CN107843642A - A kind of marine structure defect ac magnetic field three-dimensional imaging detection probe - Google Patents
A kind of marine structure defect ac magnetic field three-dimensional imaging detection probe Download PDFInfo
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- CN107843642A CN107843642A CN201610827008.4A CN201610827008A CN107843642A CN 107843642 A CN107843642 A CN 107843642A CN 201610827008 A CN201610827008 A CN 201610827008A CN 107843642 A CN107843642 A CN 107843642A
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- 230000007547 defect Effects 0.000 title claims abstract description 40
- 238000001514 detection method Methods 0.000 title claims abstract description 16
- 239000000523 sample Substances 0.000 title claims abstract description 15
- 238000003384 imaging method Methods 0.000 title claims abstract description 13
- 238000012545 processing Methods 0.000 claims abstract description 31
- 230000005284 excitation Effects 0.000 claims abstract description 25
- 238000007789 sealing Methods 0.000 claims abstract description 17
- 238000004804 winding Methods 0.000 claims abstract description 4
- 238000001914 filtration Methods 0.000 claims description 21
- 238000003491 array Methods 0.000 claims description 5
- 239000004677 Nylon Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 239000004033 plastic Substances 0.000 claims description 3
- 230000003321 amplification Effects 0.000 claims 1
- 238000003199 nucleic acid amplification method Methods 0.000 claims 1
- 238000012856 packing Methods 0.000 claims 1
- 238000007689 inspection Methods 0.000 abstract description 5
- 230000035945 sensitivity Effects 0.000 abstract description 5
- 238000009434 installation Methods 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000005684 electric field Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 2
- 230000005672 electromagnetic field Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009659 non-destructive testing Methods 0.000 description 2
- 238000009877 rendering Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011002 quantification Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
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- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
Abstract
The invention discloses a kind of marine structure defect ac magnetic field three-dimensional imaging detection probe, including watertight sealing joint, sealing gasket, it is characterised in that：Also include housing, the bottom coordinated with housing, the U-shaped magnetic core first of equal size and U-shaped magnetic core second, the excitation coil second for being wrapped in the excitation coil first of U-shaped magnetic core first crossbeam, being wrapped in U-shaped magnetic core second crossbeam, the sensor circuit board and signal processing circuit board of the installation axle TMR sensor of one row three in housing, the crossbeam of the U-shaped magnetic core first and U-shaped magnetic core second be placed in parallel and between be provided with certain spacing, excitation coil first is identical with the enamel-covered wire winding direction of excitation coil second.The beneficial effects of the invention are as follows：Effectively solve flaw detection sensitivity and precision problem using three screw alley magneto-resistor magnetic field (TMR) sensors of high accuracy, using double-U-shaped incentive structure, effectively increase excitation uniform current region, reduce the missing inspection and erroneous judgement of defect.
Description
Technical field
The present invention relates to underwater technical field of nondestructive testing, more particularly to a kind of underwater structure defect ac magnetic field three
Tie up imaging detection probe.
Background technology
Marine structure has a wide range of applications in fields such as development of resources, Shipping, port constructions, is ocean engineering
The important tool and platform of exploitation.Due to the particular surroundings being on active service under ocean water, underwater structure is easy to produce all kinds
The defects of.Alternating current field measurement technology is a kind of new electromagnetic nondestructive testing, has that lift-off is insensitive, accurate quantification
Defect, without demarcation etc. a little, be especially suitable for the detection of underwater structure defect.
Conventional AC electromagnetic field detection is popped one's head in judges the presence of defect by the way of characteristic signal or butterfly diagram, visually
Change degree is low, it is necessary to giveed training to personnel, can only reflect the depth of defect, length information using two characteristic signals Bx, Bz,
The three-dimensional distorted magnetic field and defect three-dimensional dimension (depth, length and width) information of defect can not intuitively be reflected.Conventional AC electricity
Magnet field probe uses coil type sensor, and the quick difference of zero degree, precision is low, limited for the recognition capability of tiny flaw, and coil type
Sensor is limited by manufacture craft, it is difficult to make the precision of sensor array, sensitivity consistent, causes the background that imaging is shown not
Uniformly, the erroneous judgement of defect is brought.Conventional driver coil or single U-shaped current-carrying coil are in uniform current region caused by works surface
It is small, the electric field of Nonuniform Domain Simulation of Reservoir is readily possible to detect to sensor array, defect erroneous judgement and disturbing factor is introduced, is unfavorable for defect
Visible.Conventional AC electromagnetic field detection probe is internal only to include excitation coil and sensor, not comprising flaw indication
Processing module, it is faint in detection probe and long signal processing apparatus signal wire the defects of signal attenuation it is serious, and cable
Or the disturbance of probe can cause very big deformations signal, can cause the missing inspection or erroneous judgement of defect.
The content of the invention
The purpose of the present invention is aiming at prior art deficiency, there is provided a kind of marine structure defect ac magnetic field three
Imaging detection probe is tieed up, effectively solves flaw detection sensitivity using three screw alley magneto-resistor magnetic field (TMR) sensors of high accuracy
And precision problem, can rendering space distortion Bx, By and Bz, realize defect three-dimensional distorted magnetic field real-time display and high accuracy into
Picture, reliable data supporting is provided for defect three-dimensional dimension (length, width and depth) inverting, using double-U-shaped incentive structure, is had
Effect increase excitation uniform current region, in probe enclosed inside signal processing module, reduces the missing inspection and erroneous judgement of defect.
A kind of marine structure defect ac magnetic field three-dimensional imaging detection probe, including watertight sealing joint, sealing gasket, its
It is characterised by：Also include housing, the bottom coordinated with housing, the U-shaped magnetic core first of equal size and U-shaped magnetic core in housing
Second, the excitation coil first for being wrapped in U-shaped magnetic core first crossbeam, the excitation coil second for being wrapped in U-shaped magnetic core second crossbeam, one row three of installation
The sensor circuit board and signal processing circuit board of axle TMR sensor, the U-shaped magnetic core first are parallel with the crossbeam of U-shaped magnetic core second
Place and between be provided with certain spacing, the leg and bottom upper surface of U-shaped magnetic core first and U-shaped magnetic core second, excitation coil first
It is identical with the enamel-covered wire winding direction of excitation coil second, the sensor circuit board length direction and the crossbeam side of U-shaped magnetic core first
It is located at the central lower of U-shaped magnetic core first crossbeam, the X-direction of three axle TMR sensors to vertical and sensor circuit board width
The magnetic field signal Bx of output and the Bx signal transactings array of signal processing circuit board connect, the Y-direction output of three axle TMR sensors
Magnetic field signal By and the By signal transactings array of signal processing circuit board connect, the magnetic of the Z-directions of three axle TMR sensors output
The Bz signal transactings array of field signal Bz and signal processing circuit board connects.
Two corner angle are provided with fillet above the housing, and the watertight sealing joint is arranged on housing side and is located at U-shaped magnetic core
Between first and U-shaped magnetic core second, the bottom is arranged on by nut in the groove of housing, and sealing gasket is arranged on housing seal groove first
In the cavity formed between bottom seal groove second, the material of the housing and bottom is nylon plastic(s), the sensor electricity
Road plate is arranged in the elongated slot of bottom, and three axle TMR sensors are closely arranged along sensor circuit board length direction, three axle TMR
Sensor is highly 3mm with the lift-off of bottom lower surface, and signal processing circuit board is arranged on the screw hole above housing using screw.
The signal processing circuit board is provided with Bx signal transactings array, By signal transactings array and Bz signal transacting arrays,
Each group of signal transacting array includes one-level differential amplifier circuit, biasing circuit and two level filtering and amplifying circuit, and described one is differential
Amplifying circuit is divided to connect two level filtering and amplifying circuit by biasing circuit, the biasing circuit passes through the wherein axle of resistance adjustment three
The drift of TMR sensor, the filtration module in the two level filtering and amplifying circuit are quadravalence active power filtering, the Bx signal transactings
The array multiplication factor total to Bx flaw indications is 50 times, and By signal transactings array and Bz signal transactings array are to flaw indication By
It it is 100 times with multiplication factor total Bz.
Brief description of the drawings
Accompanying drawing 1 is the overall structure figure of the present invention.
Accompanying drawing 2 is the cut-away view of the present invention.
Accompanying drawing 3 is the sectional view of the present invention.
Accompanying drawing 4 is the double-U-shaped magnetic core installation site figure of the present invention.
Accompanying drawing 5 is the probing shell structure chart of the present invention.
Accompanying drawing 6 is the signal processing circuit board structural representation of the present invention.
Accompanying drawing 7 is the signal processing circuit figure of the present invention.
The defects of accompanying drawing 8 is present invention characteristic signal Bx images.
The defects of accompanying drawing 9 is present invention characteristic signal By images.
The defects of accompanying drawing 10 is present invention characteristic signal Bz images.
In upper figure：Housing (1), fillet (1.1), screw hole (1.2), groove (1.3), seal groove first (1.4), bottom (2),
Raised (2.1), nut (2.2), elongated slot (2.3), seal groove second (2.4), watertight sealing joint (3), sensor circuit board (4), three
Axle TMR sensor (5), sealing gasket (6), U-shaped magnetic core first (7), U-shaped magnetic core second (8), excitation coil first (9), excitation coil second
(10), signal processing circuit board (11), screw (11.1), Bx signal transactings array (11.2), By signal transactings array (11.3),
Bz signal transactings array (11.4), one-level differential amplifier circuit (11.5), biasing circuit (11.6), two level filtering and amplifying circuit
(11.7)。
Embodiment
With reference to accompanying drawing 1-7, the invention will be further described：
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The all other embodiment obtained on the premise of creative work is not paid, belongs to the scope of protection of the invention.
It should be noted that in the case where not conflicting, the feature in embodiments of the invention and embodiment can be mutual
Combination.
As shown in figures 1 to 6, the present invention includes housing (1), the bottom (2) coordinated with housing (1), in housing (1)
The U-shaped magnetic core first (7) of equal size and U-shaped magnetic core second (8), it is wrapped in the excitation coil first (9) of U-shaped magnetic core first (7) crossbeam, twines
It is wound on the excitation coil second (10) of U-shaped magnetic core second (8) crossbeam, the sensor circuit board of the axle TMR sensor (5) of a row three is installed
(4) and signal processing circuit board (11), the crossbeam of the U-shaped magnetic core first (7) and U-shaped magnetic core second (8) be placed in parallel and between set
There are the leg and bottom (2) upper surface of certain spacing, U-shaped magnetic core first (7) and U-shaped magnetic core second (8), excitation coil first (9)
It is identical with the enamel-covered wire winding direction of excitation coil second (10), sensor circuit board (4) length direction and U-shaped magnetic core first
(7) crossbeam direction is vertically and sensor circuit board (4) width is located at the central lower of U-shaped magnetic core first (7) crossbeam, three axles
The magnetic field signal Bx and signal processing circuit board (11) of the X-direction output of TMR sensor (5) Bx signal transactings array (11.2)
Connection, the magnetic field signal By and signal processing circuit board (11) of the Y-direction output of three axle TMR sensors (5) By signal transactings
Array (11.3) connects, the magnetic field signal Bz and signal processing circuit board (11) of the Z-direction output of three axle TMR sensors (5)
Bz signal transactings array (11.4) connects.
As shown in Figure 2-5, two corner angle are provided with fillet (1.1), watertight sealing joint (3) installation above the housing (1)
In housing (1) side and between U-shaped magnetic core first (7) and U-shaped magnetic core second (8), watertight sealing joint (3) carries sealing function,
The bottom (2) is arranged on by nut (2.2) in the groove (1.3) of housing (1), and sealing gasket (6) seals installed in housing (1)
In the cavity formed between groove first (1.4) and bottom (2) seal groove second (2.4), bottom (2) compresses sealing gasket (6) and forms bottom
The material of waterproof sealing, the housing (1) and bottom (2) is nylon plastic(s), and the sensor circuit board (4) is arranged on bottom
(2) in elongated slot (2.3), three axle TMR sensors (5) are closely arranged along sensor circuit board (4) length direction, three axle TMR
Sensor (5) and bottom (2) lower surface lift-off are highly 3mm, and signal processing circuit board (11) is arranged on using screw (11.1)
Screw hole (1.2) above housing (1).
As shown in fig. 6-7, the signal processing circuit board (11) is provided with Bx signal transactings array (11.2), By signal transactings
Array (11.3) and Bz signal transactings array (11.4), each group of signal transacting array include one-level differential amplifier circuit
(11.5), biasing circuit (11.6) and two level filtering and amplifying circuit (11.7), the one-level differential amplifier circuit (11.5) pass through
Biasing circuit (11.6) connection two level filtering and amplifying circuit (11.7), the biasing circuit (11.6) pass through wherein resistance adjustment three
The drift of axle TMR sensor (5), the filtration module in the two level filtering and amplifying circuit (11.7) are quadravalence active power filtering, institute
It is 50 times to state Bx signal transactings array (11.2) multiplication factor total to Bx flaw indications, By signal transactings array (11.3) and Bz
Signal transacting array (11.4) multiplication factor total to flaw indication By and Bz is 100 times.
Same sinusoidal excitation signal parallel connection is loaded onto excitation coil first (9) and excitation coil second (10), two excitation lines
Alternating magnetic field frequency caused by circle is identical and each moment is each along same direction, and two magnetic fields are formed and magnetic field can be under water
Metallic structures surface forms the uniform electric field of a large area, disturbs when when electric field running into works surface the defects of
Dynamic, disturbance electric field causes space magnetic field to distort, when pop one's head in inswept defect when, the axle TMR of array three on bottom (2) is sensed
Device (5) pick-up structure thing surface space three-dimensional distorted magnetic field Bx, By and Bz, the distorted magnetic field Bx of X-direction are picked up and passed through
Bx signal transactings array (11.2) processing of signal processing circuit board (11), amplifies 5 times by one-level differential amplifier circuit first, its
It is secondary by biasing circuit return to zero, ensure three axle TMR sensors each direction measure magnetic field sensitivity, precision and biasing it is identical,
The uniform display of flaw indication can be just realized, finally amplifies 10 times by two level filtering and amplifying circuit and carries out the active filter of quadravalence
Ripple, final defect X-direction distorted magnetic field Bx sensor arrays imaging is as shown in figure 8, the depth of Bx depth information D reflection defects
Information；The distorted magnetic field By of Y-direction by signal processing circuit board (11) By signal transactings array (11.3) handle, first by
One-level differential amplifier circuit amplifies 10 times, is secondly returned to zero by biasing circuit, finally amplifies 10 by two level filtering and amplifying circuit
Again and quadravalence active power filtering is carried out, final defect Y-direction distorted magnetic field By sensor arrays imaging is as shown in figure 9, By width
Direction size W reflects the width dimensions of defect；The distorted magnetic field Bz of Z-direction passes through at the Bz signals of signal processing circuit board (11)
Array (11.4) processing is managed, amplifies 10 times by one-level differential amplifier circuit first, secondly returns to zero by biasing circuit, finally pass through
Two level filtering and amplifying circuit amplifies 10 times and carries out quadravalence active power filtering, final defect Z-direction distorted magnetic field Bz sensor arrays
Imaging is as shown in Figure 10, and the distance between Bz peak values and trough L reflect the length dimension of defect, realizes the three-dimensional dimension inspection of defect
Test and appraisal are estimated.
The beneficial effects of the invention are as follows：Effectively solve to lack using three screw alley magneto-resistor magnetic field (TMR) sensors of high accuracy
Fall into detection sensitivity and precision problem, can rendering space distortion Bx, By and Bz, realize the aobvious in real time of defect three-dimensional distorted magnetic field
Show and high accuracy is imaged, reliable data supporting is provided for defect three-dimensional dimension (length, width and depth) inverting, using double U
Type incentive structure, effectively increase excitation uniform current region, in probe enclosed inside signal processing module, reduce the missing inspection of defect
And erroneous judgement.
The present invention is not limited to above-mentioned embodiment, according to the above, according to the ordinary technical knowledge of this area
And customary means, under the premise of the above-mentioned basic fundamental thought of the present invention is not departed from, the present invention can also make other diversified forms
Equivalent modifications, replacement or change, belong to protection scope of the present invention.
Claims (3)
1. a kind of marine structure defect ac magnetic field three-dimensional imaging detection probe, it is characterized in that：Including watertight sealing joint, close
Packing, it is characterised in that：Also include housing, with housing coordinate bottom, in housing the U-shaped magnetic core first of equal size with
U-shaped magnetic core second, the excitation coil first for being wrapped in U-shaped magnetic core first crossbeam, the excitation coil second for being wrapped in U-shaped magnetic core second crossbeam, peace
Fill the sensor circuit board and signal processing circuit board of the axle TMR sensor of a row three, the U-shaped magnetic core first and U-shaped magnetic core second
Crossbeam be placed in parallel and between be provided with certain spacing, leg and the bottom upper surface of U-shaped magnetic core first and U-shaped magnetic core second, swash
It is identical with the enamel-covered wire winding direction of excitation coil second to encourage coil first, the sensor circuit board length direction and U-shaped magnetic core first
Crossbeam direction is vertical and sensor circuit board width is located at the central lower of U-shaped magnetic core first crossbeam, three axle TMR sensors
X-direction output magnetic field signal Bx and signal processing circuit board Bx signal transactings array connect, the Y of three axle TMR sensors
The magnetic field signal By of direction output and the By signal transactings array of signal processing circuit board connect, the Z-direction of three axle TMR sensors
The magnetic field signal Bz of output and the Bz signal transactings array of signal processing circuit board connect.
2. a kind of marine structure defect ac magnetic field three-dimensional imaging detection probe according to claim 1, its feature
It is：Two corner angle are provided with fillet above the housing, and the watertight sealing joint is arranged on housing side and is located at U-shaped magnetic core first and U
Between type magnetic core second, the bottom is arranged on by nut in the groove of housing, and sealing gasket is arranged on housing seal groove first and bottom
In the cavity formed between lid seal groove second, the material of the housing and bottom is nylon plastic(s), the sensor circuit board
In the elongated slot of bottom, three axle TMR sensors are closely arranged along sensor circuit board length direction, three axle TMR sensings
Device is highly 3mm with the lift-off of bottom lower surface, and signal processing circuit board is arranged on the screw hole above housing using screw.
3. a kind of marine structure defect ac magnetic field three-dimensional imaging detection probe according to claim 1, its feature
It is：The signal processing circuit board is provided with Bx signal transactings array, By signal transactings array and Bz signal transacting arrays, each group
Signal transacting array includes one-level differential amplifier circuit, biasing circuit and two level filtering and amplifying circuit, the one-level differential amplification
Circuit connects two level filtering and amplifying circuit by biasing circuit, and the biasing circuit is sensed by the wherein axle TMR of resistance adjustment three
The drift of device, the filtration module in the two level filtering and amplifying circuit are quadravalence active power filtering, the Bx signal transactings array pair
The total multiplication factor of Bx flaw indications is 50 times, and By signal transactings array and Bz signal transactings array are total to flaw indication By and Bz
Multiplication factor be 100 times.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610827008.4A CN107843642B (en) | 2016-09-18 | 2016-09-18 | Three-dimensional imaging detection probe for defects of ocean structures through alternating current electromagnetic field |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610827008.4A CN107843642B (en) | 2016-09-18 | 2016-09-18 | Three-dimensional imaging detection probe for defects of ocean structures through alternating current electromagnetic field |
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| Publication Number | Publication Date |
|---|---|
| CN107843642A true CN107843642A (en) | 2018-03-27 |
| CN107843642B CN107843642B (en) | 2020-11-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610827008.4A Active CN107843642B (en) | 2016-09-18 | 2016-09-18 | Three-dimensional imaging detection probe for defects of ocean structures through alternating current electromagnetic field |
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Cited By (7)
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|---|---|---|---|---|
| CN109001819A (en) * | 2018-05-07 | 2018-12-14 | 哈尔滨工程大学 | A kind of marine magnetism detection device and detection network for underwater monitoring |
| CN109001818A (en) * | 2018-05-07 | 2018-12-14 | 哈尔滨工程大学 | Tunnel magneto resistance ocean gradient magnetic instrument |
| CN109668956A (en) * | 2019-01-22 | 2019-04-23 | 中国海洋石油集团有限公司 | Marine riser weld defect ac magnetic field array detection probe |
| CN110220967A (en) * | 2019-06-03 | 2019-09-10 | 南京航空航天大学 | A kind of ACFM technology tufted crack surfaces profile automatic identifying method |
| CN111189905A (en) * | 2020-01-09 | 2020-05-22 | 中国石油大学(华东) | Three-dimensional size evaluation method for corrosion defects of underwater structure based on alternating-current electromagnetic field |
| CN112378994A (en) * | 2020-11-09 | 2021-02-19 | 华东理工大学 | Electromagnetic detection probe for deep defects of metal component based on TMR magnetoresistive sensor array |
| CN113466948A (en) * | 2021-09-03 | 2021-10-01 | 北京科技大学 | Electromagnetic radiation direction-finding positioning system for coal rock destruction |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN109001818A (en) * | 2018-05-07 | 2018-12-14 | 哈尔滨工程大学 | Tunnel magneto resistance ocean gradient magnetic instrument |
| CN109668956A (en) * | 2019-01-22 | 2019-04-23 | 中国海洋石油集团有限公司 | Marine riser weld defect ac magnetic field array detection probe |
| CN110220967A (en) * | 2019-06-03 | 2019-09-10 | 南京航空航天大学 | A kind of ACFM technology tufted crack surfaces profile automatic identifying method |
| CN110220967B (en) * | 2019-06-03 | 2022-12-23 | 南京航空航天大学 | Automatic identification method for cluster crack surface profile by ACFM technology |
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| CN111189905B (en) * | 2020-01-09 | 2023-09-05 | 中国石油大学(华东) | Three-dimensional size assessment method for corrosion defect of underwater structure based on alternating-current electromagnetic field |
| CN112378994A (en) * | 2020-11-09 | 2021-02-19 | 华东理工大学 | Electromagnetic detection probe for deep defects of metal component based on TMR magnetoresistive sensor array |
| CN112378994B (en) * | 2020-11-09 | 2024-04-30 | 华东理工大学 | Electromagnetic detection probe for deep defects of metal component based on TMR (total magnetic resistance) magnetoresistive sensor array |
| CN113466948A (en) * | 2021-09-03 | 2021-10-01 | 北京科技大学 | Electromagnetic radiation direction-finding positioning system for coal rock destruction |
| US11567230B1 (en) | 2021-09-03 | 2023-01-31 | University Of Science And Technology Beijing | Direction-finding and positioning system of electromagnetic emission of coal or rock fracture |
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