Automatic calibration device for underwater magnetic sensor

Abstract

The utility model relates to the technical field of magnetic sensor calibration, in particular to an automatic calibration device for an underwater magnetic sensor. Comprising a calibration assembly, a mooring rope which is perpendicular to the water surface and transmits the calibration assembly downwards, a control module which controls the calibration assembly to execute a calibration task and a signal processing center which processes an output signal of the calibration assembly, and the calibration assembly comprises a calibration magnetic field generator and a calibration probe which is matched with the calibration magnetic field generator. The driver drives the calibration probe to enter and exit from the magnetic field generator, the driver is electrically connected with the control module, and the calibration assembly is in communication connection with the signal processing center. The problem of in-situ calibration of the underwater magnetic sensor is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of magnetic sensor calibration, in particular to an automatic calibration device for an underwater magnetic sensor. Background Art

[0002] Magnetic sensors, as important devices that convert various magnetic fields and their changes into electrical signals, are widely used in our lives. Magnetic sensors are crucial for detecting, collecting, storing, converting, and monitoring various magnetic fields and the information contained therein in industries such as industry and exploration.

[0003] In underwater environments, magnetic sensors can accurately measure the magnetic field of the seabed, providing researchers with key data for a deeper understanding of the underwater geological structure and marine environment. By analyzing the seabed magnetic field, it is possible to infer the geological structure of the seabed, the movement of plate tectonics, and various physical phenomena in the ocean. In the field of underwater engineering, magnetic sensors can monitor the magnetic field changes of underwater facilities in real time to ensure the safe operation of facilities such as submarine cables, oil pipelines, and offshore platforms. Once an abnormality in the magnetic field occurs, possible problems with the facilities, such as damage, displacement, or external interference, can be discovered in a timely manner, so that effective maintenance and protection measures can be taken to prevent major accidents. In addition, underwater magnetic sensors provide strong support for underwater archaeology, resource exploration, and other activities.

[0004] However, these sensors currently work underwater for long periods of time and are difficult to disassemble and move, making their metrological calibration and testing extremely difficult. Underwater magnetic field sensors have long been unable to be effectively metrologically controlled, making it difficult to ensure their effective use. Although existing magnetic field sensor calibration technologies have reached a relatively high level, with some calibrated in laboratories and others at engineering sites, it is extremely difficult to trace the measurement values ​​of sensors placed tens of meters below the seabed. Existing methods include using drones to suspend standard magnetic field generators to create a standard magnetic field environment for calibrating underwater magnetic field sensors. However, the distance between the standard magnetic field generator and the underwater sensor is relatively long, and the magnetic field strength reaching the sensor location is significantly weakened, making it impossible to effectively calibrate the sensor. Furthermore, drone flight is easily affected by weather, environmental factors, and other factors, making stability difficult to guarantee. Utility Model Content

[0005] In order to solve the problem of in-situ calibration of an underwater magnetic sensor, the utility model provides an automatic calibration device for an underwater magnetic sensor.

[0006] The utility model provides an automatic calibration device for an underwater magnetic sensor, comprising a calibration component, a cable for transmitting the calibration component downward perpendicular to the water surface, a control module for controlling the calibration component to perform calibration tasks, and a signal processing center for processing output signals of the calibration component. The calibration component comprises a calibration magnetic field generator, a calibration probe that cooperates with the calibration magnetic field generator, and a driver that drives the calibration probe in and out of the magnetic field generator. The driver is electrically connected to the control module, and the calibration component is communicatively connected to the signal processing center.

[0007] Furthermore, the calibration probe includes a nuclear magnetic resonance probe and Hall probes placed on both sides of the nuclear magnetic resonance probe. The signal processing center includes a Gaussmeter communicatively connected to the Hall probe and a nuclear magnetic resonance instrument communicatively connected to the nuclear magnetic resonance probe.

[0008] Furthermore, the driver includes a bracket, a protective cover for protecting the probe, a servo electric cylinder fixed on the bracket to push the protective cover, the calibration probe is placed at the end of the protective cover, the calibration magnetic field generator is placed on the bracket, and the axis of the calibration magnetic field generator is collinear with the axis of the probe.

[0009] Furthermore, a fixing part for fixing the nuclear magnetic resonance probe and the Hall probe is provided in the protective cover, a groove along the axial direction is provided in the middle of the fixing part, the nuclear magnetic resonance probe is arranged in the groove, and wiring grooves for accommodating the Hall probe wires are provided on both sides of the fixing part.

[0010] Furthermore, the nuclear magnetic resonance probe protrudes toward the axial direction of the magnetic field generator, and the surface where the nuclear magnetic resonance probe is located exceeds the plane where the Hall probe is located.

[0011] Furthermore, the calibration component also includes a three-dimensional rotating table, which includes a platform, a U-shaped rotating frame rotatably connected to the platform and arranged on the platform, and the bracket is rotatably connected between the two arms of the U-shaped rotating frame. The calibration component can achieve multi-angle position fixation under the rotation angle combination of the U-shaped rotating frame and the bracket.

[0012] Furthermore, the platform is provided with a first servo motor for driving the U-shaped rotating frame to rotate around the vertical platform axis, and the U-shaped rotating frame is provided with a second servo motor for driving the bracket to rotate around the line connecting the two arms of the U-shaped frame. The first servo motor and the second servo motor are electrically connected to the control module.

[0013] Furthermore, the calibration component includes a waterproof protective shell for accommodating the calibration component, a locking hook for hanging a cable is provided above the waterproof protective shell, and a mesh bag for hanging a counterweight is provided on the waterproof protective shell.

[0014] Furthermore, a searchlight and a visual sensor are provided on the platform, and the searchlight and the visual sensor are electrically connected to the control module respectively.

[0015] Furthermore, the calibration magnetic field generator includes a cylindrical induction coil, a power controller for controlling the magnetic field strength, and a power supply, and the control end of the power controller is electrically connected to the control module.

[0016] In summary, the present invention has the following beneficial technical effects:

[0017] 1. The utility model proposes an automatic calibration device for underwater magnetic sensors, which successfully solves the problem of difficult calibration of underwater magnetic sensors. The calibration component is lowered underwater by a cable, and in-situ calibration can be performed directly at the sensor location without the need to disassemble or move the sensor, greatly improving the convenience and feasibility of calibration. The calibration probe and the underwater magnetic sensor to be calibrated are in the same underwater environment and magnetic field environment created by the magnetic field generator, avoiding calibration errors caused by environmental differences.

[0018] 2. In this utility model, multiple probes work together. The calibration probe includes a nuclear magnetic resonance probe and Hall probes placed on both sides of it. The nuclear magnetic resonance probe can provide high-precision magnetic field information, such as magnetic field uniformity, while the Hall probe is mainly used to measure magnetic field strength. The two work together to comprehensively detect magnetic field characteristics. The grooves and wiring slots on the fixing parts ensure the stable installation of the nuclear magnetic resonance probe and the Hall probe.

[0019] 3. The utility model can flexibly adjust the position. The three-dimensional rotating platform includes a platform, a U-shaped rotating frame and a bracket, which can achieve multi-angle position fixation. Through the control of the first servo motor and the second servo motor, the angle of the calibration component can be precisely adjusted. The searchlight on the platform provides lighting for the calibration process, making it convenient for the operator to observe the working status of the calibration component and the surrounding environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a modular schematic diagram of an underwater magnetic sensor automatic calibration device according to an embodiment of the present utility model.

[0021] Figure 2 It is a structural diagram of the calibration component of an embodiment of the utility model.

[0022] Figure 3 It is a schematic diagram of the internal structure of the calibration component of an embodiment of the present utility model.

[0023] Figure 4 It is a structural schematic diagram of a calibration probe according to an embodiment of the present utility model.

[0024] Figure 5 It is a structural schematic diagram of a three-dimensional rotating platform according to an embodiment of the present utility model.

[0025] Among them, 1. Cable; 2. Induction coil; 201. Power controller; 202. Power supply; 3. Calibration probe; 301. Nuclear magnetic resonance probe; 302. Hall probe; 4. Protective cover; 401. Fixing part; 402. Wiring trough; 5. Servo cylinder; 6. Platform; 601. Bracket; 602. U-shaped rotating frame; 603. First servo motor; 604. Second servo motor; 7. Waterproof protective shell; 701. Lock hook; 702. Mesh bag; 8. Control module; 9. Signal processing center; 901. Gauss meter; 902. Nuclear magnetic resonance instrument; 10. Searchlight; 11. Visual sensor. DETAILED DESCRIPTION

[0026] The present invention will be described in further detail below with reference to the accompanying drawings.

[0027] Example 1

[0028] Reference Figure 1 An automatic calibration device for an underwater magnetic sensor in this embodiment includes a calibration component, a cable 1 for transmitting the calibration component downward perpendicular to the water surface, a control module 8 for controlling the calibration component to perform a calibration task, and a signal processing center 9 for processing the output signal of the calibration component. The calibration component includes a calibration magnetic field generator, a calibration probe 3 that cooperates with the calibration magnetic field generator, and a driver that drives the calibration probe 3 in and out of the magnetic field generator. The driver is electrically connected to the control module 8, and the calibration component is communicatively connected to the signal processing center 9.

[0029] Reference Figure 4 The calibration probe 3 includes a nuclear magnetic resonance probe 301, and Hall probes 302 placed on both sides of the nuclear magnetic resonance probe 301. The signal processing center 9 includes a Gaussmeter 901 communicatively connected to the Hall probe 302, and a nuclear magnetic resonance instrument 902 communicatively connected to the nuclear magnetic resonance probe 301.

[0030] Reference Figure 3 The driver includes a bracket 601, a protective cover 4 for protecting the probe, a servo electric cylinder 5 fixed on the bracket 601 to push the protective cover 4, the calibration probe 3 is placed at the end of the protective cover 4, and the calibration magnetic field generator is placed on the bracket 601, and the axis of the calibration magnetic field generator is collinear with the axis of the probe.

[0031] Reference Figure 4 A fixing part 401 for fixing the MRI probe 301 and the Hall probe 302 is provided in the protective cover 4. A groove along the axial direction is provided in the middle of the fixing part 401. The MRI probe 301 is arranged in the groove. Wiring grooves 402 for accommodating the wires of the Hall probe 302 are provided on both sides of the fixing part 401, making the device compact and avoiding wire entanglement.

[0032] The nuclear magnetic resonance probe 301 extends toward the axial direction of the magnetic field generator, and the surface where the nuclear magnetic resonance probe 301 is located exceeds the plane where the Hall probe 302 is located.

[0033] Reference Figure 5 The calibration component also includes a three-dimensional rotating table, which includes a platform 6, a U-shaped rotating frame 602 rotatably connected to the platform 6 and arranged on the platform 6, and the bracket 601 is rotatably connected between the two arms of the U-shaped rotating frame 602. The calibration component can achieve multi-angle position fixation under the rotation angle combination of the U-shaped rotating frame 602 and the bracket 601.

[0034] Reference Figure 5 The platform 6 is provided with a first servo motor 603 for driving the U-shaped rotating frame 602 to rotate around the axis vertical to the platform 6, and the U-shaped rotating frame 602 is provided with a second servo motor 604 for driving the bracket 601 to rotate around the line connecting the two arms of the U-shaped frame. The first servo motor 603 and the second servo motor 604 are electrically connected to the control module 8.

[0035] Through this multi-angle rotation design, the calibration component can detect and calibrate the magnetic sensor to be calibrated at different angles, adapting to complex underwater environments and sensor installation angles.

[0036] Reference Figure 2 The calibration component includes a waterproof protective shell 7 for accommodating the calibration component. A locking hook 701 for hanging a cable 1 is provided above the waterproof protective shell 7, and a mesh bag 702 for hanging a counterweight is provided on the waterproof protective shell 7.

[0037] This unit houses the entire calibration assembly, providing waterproof protection and ensuring stable operation in underwater environments. The upper hook 701 is used to attach the cable 1, facilitating lowering and retrieval of the device. The mesh bag 702 can be used to hold a counterweight, allowing for stability adjustments based on current flow.

[0038] Reference Figure 1 The platform 6 is provided with a searchlight 10 and a visual sensor 11, and the searchlight 10 and the visual sensor 11 are electrically connected to the control module 8 respectively.

[0039] Searchlight 10 provides illumination during the calibration process, allowing operators to observe the calibration component's operating status and surroundings underwater. Visual sensor 11 is electrically connected to control module 8 and can capture real-time images of the calibration component's surroundings, providing additional reference data for the calibration process and helping to determine the location of the magnetic sensor to be calibrated.

[0040] Reference Figure 1The calibration magnetic field generator includes a cylindrical induction coil 2, a power controller 201 for controlling the magnetic field strength, and a power supply 202. The control end of the power controller 201 is electrically connected to the control module 8.

[0041] The induction coil 2 generates a magnetic field driven by the power supply 202. The power controller 201 can adjust the magnetic field strength according to the instructions of the control module 8. The generated magnetic flux lines should vertically cover the magnetic sensor to be detected, that is, the induction coil 2 is perpendicular to the inductive element of the magnetic sensor to be detected.

[0042] The signal processing center 9 is in communication with the calibration probe 3 and receives detection signals from the NMR probe 301 and the Hall effect probe 302. It includes a gaussmeter 901 in communication with the Hall effect probe 302 and an NMR analyzer 902 in communication with the NMR probe 301. The gaussmeter 901 converts the magnetic field strength detected by the Hall effect probe 302 into a digital signal for analysis and processing. The NMR analyzer 902 performs in-depth analysis of complex characteristics such as the magnetic field uniformity detected by the NMR probe 301. Based on this information, the signal processing center 9 calculates the error of the magnetic sensor to be calibrated and provides accurate data support for calibration.

[0043] The Hall probe 302 works based on the Hall effect. The nuclear magnetic resonance probe 301 is based on the magnetic resonance phenomenon of atomic nuclei. It can achieve complementary measurement of magnetic field strength. Although the Hall probe 302 can measure magnetic field strength, its measurement accuracy is poor, and it is difficult to directly obtain complex characteristics such as the uniformity and microstructure of the magnetic field. The nuclear magnetic resonance probe 301 is good at obtaining this information. The uniformity of the magnetic field has a great influence on the calibration results. The nuclear magnetic resonance probe 301 can accurately determine whether the magnetic field is uniform, thereby ensuring the accuracy of the magnetic sensor calibration. The combination of the two probes can improve the accuracy of the calibration. The basic numerical value of the magnetic field strength is obtained by the Hall probe 302, and the other characteristic information of the magnetic field is obtained by the nuclear magnetic resonance probe 301. The two complement each other and can calibrate the magnetic sensor more accurately.

[0044] During operation, the weighted calibration assembly is lowered into the water using a cable 1 and lowered near the magnetic sensor to be calibrated. The control module 8 controls the searchlight 10 and the visual sensor 11 to find the actual position of the magnetic sensor to be calibrated. The control module 8 controls the first servo motor 603 and the second servo motor 604 to adjust the angle of the three-dimensional rotating stage so that the cross section of the magnetic induction coil is aligned with the sensing element of the magnetic sensor to be calibrated. The position is adjusted to bring the calibration assembly closer to the magnetic sensor to be calibrated. At this time, the probe and the magnetic sensor to be calibrated are respectively placed on both sides of the sensing coil. The magnetic sensor to be calibrated is calibrated based on the symmetry of the magnetic field. The control module 8 controls the driver to drive the probe to move along the axis of the magnetic induction coil 2. The signal processing center 9 displays the magnetic field uniformity and magnetic field strength inside the induction coil 2 and outside one side of the magnetic induction coil 2. The power controller 201 is adjusted to adjust the magnetic induction strength to reduce external magnetic interference. Based on the symmetry of the detection position and the symmetry of the magnetic field strength, the magnetic field strength at the location of the magnetic sensor to be calibrated is calculated, and the compensation value of the magnetic sensor to be calibrated is adjusted, thereby completing the calibration of the magnetic sensor to be calibrated.

[0045] The above are all preferred embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. An automatic calibration device for underwater magnetic sensors, characterized in that: The invention comprises a calibration component, a cable (1) for transmitting the calibration component downward vertically from the water surface, a control module (8) for controlling the calibration component to perform a calibration task, and a signal processing center (9) for processing an output signal of the calibration component. The calibration component comprises a calibration magnetic field generator, a calibration probe (3) for cooperating with the calibration magnetic field generator, and a driver for driving the calibration probe (3) into and out of the magnetic field generator. The driver is electrically connected to the control module (8), and the calibration component is communicatively connected to the signal processing center (9).

2. The automatic calibration device for underwater magnetic sensors according to claim 1, characterized in that: The calibration probe (3) includes a nuclear magnetic resonance probe (301), Hall probes (302) placed on both sides of the nuclear magnetic resonance probe (301), and the signal processing center (9) includes a Gauss meter (901) communicatively connected to the Hall probe (302), and a nuclear magnetic resonance instrument (902) communicatively connected to the nuclear magnetic resonance probe (301).

3. The automatic calibration device for underwater magnetic sensors according to claim 2, characterized in that: The driver comprises a bracket (601), a protective cover (4) for protecting the probe, a servo electric cylinder (5) fixed on the bracket (601) for pushing the protective cover (4), the calibration probe (3) being placed at the end of the protective cover (4), and the calibration magnetic field generator being placed on the bracket (601), wherein the axis of the calibration magnetic field generator is collinear with the axis of the probe.

4. The automatic calibration device for underwater magnetic sensors according to claim 3, characterized in that: A fixing member (401) for fixing the nuclear magnetic resonance probe (301) and the Hall probe (302) is provided in the protective cover (4); a groove along the axial direction is provided in the middle of the fixing member (401); the nuclear magnetic resonance probe (301) is provided in the groove; wiring grooves (402) for accommodating the wires of the Hall probe (302) are provided on both sides of the fixing member (401).

5. The automatic calibration device for underwater magnetic sensors according to claim 4, characterized in that: The nuclear magnetic resonance probe (301) protrudes in the axial direction of the magnetic field generator, and the surface where the nuclear magnetic resonance probe (301) is located exceeds the plane where the Hall probe (302) is located.

6. The automatic calibration device for underwater magnetic sensors according to claim 5, characterized in that: The calibration component further comprises a three-dimensional rotating platform, the three-dimensional rotating platform comprising a platform (6), a U-shaped rotating frame (602) rotatably connected to the platform (6) and arranged on the platform (6), the bracket (601) being rotatably connected between two arms of the U-shaped rotating frame (602), and the calibration component realizing multi-angle position fixation under the rotation angle combination of the U-shaped rotating frame (602) and the bracket (601).

7. The automatic calibration device for underwater magnetic sensors according to claim 6, characterized in that: The platform (6) is provided with a first servo motor (603) for driving the U-shaped rotating frame (602) to rotate around an axis perpendicular to the platform (6); the U-shaped rotating frame (602) is provided with a second servo motor (604) for driving the bracket (601) to rotate around a line connecting the two arms of the U-shaped frame; the first servo motor (603) and the second servo motor (604) are electrically connected to the control module (8).

8. The automatic calibration device for underwater magnetic sensors according to claim 7, characterized in that: The calibration component comprises a waterproof protective shell (7) for accommodating the calibration component, a locking hook (701) for hanging a cable (1) is provided above the waterproof protective shell (7), and a mesh bag (702) for hanging a counterweight is provided on the waterproof protective shell (7).

9. The automatic calibration device for underwater magnetic sensors according to claim 8, characterized in that: The platform (6) is provided with a searchlight (10) and a visual sensor (11), and the searchlight (10) and the visual sensor (11) are electrically connected to the control module (8) respectively.

10. The automatic calibration device for underwater magnetic sensors according to claim 1, characterized in that: The calibration magnetic field generator comprises a cylindrical induction coil (2), a power controller (201) for controlling the magnetic field intensity, and a power supply (202), wherein the control end of the power controller (201) is electrically connected to the control module (8).

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