopic rod (441) is telescopically mounted in the outer cylinder (444), the screw motor (442) and the telescopic rod (441) are screwed together to drive the telescopic rod (441) to telescopically move along the outer cylinder (444), and the detection module (443) is mounted at the end of the telescopic rod (441).

9. The rotating scanning electromagnetic field measuring device according to claim 8, characterized in that: The detection module (443) is provided with a plurality of metal contacts (4431), and the telescopic rod (441) is provided with a plurality of spring pins (4411). The plurality of metal contacts (4431) are connected to the plurality of spring pins (4411) for power supply and signal transmission.

10. A method for measuring an electromagnetic field, characterized in that: The measuring method is applied to the rotating scanning electromagnetic field measuring device according to any one of claims 1 to 9, and the measuring method includes: The lifting mechanism (20) lifts the device to be tested upward to the testing position; The mobile positioning mechanism (30) rotates around the device to be tested multiple times in all directions according to a predetermined program so that the scanning area of ​​the scanning mechanism (40) covers all detection surfaces of the device to be tested; The radar (43) synchronously scans the spatial information of the device to be tested; The processing unit (50) processes the spatial information scanned by the radar (43) and models the outline of the device to be tested; The processing unit (50) controls the movement of the mobile positioning mechanism (30) and the telescopic length of the plurality of detection heads (44) on the scanning mechanism (40) according to the modeling information to cover all detection surfaces of the device to be tested, the mobile positioning mechanism (30) drives the scanning mechanism (40) to move so that the center point of the scanning mechanism (40) maintains a constant preset distance from the outer surface of the device to be tested, and the varying telescopic lengths of the plurality of detection heads (44) are used to maintain a constant preset distance between the ends of the plurality of detection heads (44) and the outer surface of the device to be tested; The plurality of detection heads (44) synchronously measure the electromagnetic field characteristics of the device to be tested; The processing unit processes the electromagnetic field characteristics measured by the plurality of detection heads (44) and generates a visual electromagnetic field distribution map.

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