CN102841371A - Compound intelligent vibration sensor and vibration source test and location method - Google Patents
Compound intelligent vibration sensor and vibration source test and location method Download PDFInfo
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Abstract
The invention relates to a compound intelligent vibration sensor and a vibration source test and location method. The sensor consists of a spherical structure and an intelligent control system. The spherical structure comprises a spherical shell, encapsulating material, an external interface, a power and signal conditioning circuit board and the like; the intelligent control system comprises a three-axis magnetoresistive sensor for testing attitude, a three-axis acceleration sensor for testing attitude, a low-range three-axis acceleration sensor for testing vibration, a high-range three-axis acceleration sensor for testing vibration, a microcontroller, a serial communication unit, a conditioning amplifier, an anti-alias filter, a voltage follower, a charge amplifier, a power module and the like; and the vibration source test and location method can realize high-precision underground vibration source location. The sensor and the vibration source test and location method can be used for coal seam goaf monitoring, tunnel hole detection and the location of impact points in ranges and other various vibration sources as well as the research of the related theory of stress waves in a vibration test field.
Description
Technical field
The invention belongs to distributed concussion of blasting measuring technology, passive location technology and sensor technical field, relate to a kind of combined type intelligence shock sensor and focus test position fix method specifically.
Background technology
Subsurface source location technology based on wireless sensor network is in monitored area, subsurface source near field; Sensor node by a large amount of different depth of buryings; Be configured wireless network through self-organization and multi-hop mode; The vibration signal that the perception of cooperation ground, monitoring, collection, processing and transmission focus produce (like what propagate in the explosion near region be shockwave signals, shock wave converts stress wave signal gradually in middle district, and its velocity of propagation be similar to SVEL, is similar to the seismic signal of vibration elastic in the far field); And through analyzing the characteristic of the vibration information that each node collects, to realize the location of focus.
Subsurface source location technology involved in the present invention belongs near field focus location technology, promptly positions in the near region of focus.This technology can solve various focus orientation problems such as underground petroleum exploration, coal seam goaf monitoring, tunnel cavity detection, shellburst location, weapons testing field effectively, and the prospect that has a very wide range of applications in fields such as engineering explosion, national defense and military, environmental monitoring, Safety of Coal Mine Production.
Mainly adopt based on ripple arrival direction localization method (DOA, Direct of Angle) with based on mistiming localization method (TDOA, Time Difference of Arrival) the subsurface source location.Mainly be that the difference at arrival direction angle during through the sensor node acknowledge(ment) signal realizes the location to target source wherein based on ripple arrival direction localization method; Time-of-arrival loaction mainly is through the time delay realization of each sensor node reception signal target source to be located.Along with the development of passive location technology, in order to satisfy the high-precision location requirement, the hybrid locating method that adopts DOA and TDOA to combine becomes the focus of present subsurface source Study of location simultaneously.
In the subsurface source location process, different localization methods need be selected the sensor of different characteristics.When adopting DOA to position, require shock sensor can effectively obtain amplitude, the direction isovector information of three-dimensional vibration signal, have the good linearity, cross sensitivity and between centers rejection ratio simultaneously.When adopting TDOA to position, and do not require that shock sensor can obtain the Vector Message of vibration signal, but require shock sensor to have higher frequency response, can obtain very accurate peak value-temporal information.It is thus clear that in the subsurface source position fixing process, shock sensor characteristics and performance are prerequisite and the guarantees that realizes that DOA and TDOA merge localization method.
At present; In underground vibrations position fixing process, mainly seismoreceiver is installed on ground surface, realize remote focus location; Mix the integrated acceleration detector (patent No.: CN201417314Y) like a kind of three-component photoelectricity; Intelligent 3-component earthquake detector (patent No.: CN1387050A), the moving-coil type seismoreceiver (patent No.: CN201514488U) etc., but in the focus position fixing process of underground near field; There also do not have a kind of existing shock sensor to be adapted to be mounted within to be underground, carries out high-precision DOA and TDOA and merge the location.When being applied to existing shock sensor underground location of carrying out based on DOA and TDOA, there is following problem:
1, shock sensor (comprising wave detector); Usually sensing unit is installed in the protecting crust with certain contour structures and (is generally rectangle, cylindrical or taper), in the environment of near field, because the stress wave radial decay is fast; And common sensor contour structures is (as square; Cylindrical etc.) be difficult to guarantee that it is the axis symmetry with the swash, sensor can produce unbalanced moments in loading process, and the receive force direction and the stress wave propagation direction of sensor and shell can be inconsistent; Make three axial detected vibration information vectors of shock sensor and and the actual stress direction of wave travel between deviation appears; Cause in the position fixing process of subsurface source, can't obtain the angle information that ripple arrives really, cause the DOA location inevitable error to occur.
2, sensor is in underground installation process; In order at utmost not destroy tested place character; Need sensor be installed to the precalculated position through deep hole,, artificially can't three of shock sensor be fixed on the preset direction owing to certain depth is arranged apart from ground; Cause in checkout area; All there are self three vibrations coordinate systems in each shock sensor node, and is difficult to be adapted under the artificial unified coordinate system of setting, thereby can not the vibration information that ripple arrives be converted into the angle information that effective earthwave arrives; The DOA location algorithm can't be realized, the propagation characteristic of stress wave (comprising multiple waveform components such as shear wave, compressional wave) in checkout area can not be studied effectively simultaneously.
3, in the subsurface source position fixing process; In order to improve the acquisition precision of vibration signal; The sensor of different ranges need be installed in the test section of vibration test field different range, but, cause when after actual shock sensor type selecting, testing because there are deviation in actual shockproofness and Theoretical Calculation; The shock sensor that certain node occurs does not have signal, or the phenomenon of the full width of cloth of signal occurs.
When 4, adopting TDOA to position, require sensor to have high frequency response, high overload, and do not require that sensor can obtain the Vector Message of vibrations; Only need obtain the corresponding peak value-temporal information of shockproofness peak value and get final product (being scalar information), therefore, the sensor of this high frequency sound is mainly single shaft; Sensitive axes sensing direction is got final product; But in underground installation process, can't reliably sensitive axes be pointed to the vibrations direction, therefore can't obtain temporal information the most accurately.
Summary of the invention
The objective of the invention is to above existing in prior technology problem, a kind of combined type intelligence shock sensor and focus test position fix method of in monitored area, subsurface source near field, using is provided, to be implemented in the subsurface source location.
For realizing the foregoing invention purpose, technical scheme of the present invention is:
A kind of combined type intelligence shock sensor; It is characterized in that: this shock sensor is a spherical structure, and spherical structure comprises spherical housing, Embedding Material 4, external interface 5, power supply and signal conditioning circuit plate 9, sensor and attitude test circuit board 10, the control circuit board 11 and copper post 12 that is made up of drain pan 1 and top shell 2; Wherein:
Described drain pan 1 is hemisphere and links into an integrated entity with the outside of top shell 2, at described drain pan and shell outside, top hemisphere shelly piezoelectric ceramics 6 is housed; The two sides of piezoelectric ceramics is coated with the two poles of the earth parallel connection of the metal electrode of 8, two hemisphere shellies of metal electrode piezoelectric ceramics 6, and introduces on the power supply and signal conditioning circuit plate 9 in the shell; External interface 5 is equipped with in shell upper end, described top;
Described power supply and signal conditioning circuit plate 9, sensor and attitude test circuit board 10, control circuit board 11 are fixed on spherical housing inside from top to bottom through circuit board mounting hole 16 and copper post 12;
On the spherical housing that described drain pan 1 and top shell 2 are formed, be provided with X axle calibrated holes 14, Y axle calibrated holes 15 and Z axle calibrated holes 13; Described X axle is demarcated mounting hole 14, the Y axle is demarcated mounting hole 15 and laid respectively at high and low measuring range acceleration sensor X, Y axle extended line and the top shell 2 that is used for vibration test, the intersection of drain pan 1 interface; The Z axle is demarcated mounting hole 13 and is positioned at the high and low measuring range acceleration sensor Z axle that is used for vibration test and the intersection of drain pan.
Described sensor and attitude test circuit board 10 have upper and lower panel, and plate is adorned three magnetoresistive transducers 17, the 3-axis acceleration sensor 18 that is used for attitude test that is used for attitude test, the lower range 3-axis acceleration sensor 19 that is used for vibration test in the above; Adorn the high range 3-axis acceleration sensor 20 that is used for vibration test below on the plate; Wherein:
(1) the described lower range 3-axis acceleration sensor that is used for vibration test 19 and the high range 3-axis acceleration sensor 20 that is used for vibration test are installed in the center of upper and lower faces plate respectively;
(2) described three magnetoresistive transducers 17 that are used for attitude test, the 3-axis acceleration sensor 18 that is used for attitude test are positioned at the X axle extended line of lower range acceleration transducer;
(3) the described X axle that is used for three magnetoresistive transducers 17 of attitude test, the X axle and the X axle that is used for the lower range acceleration transducer 19 of vibration test that are used for the 3-axis acceleration sensor 18 of attitude test, the X axle that is used for the high-range acceleration transducer 20 of vibration test are positioned at same axis;
Y axle, the Z axle of above-described all sensor are parallel to each other.
Described a kind of combined type intelligence shock sensor; It is characterized in that: this shock sensor also comprises intelligence control system, and intelligence control system comprises external interface 5, hemisphere shelly piezoelectric ceramics 6, is used for three magnetoresistive transducers 17 of attitude test, is used for the 3-axis acceleration sensor 18 of attitude test, the lower range 3-axis acceleration sensor 19 that is used for vibration test, the high range 3-axis acceleration sensor 20 that is used for vibration test, microcontroller 21, serial communication unit 22, adaptive amplifier 23, frequency overlapped-resistable filter 24, voltage follower 25, charge amplifier 26, power module 27;
Described three magnetoresistive transducers, 3-axis acceleration sensor are connected with microcontroller through universal serial bus; And be connected with external interface through the serial communication unit, described lower range 3-axis acceleration sensor, high range 3-axis acceleration sensor pass through to be connected with external interface behind adaptive amplifier, frequency overlapped-resistable filter, the voltage follower;
Described piezoelectric ceramics passes through to be connected with external interface behind charge amplifier, adaptive amplifier, frequency overlapped-resistable filter, the voltage follower.
Described power module is three magnetoresistive transducers, 3-axis acceleration sensors, be used for the lower range 3-axis acceleration sensor of vibration test, be used for the high range 3-axis acceleration sensor of vibration test, adaptive amplifier, frequency overlapped-resistable filter, charge amplifier, voltage follower, microcontroller and serial communication unit provides power supply.
Described three magnetoresistive transducers and 3-axis acceleration sensor are formed the attitude detection module, be used to detect high and low measuring range acceleration sensor self three-axis reference with the angle between the earth coordinates of magnetic north direction and gravity direction composition.
Described drain pan 1 is the low-density composite that is complementary with soil density with top shell 2; Described Embedding Material 4 is similarly the low-density composite that is complementary with soil density; Described external interface 5 is a multiplex interface.The multiplex interface effect is:
(1) sensor node is after underground installation, and control section to underground transfer cable wire, reads three spool magnetoresistive transducers and 3-axis acceleration sensor detect angle information through serial communication through on the ground on the ground, for sensor power supply is provided simultaneously;
(2) in the vibration test process, control section to underground transfer cable wire, is gathered the vibration signal that high and low measuring range acceleration sensor and piezoelectric ceramics obtain through on the ground on the ground.
A kind of focus test position fix method of combined type intelligence shock sensor; It is characterized in that: in the subsurface source position fixing process; At least arrange four check points around focus, promptly check point is called the vibrations probe node again, is made up of ground control section and underground shock sensor.Shock sensor is embedded in underground; On the shock sensor of each check point is axial magnetoresistive transducer and acceleration transducer are arranged all; Be respectively applied for the sensitive axes that detects shock sensor and depart from the angle of magnetic north direction and gravity direction, gather with the pressure information that the ground control section of check point angle information, oscillatory acceleration information and the piezoelectric ceramics through 5 pairs of underground shock sensors of external interface obtains; The pressure information that utilizes described angle information, oscillatory acceleration information and piezoelectric ceramics to obtain realizes that the method for focus location comprises following three parts:
(1) locatees based on the focus of TDOA
With check point point as a reference; Piezoelectric ceramics pressure-the time signal obtained and the pressure-time signal of obtaining with reference to check point of all the other check points are carried out the time difference measurement LMS based on correlation analysis or auto adapted filtering; Obtain time difference information, confirm the source location through the target localization algorithm.
(2) locate based on the focus of DOA
1) acceleration information that utilizes high and low measuring range acceleration sensor to detect obtains the acceleration peak value of the vibration signal primary wave that each check point detects than method through energy;
2) sensor self coordinate system and the conversion that shakes a coordinate system; Coordinate system conversion is a cartesian coordinate system that magnetic north direction and acceleration of gravity direction are formed as the unified coordinate system of vibrations; Through combined type rotation matrix algorithm; Utilize described angle information, convert each node under the vibrations unified coordinate system acceleration peak value at the acceleration peak value of the concussion of blasting signal primary wave that detects under self coordinate system;
3) based on the DOA location algorithm; Under a vibrations unified coordinate system; The acceleration peak value of the concussion of blasting signal primary wave that above-mentioned each node is detected converts position angle and the angle of pitch of each node with respect to focus into, and utilizes existing DOA multiple spot direction finding cross bearing algorithm to confirm the source location;
(3) TDOA and DOA positioning result data fusion
TDOA source location result and DOA source location result are carried out data fusion; Adopt existing blending algorithm to realize final focus location; Wherein:
TDOA is based on the mistiming localization method, mainly is through the time delay realization of each sensor node reception signal target source to be located;
DOA is based on ripple arrival direction localization method, mainly is that the difference at arrival direction angle during through the sensor node acknowledge(ment) signal realizes the location to target source.
The present invention its compared with prior art, have following advantage:
1, the low-density composite design spherical housing that is complementary of employing and soil density; And use the Embedding Material that is complementary with soil density that mems accelerometer is suspended in the centre of sphere; Guarantee structure-integrated in, it is consistent that sensor and the direction of propagation of vibration signal remain, compared with prior art; The present invention can let mems accelerometer guarantee that farthest the Oscillation Amplitude of shock sensor, direction are identical with Oscillation Amplitude, the direction that vibration signal propagates into this particle; Phase differential goes to zero, and converts the vibration information that obtains into angle information that real ripple arrives, thereby improves the bearing accuracy of DOA.
2, on mems accelerometer circuit board of living in; The posture testing system of being made up of three magnetoresistive transducers and 3-axis acceleration sensor has been installed; Be installed in the underground precalculated position of vibration test field when each sensor node after; Posture testing system can be before subsurface source location, detect three direction of principal axis of sensor with the angle between the earth coordinates of magnetic north direction and gravity direction composition.And after accomplishing vibration test; Through combined type rotation matrix algorithm, three components of acceleration that obtain of each sensor node are adapted under three cartesian coordinate systems of the earth, compared with prior art; Can effectively unify the vibrations field; Reduce the difficulty of actual installation, improve the DOA bearing accuracy, can better study the correlation theory of distributed vibration test field simultaneously.
3, the mems accelerometer of high range and the mems accelerometer of lower range are integrated in the same structure; Formation has the combined type acceleration transducer of great dynamic range; No matter where sensor node is positioned at the vibrations field like this; Can both effectively obtain the concussion of blasting data, improve the bearing accuracy of DOA.
4, the piezoelectric ceramics with spherical structure is affixed on case surface; Because the piezoelectric ceramics frequency response is high; Can pick up very precipitous pressure peak-temporal information, realize high-precision TDOA location, the optional position of spherical piezoelectric ceramics all is a sensitive area simultaneously; Can realize the reception of omnidirectional's vibration signal, greatly reduced shock sensor on underground installation ground difficulty.
The present invention constitutes the vibrations probe unit by piezoelectric ceramics and high and low range mems accelerometer; Realize obtaining of omnidirectional's high frequency scalar vibration information and high and low range vector vibration information; Thereby improved subsurface source locating accuracy based on TDOA and DOA; Dispose after attitude test module that three magnetoresistive transducers and 3-axis acceleration sensor form and coordinate field unify algorithm; Can three of sensor nodes self coordinate independently be adapted in the vibrations coordinate system; Solve greatly underground mounting hardness, the most key is in the subsurface source position fixing process that can solve based on TDOA and DOA, the problem about aspect appearance such as in engineering practice and information obtaining mentioned like preceding text.
The acceleration information that the pressure-temporal information of the high frequency sound that detects through the present invention and real ripple arrive in conjunction with described TDOA and DOA hybrid locating method, can realize that high-precision subsurface source locatees.Compound transducer of the present invention cooperates described mixed positioning algorithm; Various focus location such as coal seam goaf monitoring, tunnel cavity detection, target range point of impact can be effectively realized, the correlation theory of stress wave in the vibration test field can be studied effectively simultaneously.
Description of drawings
Fig. 1 is a structure cut-away view of the present invention.
Fig. 2 is a 3D structural representation of the present invention.
Fig. 3 is sensor of the present invention and attitude test module mounting arrangement figure.
Fig. 4 is a control system theory diagram of the present invention.
Fig. 5 is a vibrations of the present invention coordinate transform process flow diagram.
Fig. 6 is a passive location method flow diagram of the present invention
Among the figure: drain pan 1; Top shell 2; Screw socket 3 is installed; Embedding Material 4; External interface 5; Hemisphere shelly piezoelectric ceramics 6; Adhesive linkage 7; Metal electrode 8; Power supply and signal conditioning circuit plate 9; Sensor and attitude test circuit board 10; Control circuit board 11; Copper post 12; The Z axle is demarcated mounting hole 13; The X axle is demarcated mounting hole 14; The Y axle is demarcated mounting hole 15; Circuit board mounting hole 16; Three magnetoresistive transducers 17 that are used for attitude test; The 3-axis acceleration sensor 18 that is used for attitude test; The lower range 3-axis acceleration sensor 19 that is used for vibration test; The high range 3-axis acceleration sensor 20 that is used for vibration test; Microcontroller 21; Serial communication unit 22; Adaptive amplifier 23; Frequency overlapped-resistable filter 24; Voltage follower 25; Charge amplifier 26; Power module 27.
Embodiment
Specify technical scheme of the present invention below in conjunction with accompanying drawing.
One, a kind of combined type intelligence shock sensor
A kind of combined type intelligence shock sensor is made up of spherical structure and intelligence control system two parts.
1, spherical mounting structure
Fig. 1 and shown in Figure 2, spherical structure comprises: drain pan 1, top shell 2, installation screw socket 3, Embedding Material 4, external interface 5, hemispherical piezoelectric ceramics 6, adhesive linkage 7, metal electrode 8, power supply and signal conditioning circuit plate 9, sensor and attitude test circuit board 10, control circuit board 11, copper post 12, Z axle are demarcated mounting hole 13, the X axle is demarcated mounting hole 14, Y axle demarcation mounting hole 15.
Described drain pan 1, top shell 2 connect through screw socket 3 is installed, and form spherical housing.Shell 2 tops are equipped with external interface 5 on the top, are used for being connected with subsequent acquisition equipment and host computer.
Described power supply and signal conditioning circuit plate 9, sensor and attitude test circuit board 10, control circuit board 11 are fixing through circuit board mounting hole 16 usefulness copper posts 12 from top to bottom; Drain pan 1 is filled with Embedding Material 4 with top shell 2 inner spherical hollow spaces; Through existing dosing technology and Tool and Die Technology; The foregoing circuit plate is fixed in the cavity; And keep sensor and attitude test circuit board 10 to be positioned at the mid-plane of spherical structure, make circuit board, Embedding Material and shell form incorporate rigid structure.
Described Embedding Material is the low-density composite (like glass microballoon and epoxy resin potpourri by a certain percentage) that is complementary with soil density, and described top shell and drain pan are compound substance or the nonmagnetic metal alloys that is complementary with soil density.Because the volume of components and parts on internal circuit board and the sheet, the quality Embedding Material in the cavity.Therefore, the cavity be made up of circuit board, Embedding Material can be thought to be made up of single Embedding Material, the global density and the soil density approximate match of the multiaxis shock sensor that is become by shell, Embedding Material and inner groups of acceleration sensors like this.
The material object that the present invention processes is that diameter is the spheroid of 5cm, and when under this background of clay, an average soil parameter is following: longitudinal wave propagation speed is 2000m/s, and when limit vibration frequency was 6kHz, the wavelength of sensor was less than the sixth of vibration signal wavelength.According to relevant acoustic theory: when the sixth of sensor wavelength less than the vibration signal wavelength; When while sensor global density and soil density approximately equal; Shock sensor can be regarded as shaking a particle in the field; The Oscillation Amplitude of shock sensor, direction are identical with Oscillation Amplitude, the direction that vibration signal propagates into this particle, and phase differential goes to zero.When the vibroseis near field produce be high frequency sound vibration signal such as stress wave or shock wave the time, sensor can not be regarded as particle, in this case; Because whole sensor adopts spherical designs; Density and soil body coupling, the center into spherical structure is located in the acceleration number of delivering a letter, and can farthest avoid stress wave in the inner phenomenons such as refraction, reflection that occur of sensor construction; Effectively obtain the directional information that ripple arrives, improve the DOA locating accuracy.
Described drain pan 1 is equipped with hemispherical piezoelectric ceramics 6 with top shell 2 outsides; The two sides of hemispherical piezoelectric ceramics 6 is coated with metal electrode 8; Hemispherical piezoelectric ceramics 6 is fixed in drain pan 1, top shell 2 surfaces through adhesive linkage 7 (like epoxy resin), through adhesive two hemisphere is bonded to whole ball.Hemispherical piezoelectric ceramics 6 the two poles of the earth on both sides are parallelly connected up and down, and signal is introduced on the power supply and signal conditioning circuit in the shell.
Shown in Figure 3, for demarcating the mounting arrangement synoptic diagram between mounting hole, high and low measuring range acceleration sensor, the attitude test module.Be used for the lower range 3-axis acceleration sensor 19 of vibration test, the high range 3-axis acceleration sensor 20 that is used for vibration test is to realize that the directional information that ripple arrives is the key of Vector Message; But the described lower range 3-axis acceleration sensor 19 that is used for vibration test, be used for the high range 3-axis acceleration sensor 20 outside transmission systems of being made up of piezoelectric ceramics, shell and Embedding Material that exist of vibration test, its characteristic can change along with the variation of transmission system.Through finite element the integral structure that described piezoelectric ceramics, shell, Embedding Material and groups of acceleration sensors become is carried out model analysis; When analyzing, adopt and freely divide gridding technique model is carried out grid dividing; Grid cell adopts C3D10M (the tetrahedron secondary reduction integral unit of promptly revising); Through the axis algorithm simulating, the frequency response that draws this composite structure can reach more than the 17kHz, satisfies the scope of vibration signal frequency.Simultaneously through existing dosing technology, can guarantee of the present invention overload-resistantly greater than several ten thousand g, promptly can survey high-intensity impact signal in the near field.
Wherein, lower range acceleration transducer, three magnetoresistive transducers, 3-axis acceleration sensor layout are on the top panel of sensor and attitude test circuit board, and high-range acceleration transducer is positioned on the lower panel of sensor and attitude test circuit board.Described lower range acceleration transducer is installed on the center of circuit board; Be used for effectively detecting the concussion of blasting signal that vibration amplitude is little, frequency response is low; High-range acceleration transducer is installed on the positive back side of lower range acceleration transducer, is used for effectively detecting vibration amplitude height, the wide vibration signal of frequency response.
Described three magnetoresistive transducers, 3-axis acceleration sensors are positioned on the lower range acceleration transducer X axle extended line; The X axle of three magnetoresistive transducers, the X axle of 3-axis acceleration sensor and lower range acceleration transducer X axle, high-range acceleration transducer X axle are positioned on the same axis, and the Y axle of all the sensors, Z axle all are parallel to each other.
Described X axle is demarcated mounting hole, the Y axle is demarcated mounting hole site in the intersection of height measuring range acceleration sensor X, Y axle extended line and top shell, drain pan interface.The Z axle is demarcated mounting hole site in the intersection of height measuring range acceleration sensor Z axle and drain pan.
Described X axle demarcates that mounting hole 14, Y axle are demarcated mounting hole 15 and the Z axle is demarcated mounting hole 13, when being used for that the present invention carried out the dynamic and static state performance test, be rigidly connected with calibration facility.
2, intelligence control system
Shown in Figure 4; Be the system chart of intelligence control system, intelligence control system comprises: be used for three magnetoresistive transducers 17 of attitude test, the 3-axis acceleration sensor 18 that is used for attitude test, the lower range 3-axis acceleration sensor 19 that is used for vibration test, the high range 3-axis acceleration sensor 20 that is used for vibration test, microcontroller 21, serial communication unit 22, adaptive amplifier 23, frequency overlapped-resistable filter 24, voltage follower 25, charge amplifier 26, power module 27.
Described three magnetoresistive transducers 17 that are used for attitude test, the 3-axis acceleration sensor 18 that is used for attitude test are connected with external interface through microcontroller, serial communication unit; The described high and low measuring range acceleration sensor that is used for vibration test is connected with external interface through adaptive amplifier, frequency overlapped-resistable filter, voltage follower.Described piezoelectric ceramics is connected with external interface through charge amplifier, adaptive amplifier, frequency overlapped-resistable filter, voltage follower.Described power module is three magnetoresistive transducers, 3-axis acceleration sensors, be used for the lower range 3-axis acceleration sensor of concussion of blasting test, high range 3-axis acceleration sensor, charge amplifier, adaptive amplifier, frequency overlapped-resistable filter, voltage follower, microcontroller, the serial communication unit that is used for the concussion of blasting test provides power supply.
Described three magnetoresistive transducers that are used for attitude test adopt three magnetoresistive transducer HMC5883L of the numeral output of Honeywell company; Be connected with microcontroller through iic bus, be used to detect the angle (position angle) that high and low measuring range acceleration sensor X axle departs from magnetic north.The described 3-axis acceleration sensor that is used for attitude test adopts the 3-axis acceleration sensor ADXL345 of the numeral output of ADI company; Be connected with microcontroller through iic bus; On the one hand, be used to detect the angle (angle of pitch, roll angle) that high and low measuring range acceleration sensor departs from a vibrations coordinate system lower horizontal plane; On the other hand, when high and low measuring range acceleration sensor, when being installed in underground non-standard state, three components of compensation magnetoresistive transducer improve the magnetoresistive transducer accuracy of detection.
Described microcontroller adopts the MSP430F149 of TI company, and this is a microcontroller with super low-power consumption, and it is minimum that power consumption of the present invention is reduced to.On the one hand, be used to dispose three magnetoresistive transducers and 3-axis acceleration sensor; On the other hand; Through iic bus, read three magnetoresistive transducers and detected ground of 3-axis acceleration sensor magnetic information and acceleration of gravity information, and through internal arithmetic; Magnetic information dress in ground is changed to the position angle; With the acceleration of gravity information translation is roll angle, the angle of pitch, and through the serial communication unit, position angle, roll angle, angle of pitch information is sent to control section on the ground.
Described lower range 3-axis acceleration sensor adopts the 3-axis acceleration sensor LIS344ALH of ST company simulating signal output, is used for detecting the concussion of blasting test process, low frequency response, the concussion of blasting signal of short arc.Described high range 3-axis acceleration sensor adopts the 3-axis acceleration sensor Model832M1 of Measurement company simulating signal output, is used for detecting the concussion of blasting test process, the concussion of blasting signal of high frequency sound, large amplitude.
Described adaptive amplifier, frequency overlapped-resistable filter and voltage follower are used for the voltage range of high and low measuring range acceleration sensor output, the requirement that resistance value satisfies the user.
Described charge amplifier adopts operational amplifier to build, and the quantity of electric charge that piezoelectric ceramics is exported transfers voltage to, because the voltage signal of output this moment is fainter, through adaptive amplifier, improves its signal to noise ratio (S/N ratio).The signal of piezoelectric ceramics output is satisfied user's requirement through frequency overlapped-resistable filter and voltage follower.
External interface is a multiplex interface, and sensor is after underground installation, and control section to underground transfer cable wire, utilizes the RS485 bus through on the ground on the ground, reads position angle, roll angle and the angle of pitch, for sensor power supply is provided simultaneously; In the concussion of blasting test process, on the ground control section is gathered the concussion of blasting signal that high and low measuring range acceleration sensor and piezoelectric ceramics detect through described transfer cable wire.
Two, use the focus test position fix method of combined type intelligence shock sensor
Focus test position fix method adopts this shock sensor to realize the focus location, arranges a plurality of check points around focus, and promptly check point is called the vibrations probe node again, is made up of ground control section and underground shock sensor.This combined type shock sensor is embedded in underground, the shock sensor of each check point all has magnetoresistive transducer and acceleration transducer on axially, is respectively applied for and detects the angle that the shock sensor sensitive axes departs from magnetic north direction and gravity direction.When focus produced vibration signal, a plurality of combined type intelligence shock sensors obtained signal simultaneously, realized the focus location through signal and the described angle information of obtaining.As shown in Figure 6 based on focus localization method idiographic flow of the present invention, mainly comprise three parts.
1, locatees based on the focus of TDOA
Pressure-time signal that piezoelectric ceramics of the present invention partly obtains is carried out wavelet threshold denoising; Remove the noise that is mingled with in the useful signal; With one of them check point point as a reference; All the other check points pressure-time signal of obtaining and pressure-time signal of obtaining with reference to check point are carried out the time difference measurement LMS based on correlation analysis or auto adapted filtering, obtain time difference information, confirm source location (x through existing target localization algorithm based on the mistiming
1, y
1, z
1).Target algorithm wherein: like traditional chan+taylor algorithm or based on target localization algorithm of population etc.
2, locate based on the focus of DOA
(1) obtains the acceleration peak value of the vibration signal primary wave that each node detects
The acceleration signal that the described high and low range 3-axis acceleration sensor that is used for vibration test is obtained carries out the signal denoising based on HHT, than method, obtains the acceleration peak value of vibration signal primary wave through energy.If the acceleration peak value that wherein high-range acceleration transducer of i sensor is corresponding is (a
Hix, a
Hiy, a
Hiz), the acceleration peak value that the lower range acceleration transducer is corresponding is (a
Lix, a
Liy, a
Liz), if the vibration signal acceleration peak value that i high-range acceleration transducer detects is greater than the investigative range of lower range acceleration transducer, the then acceleration peak value (a of vibration signal primary wave
Ix, a
Iy, a
Iz)=(a
Hix, a
Hiy, a
Hiz) acceleration peak value that promptly adopts high range to detect carries out next step DOA location; If the vibration signal acceleration peak value that high-range acceleration transducer detects is less than or equal to the investigative range of lower range acceleration transducer, be about to (a
Hix, a
Hiy, a
Hiz) and (a
Lix, a
Liy, a
Liz) carry out data fusion (like the weighted mean algorithm), obtain the 3-axis acceleration peak value (a of vibration signal primary wave
Ix, a
Iy, a
Iz).
(2) sensor node self coordinate system and the conversion that shakes a coordinate system
Coordinate system conversion is the cartesian coordinate system that adopts magnetic north direction and acceleration of gravity direction to form; And as the unified coordinate system that shakes the field; Through combined type rotation matrix algorithm, each node is become the acceleration peak value information under the unified coordinate system of vibrations in the acceleration peak value information translation of the concussion of blasting signal primary wave that detects under self coordinate system.
In the subsurface source position fixing process, each sensor node all is installed on underground through deep hole, owing to apart from ground certain height is arranged; Artificially can't each sensor node is inner three self coordinate systems are all unified under the coordinate system, therefore, and in the focus position fixing process; Can't through each node obtain the directional information that arrives of ripple; Directly realize the DOA location, to this problem, the present invention proposes a kind of sensor node self coordinate system and the conversion method that shakes a coordinate system.
In the vibration test field; Each sensor node all can receive the influence of terrestrial magnetic field and acceleration of gravity; In certain areal extent; The magnetic field intensity of terrestrial magnetic field and the size of acceleration of gravity, direction are can approximately constant constant, and therefore setting vibrations is cartesian coordinate system, with the magnetic north direction as the X axle, in the earth surface level with the perpendicular direction of magnetic north as Y axle, terrestrial gravitation direction as the Z axle.
3-axis acceleration sensor and three betwixt mountains Magnetic Sensors are installed on each shock sensor node, and described 3-axis acceleration sensor is used to detect acceleration of gravity and is made as A at its three components of acceleration on axially
X, A
Y, A
Z, and can draw the vertical angle that 3-axis acceleration sensor X axle departs from the earth surface level through existing algorithmic formula (1.1) (1.2)
Be the angle of pitch, the vertical angle θ that the Y axle departs from the earth surface level is a roll angle.Described three betwixt mountains Magnetic Sensors are used to detect the terrestrial magnetic field and are made as H its three magnetic components on axially
X, H
Y, H
Z, and be the position angle through the horizontal sextant angle γ that formula (1.3) (1.4) (1.5) can draw three magnetoresistive transducer X axles and magnetic north direction;
H
Y'=H
Y?cosθ+H
Z?sinθ (1.4)
γ=arctan(H
Y'/H
X′) (1.5)
Three betwixt mountains Magnetic Sensors, 3-axis acceleration sensor and to be used for the installation site of high and low measuring range acceleration sensor of vibration test as shown in Figure 3; Described three magnetoresistive transducers, 3-axis acceleration sensors are positioned on the lower range acceleration transducer X axle extended line; The X axle of three magnetoresistive transducers, the X axle of 3-axis acceleration sensor and lower range acceleration transducer X axle, high-range acceleration transducer X axle are positioned on the same axis, and the Y axle of all the sensors, Z axle all are parallel to each other.Can be got by described installation site synoptic diagram, the position angle that utilizes geomagnetic sensor to calculate is the horizontal sextant angle that described high and low measuring range acceleration sensor X axle departs from a vibrations X axle; The angle of pitch that utilizes acceleration transducer to calculate is the vertical angle that described high and low measuring range acceleration sensor X axle departs from a vibrations X axle; The roll angle that calculates is the vertical angle that described high and low measuring range acceleration sensor Y axle departs from a vibrations Y axle.
With i sensor is example, establishes (a
Ix, a
Iy, a
Iz) be i sensor after underground installation, under self coordinate system, detect the component of acceleration of concussion of blasting signal primary wave; (a
Ix', a
Iy', a
Iz') be that i sensor shaking under the unified coordinate system, detect the component of acceleration of concussion of blasting signal primary wave.Utilize the described angle of pitch
roll angle θ and position angle γ information; Through formula (1.6), can accomplish the component of acceleration conversion.Shown in Figure 5, be concrete vibrations field coordinate transform process flow diagram.
(3) based on the DOA location algorithm
Under a vibrations unified coordinate system; The component of acceleration of the concussion of blasting signal primary wave that above-mentioned each node is detected converts position angle and the angle of pitch of each node with respect to focus into; And utilize existing DOA multiple spot direction finding cross bearing algorithm (like least square cross bearings) based on Newton iteration, realize focus location (x
2, y
2, z
2).
3, positioning result data fusion
With TDOA positioning result (x
1, y
1, z
1) and DOA positioning result (x
2, y
2, z
2) carry out data fusion.Adopt existing blending algorithm (like mixed positioning or weighted least-squares blending algorithm), realize final focus location based on the taylor series expansion, obtain the source location (x, y, z).Wherein:
TDOA is based on the mistiming localization method, mainly is through the time delay realization of each sensor node reception signal target source to be located;
DOA is based on ripple arrival direction localization method, mainly is that the difference at arrival direction angle during through the sensor node acknowledge(ment) signal realizes the location to target source.
After the sensor installation; Utilize control system on the ground; Read attitude informations such as position angle, the angle of pitch and roll angle; In the vibration test process, the pressure information that vibration signal that the high and low measuring range acceleration sensor of control system collection the present invention on the ground detects and piezoelectric ceramics detect.After accomplishing vibration test; On host computer; Utilize the pressure-temporal information of described high frequency sound to carry out focus location based on TDOA; Utilize described attitude information and oscillatory acceleration information to carry out focus location, and both positioning results are realized high-precision mixed positioning through data fusion based on DOA.Compound transducer of the present invention cooperates described mixed positioning algorithm; Multiple focus location such as coal seam goaf monitoring, tunnel cavity detection, target range point of impact can be realized, the correlation theory of stress wave in the vibration test field can be studied effectively simultaneously.Prospect has a very wide range of applications in fields such as engineering explosion, national defense and military, environmental monitoring, Safety of Coal Mine Production.
Claims (5)
1. combined type intelligence shock sensor; It is characterized in that: this shock sensor is a spherical structure, and spherical structure comprises spherical housing, Embedding Material (4), external interface (5), power supply and signal conditioning circuit plate (9), sensor and attitude test circuit board (10), the control circuit board (11) and copper post (12) that is made up of drain pan (1) and top shell (2); Wherein:
The outside of described drain pan and top shell is hemisphere and links into an integrated entity, and at described drain pan and shell outside, top piezoelectric ceramics (6) is housed; The two sides of piezoelectric ceramics is coated with metal electrode (8), the two poles of the earth parallel connection of the metal electrode of two piezoelectric ceramics, and introduce on the power supply and signal conditioning circuit plate in the shell; External interface is equipped with in shell upper end, described top;
Described power supply and signal conditioning circuit plate, sensor and attitude test circuit board, control circuit board 11 are fixed on spherical housing inside from top to bottom through circuit board mounting hole (16) and copper post;
On the spherical housing of described top shell and drain pan composition, be provided with X axle calibrated holes (14), Y axle calibrated holes (15) and Z axle calibrated holes (13); Described X axle is demarcated mounting hole, the Y axle is demarcated mounting hole and laid respectively at high and low measuring range acceleration sensor X, Y axle extended line and the top shell that is used for vibration test, the intersection of drain pan interface; The Z axle is demarcated mounting hole site in the high and low measuring range acceleration sensor Z axle that is used for vibration test and the intersection of drain pan.
2. a kind of combined type intelligence shock sensor according to claim 1; It is characterized in that: described sensor and attitude test circuit board (10) have upper and lower panel, and plate is adorned three magnetoresistive transducers (17), the 3-axis acceleration sensor (18) that is used for attitude test that is used for attitude test, the lower range 3-axis acceleration sensor (19) that is used for vibration test in the above; Adorn the high range 3-axis acceleration sensor (20) that is used for vibration test below on the plate; Wherein:
(1) the described lower range 3-axis acceleration sensor that is used for vibration test and the high range 3-axis acceleration sensor that is used for vibration test are installed in the center of upper and lower faces plate respectively;
(2) described three magnetoresistive transducers that are used for attitude test, the 3-axis acceleration sensor that is used for attitude test are positioned at the X axle extended line of lower range acceleration transducer;
(3) the described X axle that is used for three magnetoresistive transducers of attitude test, the X axle and the X axle that is used for the lower range acceleration transducer of vibration test that are used for the 3-axis acceleration sensor of attitude test, the X axle that is used for the high-range acceleration transducer of vibration test are positioned at same axis;
Y axle, the Z axle of above-described all sensor are parallel to each other.
3. a kind of combined type intelligence shock sensor according to claim 2; It is characterized in that: this shock sensor also comprises intelligence control system, and intelligence control system comprises external interface (5), piezoelectric ceramics (6), is used for three magnetoresistive transducers (17) of attitude test, is used for the 3-axis acceleration sensor (18) of attitude test, the lower range 3-axis acceleration sensor (19) that is used for vibration test, the high range 3-axis acceleration sensor (20) that is used for vibration test, microcontroller (21), serial communication unit (22), adaptive amplifier (23), frequency overlapped-resistable filter (24), voltage follower (25), charge amplifier (26), power module (27);
Described three magnetoresistive transducers, 3-axis acceleration sensor are connected with microcontroller through universal serial bus; And be connected with external interface through the serial communication unit, described lower range 3-axis acceleration sensor, high range 3-axis acceleration sensor pass through to be connected with external interface behind adaptive amplifier, frequency overlapped-resistable filter, the voltage follower;
Described piezoelectric ceramics passes through to be connected with external interface behind charge amplifier, adaptive amplifier, frequency overlapped-resistable filter, the voltage follower.
4. a kind of combined type intelligence shock sensor according to claim 1, it is characterized in that: described drain pan (1) and top shell (2) they are the low-density composite that is complementary with soil density; Described Embedding Material (4) is similarly the low-density composite that is complementary with soil density; Described external interface (5) is a multiplex interface.
5. the focus test position fix method of a kind of combined type intelligence shock sensor according to claim 3; It is characterized in that: in the subsurface source position fixing process; At least arrange four check points around focus; Be that check point is called the vibrations probe node again, form by ground control section and underground shock sensor; Shock sensor is embedded in underground; On the shock sensor of each check point is axial magnetoresistive transducer and acceleration transducer are arranged all; Be respectively applied for the sensitive axes that detects shock sensor and depart from the angle of magnetic north direction and gravity direction, through external interface the pressure information that angle information, oscillatory acceleration information and the piezoelectric ceramics of underground shock sensor obtains is gathered with the ground control section of check point; The pressure information that utilizes described angle information, oscillatory acceleration information and piezoelectric ceramics to obtain realizes that the method for focus location comprises following three parts:
(1) locatees based on the focus of TDOA
With check point point as a reference; Piezoelectric ceramics pressure-the time signal obtained and the pressure-time signal of obtaining with reference to check point of all the other check points are carried out the time difference measurement LMS based on correlation analysis or auto adapted filtering; Obtain time difference information, confirm the source location through the target localization algorithm;
(2) locate based on the focus of DOA
1) acceleration information that utilizes high and low measuring range acceleration sensor to detect obtains the acceleration peak value of the vibration signal primary wave that each check point detects than method through energy;
2) sensor self coordinate system and the conversion that shakes a coordinate system; Coordinate system conversion is a cartesian coordinate system that magnetic north direction and acceleration of gravity direction are formed as the unified coordinate system of vibrations; Through combined type rotation matrix algorithm; Utilize described angle information, convert each node under the vibrations unified coordinate system acceleration peak value at the acceleration peak value of the concussion of blasting signal primary wave that detects under self coordinate system;
3) based on the DOA location algorithm; Under a vibrations unified coordinate system; The acceleration peak value of the concussion of blasting signal primary wave that above-mentioned each node is detected converts position angle and the angle of pitch of each node with respect to focus into, and utilizes existing DOA multiple spot direction finding cross bearing algorithm to confirm the source location;
(3) TDOA and DOA positioning result data fusion
TDOA source location result and DOA source location result are carried out data fusion; Adopt existing blending algorithm to realize final focus location; Wherein:
TDOA is based on the mistiming localization method, mainly is through the time delay realization of each sensor node reception signal target source to be located;
DOA is based on ripple arrival direction localization method, mainly is that the difference at arrival direction angle during through the sensor node acknowledge(ment) signal realizes the location to target source.
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