CN109828236A - A kind of microseism/acoustic emission source locating method in labyrinth containing dead zone - Google Patents
A kind of microseism/acoustic emission source locating method in labyrinth containing dead zone Download PDFInfo
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- 230000004807 localization Effects 0.000 claims abstract description 19
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- 239000002245 particle Substances 0.000 claims description 2
- 230000002093 peripheral effect Effects 0.000 claims 1
- 239000011435 rock Substances 0.000 description 6
- 238000001514 detection method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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Abstract
The invention discloses microseism/acoustic emission source locating methods in a kind of labyrinth containing dead zone, comprising the following steps: step 1, a sensor is respectively installed in multiple and different positions on two-dimensional localization region；Step 2, record different sensors receive the difference of the real time for the P wave signal that unknown microseism/acoustic emission source generates；Step 3 chooses node, the difference of theoretical hourage of the P wave signal that the microseism/acoustic emission source excited at calculate node generates from node to different sensors on localization region；Step 4, the departure degree of each node Yu unknown microseism/acoustic emission source is judged according to the difference of the difference of real time and theoretical hourage, the determining and the smallest node of microseism/acoustic emission source departure degree, using the node coordinate as microseism/acoustic emission source positioning coordinate.The present invention can more accurately position microseism/acoustic emission source in labyrinth containing dead zone.
Description
Technical field
The present invention relates to microseism/acoustic emission source locating methods in a kind of labyrinth containing dead zone.
Background technique
With the utilization of superficial part mineral resources petered out with the underground space, mining and underground engineering just constantly to
Deep carries out.In deep area, huge crustal stress is concentrated plus tectonic stress bring stress, so that deep rock mass is put aside
A large amount of energy.The disturbance of underground excavation bring and unloading, so that the energy abrupt release of rock mass, forms rock burst hazard.In recent years
Come, On Microseismic Monitoring Technique effectively has section as one kind, and control can be monitored to rock burst.In addition, in mechanical detection, sound hair
It penetrates (AE) detection and is used as a kind of non-destructive testing technology, just get growing concern for and use.
Microseism/acoustic emission source positioning is one of problem most classical, most basic in microseism/acoustic emission monitor(ing).At present in rock
Body, machinery used in localization method assume velocity of wave field be uniform velocity of wave field, by microseism/acoustic emission source between sensor most
The shortest distance path (straight line path) of short time path point-to-point transmission replaces, and then is positioned.However, in the mine of exploitation
Under the environment such as mountain, solution cavity, tunnel, actual stratum can encounter the dead zone system of the complexity such as tunnel, stope.In addition, mechanical detection
In generally also have the structural members containing much more irregular cavity.It is known that the spread speed of elastic wave in solids is much larger than air
In.Thus, when elastic wave is propagated in the labyrinth containing dead zone, from microseism/acoustic emission source to sensor most in short-term
Between path will be the curvilinear path for getting around dead zone, and be no longer equivalent to the shortest distance path of point-to-point transmission.If continued to use flat
Equal velocity of wave carries out microseism/acoustic emission source positioning, that will seriously affect the precision of positioning.In order to solve this problem, it is necessary to mention
One kind can more meet wave actual propagation situation, the higher microseism/acoustic emission source locating method of precision out.
Summary of the invention
Technical problem solved by the invention is, for existing microseism/acoustic emission source locating method in the complexity containing dead zone
Positioning accuracy is poor in structure, provides microseism/acoustic emission source locating method in the completely new labyrinth containing dead zone of one kind, it is contemplated that
The actual conditions of elastic wave propagation can more accurately be completed to position.
In order to solve the above technical problems, solution of the present invention is as follows:
A kind of microseism/acoustic emission source locating method in labyrinth containing dead zone, comprising the following steps:
Step 1: environmental preparation；
A sensor is respectively installed in multiple and different positions on two-dimensional localization region, and the position of each sensor is
Know；
Step 2: data acquisition；
The P wave signal that unknown true microseism/acoustic emission source generates is received by sensor, records k-th of sensor Sk
The real time for receiving P wave signal isCalculate two sensor SlWith sensor SkReceive the real time of P wave signal
DifferenceM is the sum for receiving the sensor of P wave signal；
Step 3: theoretical value calculates；
Determine the specific location of dead zone on two-dimensional localization region；Two-dimensional localization region is evenly dividing as n grid, each
The central point of grid (can also be by each net boundary o'clock as a node, relative to by net center of a lattice as a node
Point is used as node, can further improve positioning accuracy), obtain the set comprising n node；
Respectively by each node P in setijPosition is excited as potential microseism/acoustic emission source, and carries out following meter
It calculates:
Track PijTo the theoretical the shortest time path of k-th of sensor, length is denoted asIf PijIn dead zone, then
It enables
Calculate PijLocate the microseism excited/acoustic emission source generation P wave signal from PijTo k-th of sensor SkTheoretical travelling
TimeWherein C is spread speed of the P wave signal in non-dead zone, is unknown quantity；
Calculate sensor SlWith sensor SkThe theoretical time for receiving P wave signal difference
Step 4: location Calculation；
Introduce DijTo describe node PijWith the departure degree of unknown microseism/acoustic emission source, DijCalculation formula are as follows:
When node is located in dead zone, then there is Dij=∞；
Corresponding n D will be obtained by n nodeijValue, and DijValue it is bigger, indicate node PijWith unknown microseism/sound
The departure degree of emission source is bigger, thereby determines that in all nodes with the smallest node of microseism/acoustic emission source departure degree (most
Small DijIt is worth corresponding node), using the node coordinate as microseism/acoustic emission source positioning coordinate.
Two-dimensional localization region is evenly dividing as n grid, central point (or boundary point) conduct of each grid by the present invention
One node has microseism/sound emission, the theoretical the shortest time path of calculate node to sensor, by P wave in imaginary node
Spread speed C of the signal in non-dead zone is substituted into unknown number, obtains the theoretical hourage that P wave signal reaches each sensor.Again
The real time that P wave signal is received according to the sensor measured is acquired inclined between each node and true microseism/acoustic emission source
Difference, the corresponding node coordinate of minimum deviation value are considered microseism/acoustic emission source generation coordinate.
Further, in step 1,4 or more different locations respectively install a sensor on two-dimensional localization region.
Further, in step 3, P is tracked using A* algorithm, ant group algorithm or particle swarm algorithmijTo k-th of sensor
Theoretical the shortest time path.
Further, in step 3, P is tracked using A* algorithmijTo the theoretical the shortest time path of k-th of sensor, and
In A* algorithm search present node next step path node step, the h node layer of present node periphery is considered, and to working as prosthomere
Whether therewith h layer of all nodes in point periphery judge the local path direction of itself and present node formation front layer, i.e. layer one by one
The local path direction that certain nodes and present node are formed in layer of the number less than h repeats, and repeats if it exists, then removes these sections
Point, then using remaining node as the possible path node of present node next step, calculated.
Further, the h value is 2,3 or 4.
In practical applications, A* algorithm is generally only considered in extensions path node by the 1st layer of section of present node periphery
Point (8 direction neighborhood node) is as possible path node (descendant node) in next step, i.e., to only considering from present node 8
The local path in a direction, as shown in Fig. 1 (a).In order to more effectively track shortest path, present invention improves over A* algorithms, allow
Present node and the node of surrounding more layers establish effective connection, so that getting over from the direction of the local path of present node
More, the path of tracking is more accurate.The h layers of number of nodes N=(2h+1) for including in present node periphery2-(2h-1)2.Work as present node
When node foundation with its 2 layers of periphery contacts, in next step possible path node share 24 (first layer 8, the second layer 16
It is a).But the local path direction due to thering is part of nodes and present node to be formed in h layer of the node in present node periphery and
The local path direction that some nodes and present node are formed in internal layer (layer that the number of plies is less than h) repeats, therefore does not consider this part
Node removes this part of nodes as possible path node in next step to reduce calculation amount.Respectively such as Fig. 1 (b)~Fig. 1 (d)
Show 2 layers of present node and its periphery, 3 layers, the foundation of 4 node layers contact, and after removing the duplicate node in direction, in next step
Possible path node number and position, wherein node number is respectively 16,32,48.
The utility model has the advantages that
The present invention is for there are the dead zone systems of the complexity such as tunnel, stope under the environment such as mine, solution cavity, the tunnel of exploitation
Situation considers elastic wave actual propagation path in the medium well, tracks elastic wave from microseism/acoustic emission source to sensing
The shortest time path that dead zone is got around between device, allows it close to true path, and is no longer traditional not meet actual two o'clock
Between shortest distance path (linear distance path) so that microseism/acoustic emission source positioning accuracy under complex environment mentions significantly
It is high.Elastic wave can be met when microseism/Acoustic Emission location of the present invention and get around the truth that dead zone is propagated, it is easy to operate；Without pre-
Velocity of wave is first measured, object to be positioned can be allowed to be positioned in real time to it under operating conditions.
Detailed description of the invention
Fig. 1 is that the node of A* algorithm expands mode 1 (using grid element center point as node).
Fig. 2 is that the node of A* algorithm expands mode 2 (using grid marginal point as node).
Fig. 3 is the complex plane schematic diagram containing dead zone.
Fig. 4 is two kinds of localization method comparative result figures.
Specific embodiment
The present invention is described in further details below with reference to the drawings and specific embodiments.
The invention discloses microseism/acoustic emission source locating methods in a kind of labyrinth containing dead zone, comprising the following steps:
Step 1: environmental preparation；
A sensor (on two-dimensional localization region 4 differences are respectively installed in multiple and different positions on two-dimensional localization region
Position is respectively installed by one sensor)；
Step 2: data acquisition；
The P wave signal that unknown true microseism/acoustic emission source generates is received by sensor, records k-th of sensor Sk
The real time for receiving P wave signal isCalculate two sensor SlWith sensor SkReceive the real time of P wave signal
DifferenceM is the sum for receiving the sensor of P wave signal；
Step 3: theoretical value calculates；
Determine the specific location of dead zone on two-dimensional localization region；Two-dimensional localization region is evenly dividing as n grid, each
The central point of grid obtains the set comprising n node as a node；
Respectively by each node P in setijPosition is excited as potential microseism/acoustic emission source, and carries out following meter
It calculates:
Track PijTo the theoretical the shortest time path of k-th of sensor, length is denoted asIf PijIn dead zone, then
It enables
P is tracked using A* algorithm in the present embodimentijTo the theoretical the shortest time path of k-th of sensor, and in A* algorithm
It searches in present node next step path node step, considers the h node layer of present node periphery, and to present node periphery the
H layers of all nodes judge whether therewith front layer, the i.e. number of plies are less than h for local path direction that itself and present node are formed one by one
Layer in the local path direction that is formed of certain nodes and present node repeat, repeat if it exists, then remove these nodes, then will
Remaining node is calculated as the possible path node of present node next step.The node of A* algorithm is expanded in the present invention
Mode is as depicted in figs. 1 and 2, and g (x) ' is that for possible path node at a distance from present node, unit is one in next step in Fig. 1
A Gridding length.The expansion mode that Fig. 1 is used in the subsequent experimental of the present embodiment, expands number of plies h=4.
Calculate PijLocate the microseism excited/acoustic emission source generation P wave signal from PijTo k-th of sensor SkTheoretical travelling
TimeWherein C is spread speed of the P wave signal in non-dead zone, is unknown quantity；
Calculate sensor SlWith sensor SkThe theoretical time for receiving P wave signal difference
Step 4: location Calculation；
Introduce DijTo describe node PijWith the departure degree of unknown microseism/acoustic emission source, DijCalculation formula are as follows:
When node is located in dead zone, then there is Dij=∞；
Corresponding n D will be obtained by n nodeijValue, and DijValue it is bigger, indicate node PijWith unknown microseism/sound
The departure degree of emission source is bigger, thereby determines that and the smallest node of microseism/acoustic emission source departure degree (the smallest DijValue pair
The node answered), using the node coordinate as microseism/acoustic emission source positioning coordinate.
In shown in Fig. 2 50 × 40 plane, it is dispersed with the dead zone of irregular shape.Plane is divided into 50 × 40 nets
Lattice, grid element center point point is node.Arrange that four sensors, coordinate are respectively S1(49,0), S2(0,17), S3(0,31)
And S4(49,33), unit are m (see Fig. 4).Propagation velocity of wave of the wave in solid dielectric is set as 5000m/s.All microquake sources,
The initial time of acoustic emission source is set as 0s.It is assumed that in 4 microseism/acoustie emission events, microquake sources or acoustic emission source position difference
For O (26,2), P (37,14), Q (27,25) and R (7,31), Fig. 4 is seen.Then data are shown in Table 1 to the P wave of sensor record.
At the time of each microseism of table 1/acoustic emission source excitation P wave reaches sensor
Respectively the microseism localization method with existing without preparatory measuring speed (referring to Dong Long army, Li Xibing, Tang Lizhong,
Et al. is not necessarily to the mathematical form of the microseism seismic source location to test the speed in advance and focal shock parameter determines [J] rock mechanics and engineering
Report, 2011,30 (10)) and present invention progress location Calculation, and calculate the absolute error D of positioning result:
Wherein, (X, Y) is the position that location Calculation obtains, (X0, Y0) it is microseism/acoustic emission source physical location.By result
It is recorded in table 2.
The positioning result of 2 two kinds of localization methods of table
It can be seen that in 4 microseism/acoustie emission events from table 2 and Fig. 4, positioning result of the invention is than existing side
The positioning result of method is accurate.Thus on the whole, the positioning accuracy of the present invention on the whole is better than existing method.From part
It sees, the absolute error maximum value of positioning result of the present invention is 1.13m, much smaller than the 4.48m of conventional method.Thus, in positioning accurate
Degree aspect, the present invention have biggish advantage than existing methods.
Claims (5)
1. microseism/acoustic emission source locating method in a kind of labyrinth containing dead zone, which comprises the following steps:
Step 1: environmental preparation；
A sensor is respectively installed in multiple and different positions on two-dimensional localization region；
Step 2: data acquisition；
The P wave signal that microseism/acoustic emission source generates is received by sensor, records k-th of sensor SkReceive P wave signal
Real time isCalculate two sensor SlWith sensor SkReceive the difference of the real time of P wave signalM is the sum for receiving the sensor of P wave signal；
Step 3: theoretical value calculates；
Determine the specific location of dead zone on two-dimensional localization region；Two-dimensional localization region is evenly dividing as n grid, each grid
Central point as a node, obtain one include n node set；
Respectively by each node P in setijPosition is excited as potential microseism/acoustic emission source, and carries out following calculate:
Track PijTo the theoretical the shortest time path of k-th of sensor, length is denoted asIf PijIn dead zone, then enable
Calculate PijLocate the microseism excited/acoustic emission source generation P wave signal from PijTo k-th of sensor SkTheoretical hourageWherein C is spread speed of the P wave signal in non-dead zone, is unknown quantity；
Calculate sensor SlWith sensor SkThe theoretical time for receiving P wave signal difference
Step 4: location Calculation；
Introduce DijTo describe node PijWith the departure degree of unknown microseism/acoustic emission source, DijCalculation formula are as follows:
When node is located in dead zone, then there is Dij=∞；
DijValue it is bigger, indicate node PijIt is bigger with the departure degree of unknown microseism/acoustic emission source, it thereby determines that in all nodes
With the smallest node of microseism/acoustic emission source departure degree, using the node coordinate as microseism/acoustic emission source positioning coordinate.
2. microseism/acoustic emission source locating method in a kind of labyrinth containing dead zone according to claim 1, feature exist
In: in step 1,4 or more different locations respectively install a sensor on two-dimensional localization region.
3. microseism/acoustic emission source locating method in a kind of labyrinth containing dead zone according to claim 1, feature exist
In: in step 3, P is tracked using A* algorithm, ant group algorithm or particle swarm algorithmijTo the theoretical shortest time of k-th of sensor
Path.
4. microseism/acoustic emission source locating method in a kind of labyrinth containing dead zone according to claim 1, feature exist
In: in step 3, P is tracked using A* algorithmijWork as to the theoretical the shortest time path of k-th of sensor, and in A* algorithm search
In front nodal point next step path node step, the h node layer of present node periphery is considered, and to peripheral h layers of present node
Whether therewith all nodes judge local path direction that itself and present node are formed front layer, i.e., in layer of the number of plies less than h one by one
The local path direction that certain nodes and present node are formed repeats, and repeats if it exists, then removes these nodes, then will be remaining
Node is calculated as the possible path node of present node next step.
5. microseism/acoustic emission source locating method in a kind of labyrinth containing dead zone according to claim 4, feature exist
In: the h value is 2,3 or 4.
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| PCT/CN2019/114041 WO2020164257A1 (en) | 2019-02-14 | 2019-10-29 | Microseismic/acoustic emission source localization method in complex structure having empty space |
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| CN110221342A (en) * | 2019-07-05 | 2019-09-10 | 中南大学 | Seismic source location method, apparatus and storage medium based on three-dimensional velocity structure |
| WO2021139006A1 (en) * | 2020-01-08 | 2021-07-15 | 中南大学 | Method and system for identifying position of structural cavity on basis of global search |
| CN111189926A (en) * | 2020-01-08 | 2020-05-22 | 中南大学 | Method and system for identifying structure hole position based on global search |
| CN111189926B (en) * | 2020-01-08 | 2021-09-28 | 中南大学 | Method and system for identifying structure hole position based on global search |
| CN111221034A (en) * | 2020-01-20 | 2020-06-02 | 山东黄金矿业股份有限公司新城金矿 | Mine micro seismic source positioning method and simulation inspection system |
| CN111221036A (en) * | 2020-01-21 | 2020-06-02 | 中南大学 | Target area seismic source positioning method and system containing unknown cavity |
| CN112114359B (en) * | 2020-08-13 | 2021-07-02 | 中南大学 | Dangerous area detection method, system and terminal based on active and passive seismic source signals and readable storage medium |
| CN112114359A (en) * | 2020-08-13 | 2020-12-22 | 中南大学 | Dangerous area detection method, system and terminal based on active and passive seismic source signals and readable storage medium |
| CN113552536A (en) * | 2021-07-30 | 2021-10-26 | 重庆大学 | Acoustic emission/microseismic event positioning method, system, terminal and readable storage medium containing round hole structure |
| CN113552536B (en) * | 2021-07-30 | 2022-08-09 | 重庆大学 | Acoustic emission/microseismic event positioning method, system, terminal and readable storage medium containing round hole structure |
| CN113960531A (en) * | 2021-08-24 | 2022-01-21 | 中南大学 | Unknown wave velocity sound emission source positioning method and system based on improved MSAC |
| CN113960531B (en) * | 2021-08-24 | 2024-05-31 | 中南大学 | Unknown wave velocity acoustic emission source positioning method and system based on improvement MSAC |
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