CN102841371B - 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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- CN102841371B CN102841371B CN201210353274.XA CN201210353274A CN102841371B CN 102841371 B CN102841371 B CN 102841371B CN 201210353274 A CN201210353274 A CN 201210353274A CN 102841371 B CN102841371 B CN 102841371B
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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 blasting vibration test 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, by the sensor node of a large amount of different depth of burying, by the wireless network that self-organization and multi-hop mode are formed, perception collaboratively, monitoring, gather, the vibration signal that process and transmission focus produce (is shockwave signals as what propagate in Near Blasting, in middle district, shock wave is converted to stress wave signal gradually, its velocity of propagation is similar to acoustic velocity, the seismic signal of vibration elastic is similar to) in far field, and by analyzing the feature of the vibration information that each node is collected, to realize the location of focus.
Subsurface source location technology involved in the present invention belongs near field vibroseis positioning techniques, namely positions in the near region of focus.This technology can solve the various seismic source location problem such as underground petroleum exploration, coal seam goaf monitoring, cavity, tunnel 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.
Subsurface source location mainly adopts based on ripple arrival direction localization method (DOA, Direct of Angle) with based on digital method (TDOA, Time Difference of Arrival).Wherein mainly realize the location to target source by the difference at arrival direction angle during sensor node acknowledge(ment) signal based on ripple arrival direction localization method; Time-of-arrival loaction mainly realizes locating target source by the time delay of each sensor node Received signal strength.Along with the development of passive location technology, simultaneously in order to meet high-precision positioning requirements, the hybrid locating method adopting DOA and TDOA to combine becomes the focus of current subsurface source Study of location.
In the process of subsurface source location, different localization methods needs the sensor selecting different characteristics.When adopting DOA to position, requiring that shock sensor effectively can obtain amplitude, the direction isovector information of three-dimensional vibration signal, there is the good linearity, cross sensitivity and between centers rejection ratio simultaneously.When adopting TDOA to position, not requiring that shock sensor can obtain the Vector Message of vibration signal, but requiring that shock sensor has higher frequency response, very accurate peak value-temporal information can be obtained.Visible, in subsurface source position fixing process, shock sensor characteristic and performance realizes prerequisite and the guarantee that DOA and TDOA merges localization method.
At present, in underground vibrations position fixing process, mainly seismoreceiver is installed on ground surface, realize remote seismic source location, as a kind of Tricomponent photoelectricity mixing integration acceleration seismic geophone (patent No.: CN201417314Y), intelligent 3-component earthquake detector (patent No.: CN1387050A), moving-coil seismic detector (patent No.: CN201514488U) etc., but in the seismic source location process of near field, underground, also do not have a kind of existing shock sensor to be adapted to be mounted within underground, carry out high-precision DOA and TDOA and merge location.When existing shock sensor is applied to the location of carrying out based on DOA and TDOA underground, there are the following problems:
1, shock sensor (comprising wave detector), usually sensing unit is arranged in the protecting crust with certain contour structures and (is generally rectangle, cylindrical or taper), in the environment of near field, because stress wave radial decay is fast, and common sensor contour structures is (as square, cylindrical etc.) be difficult to ensure that it take swash as axisymmetrical, sensor can produce unbalanced moments in loading process, Impact direction and the stress wave propagation direction of sensor and shell can be inconsistent, deviation is there is between the vibration information vector that shock sensor three axis are detected and actual stress direction of wave travel, cause in the position fixing process of subsurface source, the angle information that ripple arrives cannot be obtained really, cause DOA to locate and occur inevitable error.
2, sensor is in the installation process of underground, in order at utmost not destroy tested place character, need, by deep hole, sensor is installed to precalculated position, due to apart from have certain depth, artificially cannot three axles of shock sensor be fixed on preset direction, cause in checkout area, each shock sensor node all exist one self three axles vibrations coordinate systems, and under being difficult to be adapted to a unified coordinate system artificially set, thus the vibration information that ripple arrives can not be converted to the angle information of effective earthwave arrival, DOA location algorithm cannot be realized, can not effectively study stress wave (comprises shear wave simultaneously, the multiple waveforms compositions such as compressional wave) propagation characteristic in checkout area.
3, in subsurface source position fixing process, in order to improve the acquisition precision of vibration signal, need the sensor installing different range in the test section of vibration test field different range, but because actual shockproofness and theory calculate exist deviation, cause when testing after actual shock sensor type selecting, occur that the shock sensor of certain node does not have signal, or occur the phenomenon of the full width of signal.
When 4, adopting TDOA to position, require that sensor has high frequency response, high overload, do not require that sensor can obtain the Vector Message of vibrations, only need obtain peak value-temporal information corresponding to shockproofness peak value and get final product (i.e. scalar information), therefore, the sensor of this high frequency sound is mainly single shaft, by sensitive axes sensing direction, but in the installation process of underground, reliably sensitive axes cannot be pointed to vibrations direction, therefore cannot obtain temporal information the most accurately.
Summary of the invention
The object of the invention is for the problem existing for above prior art, provide the intelligent shock sensor of a kind of combined type used in monitored area, subsurface source near field and focus test position fix method, to realize locating at subsurface source.
For achieving the above object, technical scheme of the present invention is:
A kind of combined type intelligence shock sensor, it is characterized in that: this shock sensor is spherical structure, spherical structure comprise be made up of drain pan 1 and top shell 2 spherical housing, Embedding Material 4, external interface 5, power supply and signal conditioning circuit plate 9, sensor and attitude test circuit board 10, control circuit board 11 and copper post 12; Wherein:
Described drain pan 1 is hemisphere with the outside of top shell 2 and links into an integrated entity, and at described drain pan and top shell outside, hemispherical shell piezoelectric ceramics 6 is housed; The two sides of piezoelectric ceramics is coated with metal electrode 8, and the two poles of the earth of the metal electrode of two hemispherical shell piezoelectric ceramics 6 are in parallel, and on the power supply introduced in shell and signal conditioning circuit plate 9; External interface 5 is equipped with in described top shell upper end;
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 by circuit board mounting hole 16 and copper post 12;
The spherical housing that described drain pan 1 and top shell 2 form is provided with X-axis and demarcates hole 14, Y-axis demarcation hole 15 and Z axis demarcation hole 13; Described X-axis demarcates mounting hole 14, Y-axis is demarcated mounting hole 15 and laid respectively at intersection for the high and low measuring range acceleration sensor X of vibration test, Y-axis extended line and top shell 2, drain pan 1 interface; Z axis demarcates the intersection that mounting hole 13 is positioned at high and low measuring range acceleration sensor Z axis for vibration test and drain pan.
Described sensor and attitude test circuit board 10 have upper and lower panel, are used for three axle magnetoresistive transducers 17, the 3-axis acceleration sensor 18 for attitude test, the lower range 3-axis acceleration sensor 19 for vibration test of attitude test at top panel dress; On plate, dress is used for the high range 3-axis acceleration sensor 20 of vibration test below; Wherein:
(1) the lower range 3-axis acceleration sensor 19 for vibration test described in and the high range 3-axis acceleration sensor 20 for vibration test are arranged on the center of upper and lower faces plate respectively;
(2) the three axle magnetoresistive transducers 17 for attitude test described in, the X-axis extended line of low measurement range acceleration sensor is positioned at for the 3-axis acceleration sensor 18 of attitude test;
(3) X-axis of the X-axis of the three axle magnetoresistive transducers 17 for attitude test described in, the X-axis for the 3-axis acceleration sensor 18 of attitude test and low measurement range acceleration sensor 19 for vibration test, same axis is positioned at for the X-axis of the high-range acceleration transducer 20 of vibration test;
Y-axis, the Z axis of above-described all sensors are parallel to each other.
Described a kind of combined type intelligence shock sensor, it is characterized in that: this shock sensor also comprises intelligent control system, intelligent control system comprises external interface 5, hemispherical shell piezoelectric ceramics 6, for three axle magnetoresistive transducers 17 of attitude test, for the 3-axis acceleration sensor 18 of attitude test, for the lower range 3-axis acceleration sensor 19 of vibration test, for the high range 3-axis acceleration sensor 20 of vibration test, microcontroller 21, serial communication unit 22, matching amplifier 23, frequency overlapped-resistable filter 24, voltage follower 25, charge amplifier 26, power module 27,
Three described axle magnetoresistive transducers, 3-axis acceleration sensor are connected with microcontroller by universal serial bus, and be connected with external interface by serial communication unit, described lower range 3-axis acceleration sensor, high range 3-axis acceleration sensor are by being connected with external interface after matching amplifier, frequency overlapped-resistable filter, voltage follower;
Described piezoelectric ceramics is by being connected with external interface after charge amplifier, matching amplifier, frequency overlapped-resistable filter, voltage follower.
Described power module is three axle magnetoresistive transducers, 3-axis acceleration sensor, the lower range 3-axis acceleration sensor for vibration test, the high range 3-axis acceleration sensor for vibration test, matching amplifier, frequency overlapped-resistable filter, charge amplifier, voltage follower, microcontroller and serial communication unit provide power supply.
Three described axle magnetoresistive transducers and 3-axis acceleration sensor composition attitude detection module, for detect self three-axis reference of high and low measuring range acceleration sensor and form with magnetic north direction and gravity direction earth coordinates between angle.
Described drain pan 1 and top shell 2 are the low-density composite matched with soil density; Described Embedding Material 4 is similarly the low-density composite matched with soil density; Described external interface 5 is multiplex interface.Multiplex interface effect is:
(1) sensor node is after the installation of underground, and the transfer cable wire of ground control section through ground to underground, reads three axle magnetoresistive transducers by serial communication and 3-axis acceleration sensor detects angle information, simultaneously for sensor provides power supply;
(2) in vibration test process, control section is by the transfer cable wire on the ground to underground on the ground, gathers the vibration signal of high and low measuring range acceleration sensor and piezoelectric ceramics acquisition.
A kind of focus test position fix method of combined type intelligence shock sensor, it is characterized in that: in subsurface source position fixing process, at least arrange four check points around focus, namely check point is also called vibrations probe node, is made up of ground control section and underground shock sensor.Shock sensor is embedded in underground, the shock sensor of each check point axially has magnetoresistive transducer and acceleration transducer, be respectively used to detect the angle that the sensitive axes of shock sensor departs from magnetic north direction and gravity direction, gather with the pressure information that the ground control section of check point is obtained by the angle information of external interface 5 pairs of underground shock sensors, oscillatory acceleration information and piezoelectric ceramics; The method that the pressure information that angle information described in utilization, oscillatory acceleration information and piezoelectric ceramics obtain realizes seismic source location comprises following three parts:
(1) based on the seismic source location of TDOA
As a reference point with a check point, the pressure versus time signal obtained by the piezoelectric ceramics of all the other check points carries out the time difference measurement LMS based on correlation analysis or auto adapted filtering with the pressure versus time signal obtained with reference to check point, obtain time difference information, determine source location by target location algorithm.
(2) based on the seismic source location of DOA
1) acceleration information utilizing 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 by energy ratio function;
2) conversion of sensor local Coordinate System and Motion Field coordinate system; It is as the unified coordinate system of Motion Field using the cartesian coordinate system of magnetic north direction and acceleration of gravity direction composition that coordinate system carries out changing, by combined type rotation matrix algorithm, angle information described in utilization, the acceleration peak value of the Blasting Vibration Signal primary wave detected under local Coordinate System by each node converts the acceleration peak value under Motion Field unified coordinate system to;
3) based on DOA location algorithm, under Motion Field unified coordinate system, the acceleration peak value of the Blasting Vibration Signal primary wave detected by above-mentioned each node is converted to each node relative to the position angle of focus and the angle of pitch, and utilizes existing DOA multiple spot direction cross positioning algorithm to determine source location;
(3) TDOA and DOA positioning result data fusion
TDOA source location result and DOA source location result are carried out data fusion; Existing blending algorithm is adopted to realize final seismic source location; Wherein:
TDOA is based on digital method, mainly realizes locating target source by the time delay of each sensor node Received signal strength;
DOA is based on ripple arrival direction localization method, mainly realizes the location to target source by the difference at arrival direction angle during sensor node acknowledge(ment) signal.
The present invention its compared with prior art, tool has the following advantages:
1, the low-density composite matched with soil density is adopted to design spherical housing, and with the Embedding Material matched with soil density, mems accelerometer is suspended in the centre of sphere, while guarantee is structure-integrated, sensor remains consistent with the direction of propagation of vibration signal, compared with prior art, the present invention can allow mems accelerometer farthest ensure the Oscillation Amplitude of shock sensor, direction and vibration signal propagate into the Oscillation Amplitude of this particle, direction is identical, phase differential goes to zero, and the vibration information of acquisition is converted to the angle information of real ripple arrival, thus improve the positioning precision of DOA.
2, on circuit board residing for mems accelerometer, the posture testing system be made up of three axle magnetoresistive transducers and 3-axis acceleration sensor has been installed, after each sensor node is arranged on the precalculated position, underground of vibration test field, posture testing system before subsurface source location, can detect the angle between three direction of principal axis of sensor and the earth coordinates formed with magnetic north direction and gravity direction.And after completing vibration test, by combined type rotation matrix algorithm, under the component of acceleration that each sensor node three axle obtains being adapted to the earth three axle cartesian coordinate systems, compared with prior art, effectively can unify Motion Field, reduce the difficulty of actual installation, improve DOA positioning precision, better can 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 same structure, form the combined type acceleration transducer with great dynamic range, no matter where such sensor node is positioned at Motion Field, can effectively obtain concussion of blasting data, improve the positioning precision of DOA.
4, the piezoelectric ceramics of spherical structure is affixed on case surface, because piezoelectric ceramics frequency response is high, very precipitous pressure peak-temporal information can be picked up, realize high-precision TDOA to locate, the optional position of spherical piezoelectric pottery is all sensitive area simultaneously, the reception of omnidirectional's vibration signal can be realized, considerably reduce shock sensor and ground difficulty is installed in underground.
The present invention is by piezoelectric ceramics and height, lower range mems accelerometer forms vibrations probe unit, realize omnidirectional's high frequency scalar vibration information and height, the acquisition of lower range vector vibration information, thus improve the precision that the subsurface source based on TDOA and DOA locates, configure upper three axle magnetoresistive transducers and 3-axis acceleration sensor composition attitude test module and coordinate field Unified Algorithm after, can sensor node three axle self coordinate be independently adapted in Motion Field coordinate system, the difficulty that great solution underground is installed, the most key is to solve in the subsurface source position fixing process based on TDOA and DOA, as mentioned above about produced problem in engineering practice and acquisition of information etc.
The acceleration information that the pressure versus time information of the high frequency sound detected by the present invention and real ripple are arrived, in conjunction with described in TDOA and DOA hybrid locating method, high-precision subsurface source location can be realized.Mixed positioning algorithm described in compound transducer of the present invention coordinates, effectively can realize the various seismic source location such as coal seam goaf monitoring, tunnel cavity detection, target range point of impact, effectively can study the correlation theory of stress wave in vibration test field simultaneously.
Accompanying drawing explanation
Fig. 1 is structure cut-away view of the present invention.
Fig. 2 is 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 control system theory diagram of the present invention.
Fig. 5 is Motion Field coordinate transform process flow diagram of the present invention.
Fig. 6 is passive location method flow diagram of the present invention
In figure: drain pan 1, top shell 2, screw socket 3 is installed, Embedding Material 4, , external interface 5, hemispherical shell 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 axis demarcates mounting hole 13, X-axis demarcates mounting hole 14, Y-axis demarcates mounting hole 15, circuit board mounting hole 16, for three axle magnetoresistive transducers 17 of attitude test, for the 3-axis acceleration sensor 18 of attitude test, for the lower range 3-axis acceleration sensor 19 of vibration test, for the high range 3-axis acceleration sensor 20 of vibration test, microcontroller 21, serial communication unit 22, matching amplifier 23, frequency overlapped-resistable filter 24, voltage follower 25, charge amplifier 26, power module 27.
Embodiment
Technical scheme of the present invention is described in detail 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 intelligent control system two parts.
1, spherical mounting structure
Shown in Fig. 1 and Fig. 2, spherical structure comprises: drain pan 1, top shell 2, install 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 axis demarcate mounting hole 13, X-axis demarcates mounting hole 14, Y-axis demarcates mounting hole 15.
Described drain pan 1, top shell 2 connect by installing screw socket 3, form spherical housing.On top shell 2 top, external interface 5 is installed, 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 fixed by circuit board mounting hole 16 copper post 12 from top to bottom, the spherical hollow space of drain pan 1 and top shell 2 inside is filled with Embedding Material 4, by existing dosing technology and Tool and Die Technology, foregoing circuit plate is fixed in 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 form integrated rigid structure with shell.
Described Embedding Material is the low-density composite (as glass microballoon and epoxy resin potpourri by a certain percentage) matched with soil density, and described top shell and drain pan are the compound substance or nonmagnetic metal alloy that match with soil density.Because the volume of components and parts on internal circuit board and sheet, quality are much smaller than the Embedding Material in 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 of the multiaxis shock sensor become by shell, Embedding Material and inner groups of acceleration sensors like this and soil density approximate match.
The spheroid of the material object that the present invention makes to be diameter be 5cm, when under this background of clay, average native field parameters is as follows: longitudinal wave propagation speed is 2000m/s, and when limit vibration frequency is 6kHz, the wavelength of sensor is less than 1/6th of vibration signal wavelength.Theoretical according to associated acoustic: when sensor wavelength is less than 1/6th of vibration signal wavelength, simultaneously when sensor global density and soil density approximately equal, shock sensor can be considered as a particle in Motion Field, the Oscillation Amplitude of shock sensor, direction and vibration signal propagate into the Oscillation Amplitude of this particle, direction is identical, and phase differential goes to zero.When vibroseis near field produce be the high frequency sound such as stress wave or shock wave vibration signal time, sensor can not be considered as particle, in this case, because whole sensor adopts spherical designs, density is mated with the soil body, and the acceleration number of delivering a letter place enters the center of spherical structure, can farthest avoid stress wave to occur the phenomenons such as refraction, reflection in sensor construction inside, the directional information that effective acquisition ripple arrives, improves the precision of DOA location.
Described drain pan 1 is equipped with hemispherical piezoelectric ceramics 6 with top shell 2 outside, the two sides of hemispherical piezoelectric ceramics 6 is coated with metal electrode 8, hemispherical piezoelectric ceramics 6 passes through adhesive linkage 7(as epoxy resin) be fixed on drain pan 1, top shell 2 surface, by adhesive, two hemisphere are bonded to whole ball.Hemispherical piezoelectric ceramics 6 the two poles of the earth on upper and lower both sides are in parallel, and on power supply signal introduced in shell and signal conditioning circuit.
Shown in Fig. 3, for demarcating the mounting arrangement schematic diagram between mounting hole, high and low measuring range acceleration sensor, attitude test module.Lower range 3-axis acceleration sensor 19 for vibration test, the high range 3-axis acceleration sensor 20 for vibration test realize the directional information of ripple arrival and the key of Vector Message, but there is the transmission system be made up of piezoelectric ceramics, shell and Embedding Material in the described lower range 3-axis acceleration sensor 19 for vibration test, the high range 3-axis acceleration sensor 20 for vibration test outside, its characteristic can change along with the change of transmission system.By finite element, model analysis is carried out to the integral structure that described piezoelectric ceramics, shell, Embedding Material and groups of acceleration sensors become, free grid division technology is adopted to carry out stress and strain model to model when analyzing, grid cell adopts C3D10M (the tetrahedron secondary reduction integral unit namely revised), by axis algorithm simulating, show that the frequency response of this composite structure can reach more than 17kHz, meet the scope of vibration signal frequency.Simultaneously by existing dosing technology, can ensure of the present inventionly overload-resistantly to be greater than several ten thousand g, namely can detect the impact signal of high strength near field.
Wherein, low measurement range acceleration sensor, three axle 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 low measurement range acceleration sensor is installed on the center of circuit board, the Blasting Vibration Signal that vibration amplitude is little for effectively detecting, frequency response is low, high-range acceleration transducer is installed on the positive back side of low measurement range acceleration sensor, the vibration signal that vibration amplitude is high for effectively detecting, frequency response is wide.
Three described axle magnetoresistive transducers, 3-axis acceleration sensor are positioned on low measurement range acceleration sensor X-axis extended line, the X-axis of three axle magnetoresistive transducers, the X-axis of 3-axis acceleration sensor and low measurement range acceleration sensor X-axis, high-range acceleration transducer X-axis are positioned on same axis, and the Y-axis of all the sensors, Z axle are all parallel to each other.
Described X-axis demarcates mounting hole, Y-axis demarcates mounting hole site in the intersection of high-low-range acceleration transducer X, Y-axis extended line and top shell, drain pan interface.Z axis demarcates mounting hole site in the intersection of high-low-range acceleration transducer Z axis and drain pan.
Described X-axis demarcates mounting hole 14, Y-axis demarcates mounting hole 15 and Z axis demarcates mounting hole 13, for carrying out dynamic and static state performance test to the present invention time, be rigidly connected with calibration facility.
2, intelligent control system
Shown in Fig. 4, for the system chart of intelligent control system, intelligent control system comprises: for three axle magnetoresistive transducers 17, the 3-axis acceleration sensor 18 for attitude test, the lower range 3-axis acceleration sensor 19 for vibration test, the high range 3-axis acceleration sensor 20 for vibration test, microcontroller 21, serial communication unit 22, matching amplifier 23, frequency overlapped-resistable filter 24, voltage follower 25, charge amplifier 26, the power module 27 of attitude test.
The described three axle magnetoresistive transducers 17 for attitude test, the 3-axis acceleration sensor 18 for attitude test are connected with external interface through microcontroller, serial communication unit; The described high and low measuring range acceleration sensor for vibration test is connected with external interface through matching amplifier, frequency overlapped-resistable filter, voltage follower.Described piezoelectric ceramics is connected with external interface through charge amplifier, matching amplifier, frequency overlapped-resistable filter, voltage follower.Described power module is three axle magnetoresistive transducers, 3-axis acceleration sensor, the lower range 3-axis acceleration sensor for blasting vibration test, the high range 3-axis acceleration sensor for blasting vibration test, charge amplifier, matching amplifier, frequency overlapped-resistable filter, voltage follower, microcontroller, serial communication unit provide power supply.
The three axle magnetoresistive transducer HMC5883L that the described three axle magnetoresistive transducers for attitude test adopt the numeral of Honeywell company to export, being connected with microcontroller by iic bus, departing from the angle (position angle) of magnetic north for detecting high and low measuring range acceleration sensor X-axis.The 3-axis acceleration sensor ADXL345 that the described 3-axis acceleration sensor for attitude test adopts the numeral of ADI company to export, be connected with microcontroller by iic bus, on the one hand, the angle (angle of pitch, roll angle) of Motion Field coordinate system lower horizontal plane is departed from for detecting high and low measuring range acceleration sensor; On the other hand, when high and low measuring range acceleration sensor, when being arranged on underground non-standard state, compensating magnetoresistive transducer three axle component, improve magnetoresistive transducer accuracy of detection.
Described microcontroller adopts the MSP430F149 of TI company, and this is a microcontroller with super low-power consumption, power consumption of the present invention can be made to be down to minimum.On the one hand, for configuring three axle magnetoresistive transducer and 3-axis acceleration sensors; On the other hand, pass through iic bus, read Geomagnetism Information and acceleration of gravity information that three axle magnetoresistive transducers and 3-axis acceleration sensor detect, and pass through internal arithmetic, Geomagnetism Information dress is changed to position angle, acceleration of gravity information is converted to roll angle, the angle of pitch, and by 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 analog signal output, for detecting in blasting vibration test process, and low frequency response, the Blasting Vibration Signal of short arc.Described high range 3-axis acceleration sensor adopts the 3-axis acceleration sensor Model832M1 of Measurement company analog signal output, for detecting in blasting vibration test process, and the Blasting Vibration Signal of high frequency sound, large amplitude.
Voltage range, resistance value that described matching amplifier, frequency overlapped-resistable filter and voltage follower are used for being exported by high and low measuring range acceleration sensor meet the requirement of user.
Described charge amplifier adopts operational amplifier to build, and transfers the quantity of electric charge that piezoelectric ceramics exports to voltage, because the voltage signal now exported is fainter, by matching amplifier, improves its signal to noise ratio (S/N ratio).By frequency overlapped-resistable filter and voltage follower, the signal that piezoelectric ceramics exports is met the requirement of user.
External interface is multiplex interface, and sensor is after the installation of underground, and control section is through the transfer cable wire on the ground to underground on the ground, utilizes RS485 bus, reads position angle, roll angle and the angle of pitch, simultaneously for sensor provides power supply; In blasting vibration test process, control section is gathered the Blasting Vibration Signal that high and low measuring range acceleration sensor and piezoelectric ceramics detect by described transfer cable wire on the ground.
Two, the focus test position fix method of combined type intelligence shock sensor is used
Focus test position fix method adopts this shock sensor to realize seismic source location, arranges multiple check point around focus, and namely check point is also called vibrations probe node, is made up of ground control section and underground shock sensor.This combined type shock sensor is embedded in underground, and the shock sensor of each check point axially has magnetoresistive transducer and acceleration transducer, is respectively used to the angle that detection shock sensor sensitive axes departs from magnetic north direction and gravity direction.When focus produces vibration signal, multiple combined type intelligence shock sensor obtains signal, by signal and the described angle information realization seismic source location of acquisition simultaneously.Based on seismic source location method idiographic flow of the present invention as shown in Figure 6, three parts are mainly comprised.
1, based on the seismic source location of TDOA
The pressure versus time signal that piezoelectric ceramics part of the present invention obtains is carried out wavelet threshold denoising, remove the noise be mingled with in useful signal, as a reference point with one of them check point, the pressure versus time signal obtained by all the other check points carries out the time difference measurement LMS based on correlation analysis or auto adapted filtering with the pressure versus time signal obtained with reference to check point, obtain time difference information, determine source location (x by the existing target location algorithm based on the mistiming
1, y
1, z
1).Wherein target algorithm: as traditional chan+taylor algorithm or the target location algorithm etc. based on population.
2, based on the seismic source location of DOA
(1) acceleration peak value of the vibration signal primary wave that each node detects is obtained
The acceleration signal that the described high and low range 3-axis acceleration sensor being used for vibration test obtains is carried out the signal denoising based on HHT, by energy ratio function, obtains the acceleration peak value of vibration signal primary wave.If the acceleration peak value that wherein high-range acceleration transducer of i-th sensor is corresponding is (a
hix, a
hiy, a
hiz), the acceleration peak value that low measurement range acceleration sensor is corresponding is (a
lix, a
liy, a
liz), if the vibration signal acceleration peak value that i-th high-range acceleration transducer detects is greater than the investigative range of low measurement range acceleration sensor, then acceleration peak value (a of vibration signal primary wave
ix, a
iy, a
iz)=(a
hix, a
hiy, a
hiz) namely adopt the acceleration peak value that detects of high range to carry 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 low measurement range acceleration sensor, be about to (a
hix, a
hiy, a
hiz) and (a
lix, a
liy, a
liz) carry out data fusion (as Weighted Average Algorithm), obtain the 3-axis acceleration peak value (a of vibration signal primary wave
ix, a
iy, a
iz).
(2) conversion of sensor node local Coordinate System and Motion Field coordinate system
It is the cartesian coordinate system adopting magnetic north direction and acceleration of gravity direction composition that coordinate system carries out changing, and as the unified coordinate system of Motion Field, by combined type rotation matrix algorithm, the acceleration peak value information of the Blasting Vibration Signal primary wave detected under local Coordinate System by each node converts the acceleration peak value information under the unified coordinate system of Motion Field to.
In subsurface source position fixing process, each sensor node is installed on underground by deep hole, due to apart from have certain height, under artificially three axle local Coordinate Systems of each sensor node inside all cannot being unified a coordinate system, therefore, in seismic source location process, cannot by each node obtain ripple arrive directional information, directly realize DOA location, for this problem, the present invention proposes the conversion method of a kind of sensor node local Coordinate System and Motion Field coordinate system.
In vibration test field, each sensor node can be subject to the impact of terrestrial magnetic field and acceleration of gravity, in certain regional extent, the magnetic field intensity of terrestrial magnetic field and the size of acceleration of gravity, direction can approximately constant constant, therefore setting Motion Field is cartesian coordinate system, and using magnetic north direction as X-axis, perpendicular with magnetic north in the earth surface level direction is as Y-axis, terrestrial gravitation direction as Z axis.
Each shock sensor node is provided with 3-axis acceleration sensor and three axle geomagnetic sensors, described 3-axis acceleration sensor is set to A for detecting acceleration of gravity at its three components of acceleration axially
x, A
y, A
z, and can show that 3-axis acceleration sensor X-axis departs from the vertical angle of the earth surface level by existing algorithmic formula (1.1) (1.2)
the i.e. angle of pitch, Y-axis departs from vertical angle θ and the roll angle of the earth surface level.Three described axle geomagnetic sensors are set to H for detecting terrestrial magnetic field in its three magnetic components axially
x, H
y, H
z, and horizontal sextant angle γ and the position angle in three axle magnetoresistive transducer X-axis and magnetic north direction can be drawn by formula (1.3) (1.4) (1.5);
H
Y'=H
Ycosθ+H
Zsinθ (1.4)
γ=arctan(H
Y'/H
X′) (1.5)
Three axle geomagnetic sensors, 3-axis acceleration sensor and for the high and low measuring range acceleration sensor of vibration test installation site as shown in Figure 3, three described axle magnetoresistive transducers, 3-axis acceleration sensor are positioned on low measurement range acceleration sensor X-axis extended line, the X-axis of three axle magnetoresistive transducers, the X-axis of 3-axis acceleration sensor and low measurement range acceleration sensor X-axis, high-range acceleration transducer X-axis are positioned on same axis, and the Y-axis of all the sensors, Z axis are all parallel to each other.Can be obtained by described installation site schematic diagram, utilize the position angle that geomagnetic sensor calculates, be the horizontal sextant angle that described high and low measuring range acceleration sensor X-axis departs from Motion Field X-axis; The angle of pitch utilizing acceleration transducer to calculate is the vertical angle that described high and low measuring range acceleration sensor X-axis departs from Motion Field X-axis; The roll angle calculated is the vertical angle that described high and low measuring range acceleration sensor Y-axis departs from Motion Field Y-axis.
For i-th sensor, if (a
ix, a
iy, a
iz) be i-th sensor after the installation of underground, under local Coordinate System, detect the component of acceleration of Blasting Vibration Signal primary wave; (a
ix', a
iy', a
iz') be i-th sensor under Motion Field unified coordinate system, detect the component of acceleration of Blasting Vibration Signal primary wave.The angle of pitch described in utilization
roll angle θ and position angle γ information, by formula (1.6), can complete component of acceleration conversion.Shown in Fig. 5, it is concrete Motion Field coordinate transform process flow diagram.
(3) based on DOA location algorithm
Under Motion Field unified coordinate system, the component of acceleration of the Blasting Vibration Signal primary wave detected by above-mentioned each node is converted to each node relative to the position angle of focus and the angle of pitch, and utilize existing DOA multiple spot direction cross positioning algorithm (the least square cross bearings as based on Newton iteration), realize seismic source location (x
2, y
2, z
2).
3, positioning result data fusion
By 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 (as based on the mixed positioning of taylor series expansion or weighted least-squares blending algorithm), realize final seismic source location, obtain source location (x, y, z).Wherein:
TDOA is based on digital method, mainly realizes locating target source by the time delay of each sensor node Received signal strength;
DOA is based on ripple arrival direction localization method, mainly realizes the location to target source by the difference at arrival direction angle during sensor node acknowledge(ment) signal.
After sensor installation, utilize control system on the ground, read the attitude informations such as position angle, the angle of pitch and roll angle, in vibration test process, on the ground control system gathers vibration signal that the high and low measuring range acceleration sensor of the present invention detects and the pressure information that piezoelectric ceramics detects.After completing vibration test, on host computer, the pressure versus time information of the high frequency sound described in utilization carries out the seismic source location based on TDOA, attitude information described in utilization and oscillatory acceleration information carry out the seismic source location based on DOA, and both positioning results are realized high-precision mixed positioning by data fusion.Mixed positioning algorithm described in compound transducer of the present invention coordinates, the multiple seismic source location such as coal seam goaf monitoring, tunnel cavity detection, target range point of impact can be realized, effectively can study the correlation theory of stress wave in vibration test field simultaneously.Have a very wide range of applications in fields such as engineering explosion, national defense and military, environmental monitoring, Safety of Coal Mine Production prospect.
Claims (5)
1. a combined type intelligence shock sensor, it is characterized in that: this shock sensor is spherical structure, spherical structure comprise be made up of drain pan (1) and top shell (2) spherical housing, Embedding Material (4), external interface (5), power supply and signal conditioning circuit plate (9), sensor and attitude test circuit board (10), control circuit board (11) and copper post (12); Wherein:
Described drain pan and the outside of top shell are hemisphere and link into an integrated entity, and at described drain pan and top shell outside, piezoelectric ceramics (6) are housed; The two sides of piezoelectric ceramics is coated with metal electrode (8), and the two poles of the earth of the metal electrode of two piezoelectric ceramics are in parallel, and on the power supply introduced in shell and signal conditioning circuit plate; External interface is equipped with in described top shell upper end;
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 by circuit board mounting hole (16) and copper post;
The spherical housing that described top shell and drain pan form is provided with X-axis and demarcates mounting hole (14), Y-axis demarcation mounting hole (15) and Z axis demarcation mounting hole (13); Described X-axis demarcates mounting hole, Y-axis is demarcated mounting hole and laid respectively at intersection for the high and low measuring range acceleration sensor X of vibration test, Y-axis extended line and top shell, drain pan interface; Z axis demarcates mounting hole site in for the high and low measuring range acceleration sensor Z axis of 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, be used for three axle magnetoresistive transducers (17), the 3-axis acceleration sensor (18) for attitude test, the lower range 3-axis acceleration sensor (19) for vibration test of attitude test at top panel dress; On plate, dress is used for the high range 3-axis acceleration sensor (20) of vibration test below; Wherein:
(1) the lower range 3-axis acceleration sensor for vibration test described in is arranged on the center of upper and lower faces plate respectively with the high range 3-axis acceleration sensor for vibration test;
(2) the three axle magnetoresistive transducers for attitude test described in, the X-axis extended line of low measurement range acceleration sensor is positioned at for the 3-axis acceleration sensor of attitude test;
(3) X-axis of the X-axis of the three axle magnetoresistive transducers for attitude test described in, the X-axis for the 3-axis acceleration sensor of attitude test and low measurement range acceleration sensor for vibration test, same axis is positioned at for the X-axis of the high-range acceleration transducer of vibration test;
Y-axis, the Z axis of above-described all sensors 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 intelligent control system, intelligent control system comprises external interface (5), piezoelectric ceramics (6), for three axle magnetoresistive transducers (17) of attitude test, for the 3-axis acceleration sensor (18) of attitude test, for the lower range 3-axis acceleration sensor (19) of vibration test, for the high range 3-axis acceleration sensor (20) of vibration test, microcontroller (21), serial communication unit (22), matching amplifier (23), frequency overlapped-resistable filter (24), voltage follower (25), charge amplifier (26), power module (27),
Three described axle magnetoresistive transducers, 3-axis acceleration sensor are connected with microcontroller by universal serial bus, and be connected with external interface by serial communication unit, described lower range 3-axis acceleration sensor, high range 3-axis acceleration sensor are by being connected with external interface after matching amplifier, frequency overlapped-resistable filter, voltage follower;
Described piezoelectric ceramics is by being connected with external interface after charge amplifier, matching amplifier, frequency overlapped-resistable filter, voltage follower.
4. a kind of combined type intelligence shock sensor according to claim 1, is characterized in that: described drain pan (1) and top shell (2) are the low-density composite matched with soil density; Described Embedding Material (4) is similarly the low-density composite matched with soil density; Described external interface (5) is 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 subsurface source position fixing process, four check points are at least arranged around focus, namely check point is also called vibrations probe node, is made up of ground control section and underground shock sensor; Shock sensor is embedded in underground, the shock sensor of each check point axially has magnetoresistive transducer and acceleration transducer, be respectively used to detect the angle that the sensitive axes of shock sensor departs from magnetic north direction and gravity direction, by external interface, the pressure information that the angle information of underground shock sensor, oscillatory acceleration information and piezoelectric ceramics obtain gathered with the ground control section of check point; The method that the pressure information that angle information described in utilization, oscillatory acceleration information and piezoelectric ceramics obtain realizes seismic source location comprises following three parts:
(1) based on the seismic source location of TDOA
As a reference point with a check point, the pressure versus time signal obtained by the piezoelectric ceramics of all the other check points carries out the time difference measurement LMS based on correlation analysis or auto adapted filtering with the pressure versus time signal obtained with reference to check point, obtain time difference information, determine source location by target location algorithm;
(2) based on the seismic source location of DOA
1) acceleration information utilizing 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 by energy ratio function;
2) conversion of sensor local Coordinate System and Motion Field coordinate system; It is as the unified coordinate system of Motion Field using the cartesian coordinate system of magnetic north direction and acceleration of gravity direction composition that coordinate system carries out changing, by combined type rotation matrix algorithm, angle information described in utilization, the acceleration peak value of the Blasting Vibration Signal primary wave detected under local Coordinate System by each node converts the acceleration peak value under Motion Field unified coordinate system to;
3) based on DOA location algorithm, under Motion Field unified coordinate system, the acceleration peak value of the Blasting Vibration Signal primary wave detected by above-mentioned each node is converted to each node relative to the position angle of focus and the angle of pitch, and utilizes existing DOA multiple spot direction cross positioning algorithm to determine source location;
(3) TDOA and DOA positioning result data fusion
TDOA source location result and DOA source location result are carried out data fusion; Existing blending algorithm is adopted to realize final seismic source location; Wherein:
TDOA is based on digital method, mainly realizes locating target source by the time delay of each sensor node Received signal strength;
DOA is based on ripple arrival direction localization method, mainly realizes the location to target source by the difference at arrival direction angle during sensor node acknowledge(ment) signal.
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