CN114002324B - Positioning detection device and method for composite material subsurface microcracks - Google Patents
Positioning detection device and method for composite material subsurface microcracks Download PDFInfo
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- CN114002324B CN114002324B CN202111289434.4A CN202111289434A CN114002324B CN 114002324 B CN114002324 B CN 114002324B CN 202111289434 A CN202111289434 A CN 202111289434A CN 114002324 B CN114002324 B CN 114002324B
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Abstract
The invention provides a positioning detection device and a method for composite material subsurface microcracks, wherein the method comprises the following steps: a moving structure; the vibration excitation structure is arranged on the moving structure and used for generating a vibration signal; and the sensing structure is arranged on the moving structure and used for receiving the vibration signal. According to the invention, the vibration source is autonomously generated and positioned by the arrangement mode that the vibration exciting structure sends out the vibration signal and the sensing structure receives the vibration signal and the position change of the vibration exciting structure and the sensing structure is driven by the moving structure, and the existence of the crack is further judged according to the positioning result, so that the crack detection efficiency and the detection accuracy of all areas are improved.
Description
Technical Field
The invention relates to the field of composite materials, in particular to a positioning detection device and method for composite material subsurface layer microcracks.
Background
The composite material has the characteristics of high corrosion resistance, heat insulation and the like, and is widely applied to the current aviation field. However, due to the complex structure of the composite material and the unstable factors existing in the production, manufacturing and use processes, the subsurface layer of the composite material can generate micro cracks, the micro cracks can be possibly located in the material and cannot be found visually, the existing composite material crack detection mode adopts manual inspection, but the detection efficiency is low because the human eye resolution is insufficient, and the missed cracks are caused.
In the existing detection scheme, the detection efficiency is low when the cracks of all the regions are detected manually, and the detection accuracy cannot be guaranteed, so that the detection cost is high and the effect is poor.
Accordingly, the prior art is yet to be improved and developed.
Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present invention is to provide a device and a method for positioning and detecting a composite subsurface micro-crack, which aim to solve the problems of low global detection efficiency and poor accuracy of the conventional crack detection method.
The technical scheme of the invention is as follows:
a positioning detection device for composite material subsurface microcracks, comprising:
a moving structure;
the vibration excitation structure is arranged on the moving structure and used for generating a vibration signal;
and the sensing structure is arranged on the moving structure and used for receiving the vibration signal.
The positioning and detecting device for the composite material subsurface microcracks is characterized in that the sensing structure comprises at least two bionic sensor arrays, the centers of the bionic sensor arrays are located on the same straight line, and the distance between the centers of every two adjacent bionic sensor arrays is consistent.
The positioning and detecting device for the composite material subsurface microcracks is characterized in that each bionic sensor array comprises a plurality of vibration sensors, and the plurality of vibration sensors of each bionic sensor array are arranged in an annular array.
The positioning and detecting device for the composite material subsurface microcracks is characterized in that the number of the bionic sensor arrays is two, and each bionic sensor array comprises eight vibration sensors.
The positioning detection device for the composite material subsurface microcracks is characterized in that the moving structure comprises a driving assembly and a mechanical arm assembly, the driving assembly is connected with the sensing structure and used for controlling the movement of the sensing structure, the mechanical arm assembly is connected with the excitation structure and used for controlling the position of the excitation structure.
The positioning detection device for the composite material subsurface microcracks is characterized in that the driving assembly comprises a steering engine fixedly connected with the moving structure, the tail end of the steering engine is rotatably connected with one end of a control arm, and the other end of the control arm is fixedly connected with the sensing structure.
The positioning detection device for the composite material subsurface microcracks comprises signal acquisition equipment arranged on the mobile structure, wherein the signal acquisition equipment is used for acquiring vibration signals received by the sensing structure.
The positioning detection device for the composite material subsurface microcrack comprises a signal acquisition device and a terminal device, wherein the signal acquisition device is connected with the terminal device through signals, and the terminal device is used for calculating and judging received data of the signal acquisition device.
A positioning detection method for composite material subsurface microcracks comprises the following steps:
collecting vibration signals received by the sensing structure by signal collecting equipment arranged on the mobile structure, and outputting corresponding collected signals;
outputting data to be analyzed after carrying out cooperative positioning processing on the received acquisition signals;
and judging and classifying the currently acquired data to be analyzed according to preset data, and storing the detection result when the crack exists.
The method for positioning and detecting the composite material subsurface microcracks comprises the steps that data to be analyzed are actual distance errors, and preset data are positioning distance error threshold values; the steps of judging and classifying the currently collected data to be analyzed according to the preset data and storing the detection result when the crack is judged to exist comprise:
comparing and judging according to a preset positioning distance error threshold value and an actual distance error;
and when the actual distance error is larger than the positioning distance error threshold value, judging that the current detection area has cracks and storing the detection result.
Has the advantages that: the invention provides a positioning detection device and method for composite material subsurface layer microcracks, wherein the method comprises the following steps: a moving structure; the vibration excitation structure is arranged on the moving structure and used for generating a vibration signal; and the sensing structure is arranged on the moving structure and used for receiving the vibration signal. According to the invention, through the arrangement mode that the vibration exciting structure sends out the vibration signal and the sensing structure receives the vibration signal and the position change of the vibration exciting structure and the sensing structure is driven by the moving structure, the vibration source is automatically generated and positioned, and the existence of cracks is further judged according to the positioning result, so that the crack detection efficiency and the detection accuracy of all areas are improved.
Drawings
FIG. 1 is a perspective view of the apparatus for detecting cracks in a composite subsurface layer according to the present invention.
Fig. 2 is a left side view of the structure of fig. 1.
Fig. 3 is a schematic top view of the structure of fig. 1 according to the present invention.
Fig. 4 is a schematic diagram of the position arrangement of the biomimetic sensor array of the present invention.
FIG. 5 is a schematic diagram of a bionic multi-sensor array co-location method according to the present invention.
Fig. 6 is a schematic diagram of the movement of the crack detection exciter with the circular local detection area.
FIG. 7 is a schematic view of the moving mode of the crawler in the circular local detection area according to the present invention.
FIG. 8 is a flowchart illustrating the circular fracture detection area detection method according to the present invention.
Detailed Description
The invention provides a positioning detection device and a method for composite subsurface microcracks, and the invention is further described in detail below in order to make the purpose, technical scheme and effect of the invention clearer and clearer. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It should also be noted that the same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.
The composite material has the characteristics of high corrosion resistance, heat insulation and the like, so that the composite material is widely applied to the current aviation field. However, due to the complex structure of the composite material and the existence of unstable factors in the production, manufacturing and use processes, microcracks occur on the subsurface layer of the composite material, and since the cracks are tiny and may be located inside the material, the cracks cannot be found visually, the existing composite material crack detection method adopts manual examination, but the cracks are omitted due to insufficient human eye resolution, and the detection efficiency is low. In the existing detection scheme, the detection efficiency is low when the cracks of all the regions are detected manually, and the detection accuracy cannot be ensured, so that the detection cost is high and the effect is poor
In order to solve the above problems, the present invention provides a positioning and detecting device for a composite subsurface microcrack, which can autonomously generate a vibration source and position the vibration source, and determine the existence of the microcrack according to the positioning result, so as to improve the detection efficiency and accuracy, as shown in fig. 1, including: a moving structure; the vibration excitation structure 7 is arranged on the moving structure and used for generating a vibration signal; and the sensing structure 3 is arranged on the moving structure and is used for receiving the vibration signal.
Specifically, the mobile structure sets up to crawler 1, installs steering wheel 4 on crawler 1, the end-to-end connection of steering wheel 4 has control arm 6 (sensor array control arm promptly), the end of control arm 6 is provided with sensing structure 3 (bionical multisensor array promptly), install arm 2 (5 arms promptly) on crawler 1, be provided with excitation structure 7 (vibration exciter promptly) on the free end of arm 2, install on crawler 1 with fixed bolster 5 that steering wheel 4 is fixed.
It should be noted that a vibration source is generated through the vibration exciter 7, the vibration source is generated at any position of the layer to be detected, the bionic multi-sensor array 3 is used for receiving a vibration signal, the control arm 6 is controlled to rotate through the steering engine 4, the bionic multi-sensor array 3 is in contact with the surface of the layer to be detected, the vibration exciter 7 is driven by the 5-shaft mechanical arm 2 to be located on the layer to be detected, and therefore the crack detection from local to global can be achieved.
In the preferred embodiment of the present invention, due to the above technical solution, the vibration source is autonomously generated and positioned by the arrangement mode that the vibration exciting structure emits the vibration signal and the sensing structure receives the vibration signal and the position of the vibration exciting structure and the position of the sensing structure are changed by the driving of the moving structure, and the existence of the crack is further judged according to the positioning result, thereby improving the crack detection efficiency and the crack detection accuracy of all the regions.
In this embodiment, the sensing structure 3 includes at least two bionic sensor arrays, the centers of the bionic sensor arrays are located on the same straight line, and the distances between the centers of two adjacent bionic sensor arrays are the same.
Specifically, the bionic multi-sensor array 3 comprises a plurality of bionic sensor arrays with different central origin positions, and the centers of the bionic sensor arrays are arranged at equal intervals.
In this embodiment, each of the biomimetic sensor arrays includes a plurality of vibration sensors, and the plurality of vibration sensors of each of the biomimetic sensor arrays are arranged in an annular array.
Specifically, the vibration sensor is an acceleration sensor, and the vibration sensors are arranged according to a circularly symmetric position to form a bionic sensor array for receiving Rayleigh wave components in the vibration waves.
In this embodiment, the number of the biomimetic sensor arrays is set to two, and each of the biomimetic sensor arrays includes eight vibration sensors.
Specifically, the biomimetic multi-sensor array 3 includes two biomimetic sensor arrays, wherein each biomimetic sensor array is composed of eight acceleration sensors.
In this embodiment, as shown in fig. 1, the moving structure includes a driving assembly and a mechanical arm assembly, the driving assembly is connected to the sensing structure, the driving assembly is used for controlling the movement of the sensing structure, the mechanical arm assembly is connected to the excitation structure, and the mechanical arm assembly is used for controlling the position of the excitation structure.
Specifically, the driving assembly comprises a steering engine 4 fixedly connected with the moving structure, the tail end of the steering engine 4 is rotatably connected with one end of a control arm 6, and the other end of the control arm 6 is fixedly connected with the sensing structure 3.
Furthermore, the mobile structure is a crawler, a fixing support 5 for fixing the steering engine 4 is mounted on the crawler, the control arm 6 is V-shaped, one end of the control arm is rotatably connected with the steering engine 4, and the other end of the control arm is provided with the bionic multi-sensor array 3.
In this embodiment, the positioning detection apparatus includes a signal acquisition device disposed on the mobile structure, and the signal acquisition device is configured to acquire the vibration signal received by the sensing structure.
Specifically, the signal acquisition device (not shown) is installed on the crawler, and the signal acquisition device is used for acquiring vibration signals received by the bionic sensor array in real time.
In this embodiment, the positioning detection apparatus further includes a terminal device, the terminal device is in signal connection with the signal acquisition device, and the terminal device is configured to calculate and determine the received data of the signal acquisition device.
Specifically, the terminal device is a computer terminal, and the computer terminal is in wireless connection with the signal acquisition device.
Based on the positioning detection device for the composite material subsurface layer microcracks, the invention also provides a positioning detection method for the composite material subsurface layer microcracks, and the positioning detection method for the composite material subsurface layer microcracks comprises the following steps:
and S10, collecting the vibration signal received by the sensing structure by using signal collection equipment arranged on the mobile structure, and outputting a corresponding collected signal.
The step S10 specifically includes:
s101, setting a positioning distance error threshold value and determining a local detection area;
s102, placing an excitation structure in a local detection area;
s103, placing the two bionic sensor arrays on the surface of the layer to be detected;
in this embodiment, as shown in fig. 6, the local detection area is a circle, the center-to-center distance between two bionic sensor arrays is used as the diameter of the circle detection area, the midpoint of the connecting line between the centers of the two arrays is used as the center of the circle detection area, the vibration exciter 7 is placed at the boundary of the circle detection area, and the vibration exciter stepping angle is set according to the detection accuracy.
Furthermore, a circular area is adopted in the local detection area, and the stepping angle of the vibration exciter 7 in the local detection area is 45 degrees.
In another preferred embodiment, the local detection area is square, the center distance between the two bionic sensor arrays is used as the side length of the square detection area, the midpoint position of the connecting line of the centers of the two arrays is used as the center of the square detection area, the vibration exciter 7 is placed at the upper and lower boundaries of the square detection area, and the step length of the vibration exciter is set according to the detection accuracy.
And S20, outputting the data to be analyzed after the received acquisition signals are subjected to cooperative positioning processing.
The step S20 specifically includes:
and the control computer terminal calculates the position of the vibration source by a bionic multi-sensor array cooperative positioning method, and calculates the Euclidean distance error with the actual vibration source position.
Specifically, a scorpion excitation-inhibition positioning model is applied to each bionic sensor array to orient a vibration source generated by a vibration exciter, then the orientation results of two adjacent bionic sensor arrays are sequentially cooperated, plane geometry is applied, the intersection point of the two adjacent bionic sensor arrays is calculated to be a vibration source position coordinate, and then the Euclidean distance error (namely to-be-analyzed data) between the two adjacent bionic sensor arrays and the actual vibration source position is calculated.
It should be noted that the single sensor array simulates the excitation-inhibition model of the scorpion to carry out vibration source orientation, the arrangement mode of the sensor array is distributed on 8 circumferentially symmetrical angles according to the seam receptors at the tail ends of eight feet of the scorpion, and the distribution angles are respectively +/-30 degrees, 65 degrees, +/-105 degrees and +/-150 degrees. Expanding the orientation original points of the orientation model into two, and constructing two orientation models with different original point positions; and forming a bionic multi-sensor array cooperative positioning method for realizing two-dimensional positioning of the vibration source by cooperating the two directional models.
The bionic multi-sensor array co-location method can be applied to the surfaces of different types of composite materials for vibration source location without considering the propagation speed of vibration waves on the composite materials.
Further, as shown in fig. 5, the vibration signals received by 8 vibration sensors of each bionic sensor array are respectively subjected to pulse emission under the combined action of a pulse emission model and a 3/1 configuration, and then the angle of the directional vibration source of the current array is calculated through group vector coding. Because the time when the vibration signal reaches each vibration sensor is different, under the action of 3/1 configuration, the vibration signal received by each vibration sensor is converted into the corresponding pulse number, and group vector coding is carried out according to the pulse number, so that the vibration source orientation of the single bionic sensor array is realized.
As shown in FIG. 5, the bionic sensor array 1 responds to the direction angle of the vibration source with phi 1 The bionic sensor array 2 responds to the direction angle of the vibration source as phi 2 And the central distance between the arrays 1 and 2 is d, the intersection point of two straight lines is obtained through plane geometry, the following equation is satisfied,
(x r ，y r ) To locate the position coordinates of the vibration source. Finally, whether cracks exist is measured through the Euclidean distance between the actual vibration source position and the position co-located through the bionic multi-sensor array, the expression is,
for the calculated Euclidean distance, (x) r ，y r ) The actual coordinates of the vibration source.
It should be noted that the two bionic sensor arrays are mounted on a crawler trolley capable of moving freely for crack detection.
And S30, judging and classifying the currently collected data to be analyzed according to preset data, and storing the detection result when the crack exists.
The data to be analyzed is an actual distance error, and the preset data is a positioning distance error threshold; the specific content of the step S30 includes:
s301, comparing and judging the actual distance error according to a preset positioning distance error threshold;
and S302, when the actual distance error is larger than the positioning distance error threshold value, judging that the current detection area has cracks and storing the detection result.
Specifically, whether a crack exists in a currently detected local detection area is judged according to the Euclidean distance error, and whether a crack exists around a path formed by a vibration source and the center of the bionic sensor array is judged according to the deviation of the directional angle result and the actual angle result of the bionic sensor array.
As shown in fig. 6 to 8, each local detection region is composed of an upper semicircular region and a lower semicircular region, the step is an operation performed by the 5-axis robot arm controlled exciter 7, and after step S30, the method further includes the steps of:
s4111, when the first angle of the upper semi-circle region detects that a crack exists, stepping to the first angle of the lower semi-circle region for detection;
s4112, when the first angle of the upper semicircular area does not detect the existence of a crack, stepping to the next angle of the upper semicircular area to detect;
s41131, when other angles of the upper semicircular area detect that cracks exist, stepping to the first angle of the lower semicircular area for detection;
s41132, when the last angle detection of the upper semicircle is finished, stepping to the first angle of the lower semicircle area for detection;
s4121, storing a detection result when a crack is detected to exist in the first angle of the lower semicircle region;
s4122, continuing to detect the next angle when the crack is not detected in the first angle of the lower semicircular area;
s41231, storing the detection result when cracks exist in the lower semicircle region at other angles;
s41232 and storing the detection result when no crack is detected in the last angle of the lower semicircle region.
And S50, moving to the next detection area through the crawler to perform detection.
The step S50 specifically includes:
updating along the direction of a straight line formed by the bionic sensor array, forming one-fourth arc intersection between adjacent circular local detection areas in the same direction, turning after updating the direction, moving to the next parallel direction, and forming one-fourth arc intersection between the circular local areas in the next direction and the previous direction.
Furthermore, the crawler trolley moves to enable a second local detection area and a first local detection area of the vibration exciter to have a quarter of crossed circular arc, the crawler trolley moves along the direction perpendicular to the first moving direction after the completion, so that a third local detection area and a second local detection area have a quarter of crossed circular arc, the crawler trolley moves along the direction parallel to and opposite to the first moving direction after the completion, and the fourth local detection area and the third local detection area have a quarter of crossed circular arc.
In another preferred embodiment, when the local detection area is square, the step S50 specifically includes: and after updating of the direction is completed, turning is carried out, and the next direction is moved to the next parallel direction, and the upper and lower boundaries between the square local areas in the next direction and the previous direction are overlapped.
It should be noted that the crawler movement direction is preferentially moved in the above manner.
Due to the existence of the 3/1 configuration, the pulse emission model emits different pulse numbers in each direction. Gamma ray k The vibration sensor in the direction can transmit pulses through the pulse transmission model after being subjected to vibration stimulation and reaching a certain threshold value, and can be subjected to reverse
And
suppression of vibration signals received by the vibration sensor in three directions, wherein
The invention is further illustrated by the specific detection steps below:
in the initial state, when the detection device is not used for detection or is in a moving state, the bionic sensor array is suspended in the air through the steering engine and is not in surface contact with the composite material to be detected, and meanwhile, the vibration exciter is suspended in the air through the 5-shaft mechanical arm.
Firstly, setting a positioning distance error threshold, then placing a detection device on the surface of a composite material to be detected (namely a layer to be detected), controlling a crawler 1 to move to a proper detection position, placing a vibration exciter 7 in a 45-degree direction of a circular local detection area through a 5-shaft mechanical arm 2 arranged on the crawler 1 (as shown in figure 6), and controlling a steering engine 4 to rotate by a certain angle to enable two bionic sensor arrays to be in contact with the surface of the composite material;
then, the vibration exciter 7 is supplied with square wave signals with 50% duty ratio of 30KHz for a period of time, and meanwhile, the acquisition equipment acquires vibration signals received by 16 vibration sensors and wirelessly transmits the vibration signals to a computer terminal, as shown in FIG. 5;
the computer terminal carries out vibration source positioning on the current received vibration signal by a bionic multi-sensor array 3 cooperative positioning method, calculates the Euclidean distance error between the position of the positioning vibration source and the position of the actual vibration source, and compares the Euclidean distance error with the set threshold value;
if the distance error is larger than the threshold value, judging that the upper semicircle region of the current circular local detection region has a crack, skipping detection in the directions of 90 degrees (the second angle of the upper semicircle region) and 135 degrees (the third angle of the upper semicircle region), controlling the 5-axis mechanical arm 2 to lift, rotate and place the vibration exciter 7 in the direction of-135 degrees (the first angle of the lower semicircle region) of the lower semicircle, keeping two bionic sensor arrays in contact with the surface of the composite material, supplying the vibration exciter 7 with the same one-period square wave driving signal to carry out vibration source positioning, and judging that the current lower semicircle detection region has a crack by calculating the Euclidean distance error and comparing the Euclidean distance error with the threshold value if the distance error in the current-135 degrees direction is larger than the threshold value, finishing detection of the circular local detection region, and moving the crawler 1 to the next detection region; if the distance error in the current-135-degree direction is smaller than the threshold, the vibration exciter is continuously moved to the next-90-degree direction, the same steps are carried out, whether cracks exist is judged, if the distance error in the-90-degree direction (the second angle of the lower semicircular area) and the distance error in the-45-degree direction (the third angle of the lower semicircular area) are smaller than the threshold, the lower semicircular area is detected to have no cracks, and if the distance error in the-90-degree direction is larger than the threshold, or the distance error in the-90-degree direction is smaller than the threshold, and the distance error in the-45-degree direction is larger than the threshold, the lower semicircular area is detected to have no cracks, as shown in fig. 8.
If the distance error is smaller than or equal to the threshold value, controlling the 5-axis mechanical arm 2 to lift the exciter 7 to a tiny height, rotationally placing the exciter 7 in a circular base cloth detection area in a direction of 90 degrees (namely a second angle of the upper semicircular area), keeping the two bionic sensor arrays in contact with the surface of the composite material at the moment, supplying a square wave driving signal of one period to the exciter 7 to perform vibration source positioning, comparing the Euclidean distance error with the threshold value through calculation, judging that no crack exists in the upper semicircular area at present if the current distance error is larger than the threshold value, and controlling the 5-axis mechanical arm to move the exciter 7 to the lower semicircular area; if the distance error in the current direction is smaller than the threshold value, continuing to move the vibration exciter to the next 135-degree direction, performing the same step, judging whether cracks exist, if the distance error in the 135-degree direction is smaller than the threshold value, moving the vibration exciter to the lower semicircle detection area, if the distance error in the 135-degree direction is larger than the threshold value, moving the vibration exciter to the lower semicircle detection area, and if the distance error in the 135-degree direction is larger than the threshold value, moving the vibration exciter to the upper semicircle detection area.
And after the crack detection of the circular area is finished, the computer terminal stores the detection result of the area.
The circular local detection areas are moved and updated according to the figure 7, updating is preferentially carried out along the direction of a straight line formed by the bionic sensor array, namely the crawler is preferentially moved and updated linearly, a quarter of circular arcs between adjacent circular local detection areas in the same direction are crossed, after updating and detection of the direction are completed, steering is carried out, the crawler is moved to the next parallel direction, a quarter of circular arcs are crossed between the next direction and the circular local area in the previous direction, after the crawler is moved to the central position of the next circular detection area, the vibration exciter and the bionic sensor array are simultaneously placed according to the detection flow, and new detection is started.
In summary, the present invention provides a positioning and detecting apparatus and method for a composite subsurface microcrack, wherein the method includes: a moving structure; the vibration excitation structure is arranged on the moving structure and used for generating a vibration signal; and the sensing structure is arranged on the moving structure and used for receiving the vibration signal. According to the invention, the vibration source is autonomously generated and positioned by the arrangement mode that the vibration exciting structure sends out the vibration signal and the sensing structure receives the vibration signal and the position change of the vibration exciting structure and the sensing structure is driven by the moving structure, and the existence of the crack is further judged according to the positioning result, so that the crack detection efficiency and the detection accuracy of all areas are improved.
It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.
Claims (6)
1. A localized detection device for composite subsurface microcracks, comprising:
a moving structure;
the vibration excitation structure is arranged on the moving structure and used for generating a vibration signal;
the sensing structure is arranged on the moving structure and used for receiving the vibration signal;
the sensing structure comprises at least two bionic sensor arrays, the centers of the bionic sensor arrays are positioned on the same straight line, and the distance between the centers of two adjacent bionic sensor arrays is consistent;
each bionic sensor array comprises a plurality of vibration sensors, and the plurality of vibration sensors of each bionic sensor array are arranged in an annular array;
the number of the bionic sensor arrays is two, and each bionic sensor array comprises eight vibration sensors;
the moving structure is a crawler; the moving structure comprises a driving assembly and a mechanical arm assembly, the driving assembly is connected with the sensing structure and used for controlling the movement of the sensing structure, the mechanical arm assembly is connected with the excitation structure and used for controlling the position of the excitation structure;
the vibration sensor is an acceleration sensor, and the acceleration sensor is used for receiving Rayleigh wave components in vibration waves;
the intersection point of the two straight lines is solved through plane geometry, and the following formula is satisfied:
one bionic sensor array responds to a vibration source direction angle phi 1, the other bionic sensor array responds to a vibration source direction angle phi 2, the central distance between the two bionic sensor arrays is d, and (x, y) are positioning vibration source position coordinates;
the Euclidean distance satisfies the following formula:
where ρ is the Euclidean distance, (x) r ，y r ) The actual coordinates of the vibration source.
2. The device for positioning and detecting the composite material subsurface microcracks according to claim 1, wherein the driving component comprises a steering engine fixedly connected with the moving structure, the tail end of the steering engine is rotatably connected with one end of a control arm, and the other end of the control arm is fixedly connected with the sensing structure.
3. The apparatus according to claim 1, wherein the apparatus comprises a signal acquisition device disposed on the moving structure, the signal acquisition device is configured to acquire the vibration signal received by the sensing structure.
4. The device as claimed in claim 3, further comprising a terminal device, wherein the terminal device is in signal connection with the signal acquisition device, and the terminal device is configured to calculate and determine the received data of the signal acquisition device.
5. A positioning detection method for composite material subsurface microcracks is characterized by comprising the following steps:
collecting vibration signals received by the sensing structure by signal collecting equipment arranged on the mobile structure, and outputting corresponding collected signals;
outputting data to be analyzed after carrying out cooperative positioning processing on the received acquisition signals;
judging and classifying the currently acquired data to be analyzed according to preset data, and storing a detection result when the crack is judged to exist;
the sensing structure comprises at least two bionic sensor arrays, the centers of the bionic sensor arrays are positioned on the same straight line, and the distance between the centers of two adjacent bionic sensor arrays is consistent;
each bionic sensor array comprises a plurality of vibration sensors, and the plurality of vibration sensors of each bionic sensor array are arranged in an annular array;
the number of the bionic sensor arrays is two, and each bionic sensor array comprises eight vibration sensors;
the moving structure is a crawler; the moving structure comprises a driving assembly and a mechanical arm assembly, the driving assembly is connected with the sensing structure and used for controlling the movement of the sensing structure, the mechanical arm assembly is connected with the excitation structure, and the mechanical arm assembly is used for controlling the position of the excitation structure;
the vibration sensor is an acceleration sensor, and the acceleration sensor is used for receiving Rayleigh wave components in vibration waves;
the intersection point of the two straight lines is solved through plane geometry, and the following formula is satisfied:
the bionic sensor array is characterized in that the response vibration source direction angle of one bionic sensor array is phi 1, the response vibration source direction angle of the other bionic sensor array is phi 2, the central distance between the two bionic sensor arrays is d, and (x, y) is a positioning vibration source position coordinate;
the Euclidean distance satisfies the following formula:
where ρ is the Euclidean distance, (x) r ，y r ) The actual coordinates of the vibration source.
6. The method according to claim 5, wherein the data to be analyzed is an actual distance error, and the preset data is a positioning distance error threshold; the steps of judging and classifying the currently collected data to be analyzed according to the preset data and storing the detection result when the crack is judged to exist comprise:
comparing and judging the actual distance error according to a preset positioning distance error threshold;
and when the actual distance error is larger than the positioning distance error threshold value, judging that the current detection area has a crack and storing the detection result.
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