CN114002324B - Positioning detection device and method for composite material subsurface microcracks - Google Patents

Abstract

The present invention provides a device and method for positioning and detecting micro-cracks in the subsurface layer of composite materials, wherein the method includes: a moving structure; A structure, arranged on the mobile structure, is used for receiving the vibration signal. In the present invention, the vibrating structure sends out the vibration signal and the sensing structure receives the vibration signal, and cooperates with the position change of the moving structure to drive the vibrating structure and the sensing structure, so as to realize the autonomous generation and positioning of the vibration source, and further The existence of cracks is judged according to the positioning results, thereby improving the crack detection efficiency and detection accuracy of the entire area.

Description

A positioning detection device and method for subsurface microcracks of composite materials

technical field

The invention relates to the field of composite materials, in particular to a positioning detection device and method for subsurface microcracks of composite materials.

Background technique

Composite materials are widely used in the current aviation field due to their high corrosion resistance and heat insulation properties. However, due to the complex structure of the composite material itself, and the presence of unstable factors in the process of manufacturing and use, it will cause micro-cracks in the sub-surface layer of the composite material. Since the cracks are small and may be located inside the material, they cannot be found intuitively. Existing The crack detection method of composite materials is manually checked, but the cracks will be missed due to insufficient resolution of the human eye and the detection efficiency is low.

In the existing detection scheme, the detection efficiency is low when the crack detection is performed manually in all regions, and the detection accuracy cannot be guaranteed, resulting in high detection cost and poor effect.

Therefore, the prior art still needs to be improved and developed.

Contents of the invention

In view of the deficiencies in the prior art above, the purpose of the present invention is to provide a positioning detection device and method for micro-cracks in the subsurface of composite materials, aiming to solve the problem of the low global detection efficiency and poor accuracy of the existing crack detection methods The problem.

Technical scheme of the present invention is as follows:

A positioning detection device for subsurface microcracks of composite materials, including:

mobile structure;

an exciting structure, arranged on the moving structure, for generating a vibration signal;

The sensing structure is arranged on the moving structure and is used for receiving the vibration signal.

The device for positioning and detecting microcracks in the subsurface of composite materials, wherein the sensing structure includes at least two bionic sensor arrays, the centers of the bionic sensor arrays are located on the same straight line, and two adjacent bionic sensor arrays The spacing between the centers of the array is consistent.

In the device for detecting the location of micro-cracks in the subsurface of composite materials, each of the bionic sensor arrays includes a plurality of vibration sensors, and the plurality of vibration sensors in each of the bionic sensor arrays are arranged in a circular array.

In the device for detecting the location of micro-cracks in the subsurface of composite materials, the number of the bionic sensor arrays is set to two, and each of the bionic sensor arrays includes eight vibration sensors.

The device for detecting the location of micro-cracks in the subsurface of composite materials, wherein the moving structure includes a driving assembly and a mechanical arm assembly, the driving assembly is connected to the sensing structure, and the driving assembly is used to control the Sensing the movement of the structure, the mechanical arm assembly is connected with the vibration excitation structure, and the mechanical arm assembly is used to control the position of the vibration excitation structure.

The device for position detection of subsurface microcracks in composite materials, wherein the driving assembly includes a steering gear fixedly connected to the moving structure, and the end of the steering gear is rotationally connected to one end of a control arm, and the control arm The other end is fixedly connected with the sensing structure.

The position detection device for subsurface microcracks of composite materials, wherein the position detection device includes a signal acquisition device arranged on the moving structure, and the signal acquisition device is used to collect the signal received by the sensing structure vibration signal.

The positioning detection device for subsurface microcracks of composite materials, wherein the positioning detection device also includes a terminal device, the terminal device is connected to the signal acquisition device through a signal, and the terminal device is used for receiving The data of the signal acquisition device is calculated and judged.

A method for positioning detection of subsurface microcracks in composite materials, comprising the following steps:

The vibration signal received by the sensing structure is collected by the signal collection device arranged on the mobile structure, and the corresponding collection signal is output;

Coordinate positioning processing on the received acquisition signal and output the data to be analyzed;

According to the pre-set data, the currently collected data to be analyzed is judged and classified, and the detection result is saved when it is judged that there is a crack.

The method for positioning and detecting micro-cracks in the subsurface of composite materials, wherein the data to be analyzed is the actual distance error, and the preset data is the positioning distance error threshold; the current acquisition is based on the preset data The steps of judging and classifying the data to be analyzed and saving the detection results when it is judged that there is a crack include:

Compare and judge according to the preset positioning distance error threshold and the actual distance error;

When the actual distance error is greater than the positioning distance error threshold, it is judged that there is a crack in the current detection area and the detection result is saved.

Beneficial effects: the present invention provides a device and method for positioning and detecting microcracks in the subsurface of composite materials, wherein the method includes: a moving structure; an exciting structure, which is set on the moving structure and used to generate vibration signals ; a sensing structure, disposed on the mobile structure, for receiving the vibration signal. In the present invention, the vibrating structure sends out the vibration signal and the sensing structure receives the vibration signal, and cooperates with the position change of the moving structure to drive the vibrating structure and the sensing structure, so as to realize the autonomous generation of the vibration source and its positioning, further The presence of cracks is judged based on the positioning results, thereby improving the efficiency and accuracy of crack detection in all areas.

Description of drawings

Fig. 1 is a three-dimensional structure diagram of a positioning detection device for subsurface microcracks of a composite material according to the present invention.

Fig. 2 is a schematic diagram of the structure of the left view in Fig. 1 of the present invention.

FIG. 3 is a schematic top view of the structure in FIG. 1 of the present invention.

Fig. 4 is a schematic diagram of the position arrangement of the bionic sensor array of the present invention.

Fig. 5 is a schematic diagram of the bionic multi-sensor array cooperative positioning method of the present invention.

Fig. 6 is a schematic diagram of the movement of the crack detection vibrator in the circular partial detection area of the present invention.

Fig. 7 is a schematic diagram of the movement mode of the crawler trolley in the circular partial detection area of the present invention.

Fig. 8 is a flow chart of the circular crack detection area detection of the present invention.

detailed description

The present invention provides a positioning detection device and method for subsurface microcracks of composite materials. In order to make the purpose, technical solution and effect of the present invention clearer and clearer, the present invention will be further described in detail below. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

It should be noted that when a component is referred to as being “fixed on” or “disposed on” another component, it may be directly on the other component or indirectly on the other component. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

It should also be noted that the same or similar symbols in the drawings of the embodiments of the present invention correspond to the same or similar components; The orientation or positional relationship indicated by "left", "right", etc. is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific Orientation, construction and operation in a specific orientation, therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes, and should not be understood as limitations on this patent. For those of ordinary skill in the art, the Understand the specific meaning of the above terms.

Composite materials are widely used in the current aviation field due to their high corrosion resistance and heat insulation properties. However, due to the complex structure of the composite material itself, and the presence of unstable factors in the process of manufacturing and use, it will cause micro-cracks in the sub-surface layer of the composite material. Since the cracks are small and may be located inside the material, they cannot be found intuitively. Existing The crack detection method of composite materials is manually checked, but the cracks will be missed due to insufficient resolution of the human eye and the detection efficiency is low. In the existing detection scheme, the detection efficiency is low when the crack detection is performed manually in all areas, and the detection accuracy cannot be guaranteed, resulting in high detection cost and poor effect

In order to solve the above problems, the present invention provides a positioning detection device for micro-cracks in the subsurface of composite materials, which can independently generate vibration sources and locate them, and judge the existence of cracks according to the positioning results, thereby improving detection efficiency and accuracy , as shown in FIG. 1 , comprising: a moving structure; an exciting structure 7, arranged on the moving structure, for generating a vibration signal; a sensing structure 3, arranged on the moving structure, for receiving the vibration signal.

Specifically, the mobile structure is set as a crawler trolley 1, a steering gear 4 is installed on the crawler trolley 1, and a control arm 6 (ie, a sensor array control arm) is connected to the end of the steering gear 4, and the end of the control arm 6 A sensing structure 3 (i.e. a bionic multi-sensor array) is provided, a mechanical arm 2 (i.e. a 5-axis mechanical arm) is installed on the crawler trolley 1, and an excitation structure 7 (i.e. exciter), the tracked trolley 1 is equipped with a fixed bracket 5 fixed with the steering gear 4.

It should be noted that the vibration source is generated by the vibrator 7, so that the vibration source can be generated at any position on the layer to be detected, and the vibration signal is received by the bionic multi-sensor array 3, and the control arm 6 is controlled by the steering gear 4 to rotate, so that The bionic multi-sensing array 3 is in contact with the surface of the layer to be detected, and the vibrator 7 is driven by the 5-axis mechanical arm 2 to be positioned on the layer to be detected, so that crack detection from local to global can be realized.

In the preferred embodiment of the present invention, because of the adoption of the above-mentioned technical solution, the vibration signal is sent out by the vibration excitation structure and the vibration signal is received by the sensing structure, and the vibration excitation structure and the sensing structure are driven by the moving structure. The location of the vibration source can be changed independently to realize the independent generation and positioning of the vibration source, and further judge the existence of cracks based on the positioning results, thereby improving the crack detection efficiency and accuracy of the entire area.

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 distance between the centers of two adjacent bionic sensor arrays is the same.

Specifically, the biomimetic multi-sensor array 3 includes a plurality of biomimetic sensor arrays with different central origin positions, and the centers of the biomimetic sensor arrays are arranged at equal intervals.

In this embodiment, each of the bionic sensor arrays includes a plurality of vibration sensors, and the plurality of vibration sensors in each of the bionic sensor arrays are arranged in a circular array.

Specifically, the vibration sensor is an acceleration sensor, and the vibration sensors are arranged in circular symmetrical positions to form a bionic sensor array for receiving the Rayleigh wave component in the vibration wave.

In this embodiment, the number of the bionic sensor arrays is set to two, and the number of the bionic sensor arrays is set to two, and each of the bionic sensor arrays includes eight vibration sensors.

Specifically, the bionic multi-sensor array 3 includes two bionic sensor arrays, wherein each bionic sensor array is composed of eight acceleration sensors.

In this embodiment, as shown in Figure 1, the moving structure includes a drive assembly and a mechanical arm assembly, the drive assembly is connected to the sensing structure, and the drive assembly is used to control the movement of the sensing structure , the mechanical arm assembly is connected to the vibration excitation structure, and the mechanical arm assembly is used to control the position of the vibration excitation structure.

Specifically, the drive assembly includes a steering gear 4 fixedly connected to the moving structure, the end of the steering gear 4 is rotationally connected to one end of a control arm 6, and the other end of the control arm 6 is connected to the sensing structure 3 Fixed connection.

Further, the moving structure is a crawler trolley, on which a fixed bracket 5 for fixing the steering gear 4 is installed, and the control arm 6 is set in a "V" shape, one end of which is rotationally connected with the steering gear 4, and the other end is equipped with a Bionic Multi-Sensor Array3.

In this embodiment, the position detection device includes a signal acquisition device arranged on the mobile structure, and the signal acquisition device is used to collect vibration signals received by the sensing structure.

Specifically, the signal acquisition device (not shown in the figure) is installed on the crawler trolley, and the signal acquisition device is used to collect vibration signals received by the bionic sensor array in real time.

In this embodiment, the positioning detection device further includes a terminal device, the terminal device is connected to the signal collection device through a signal, and the terminal device is used to calculate and judge the received data of the signal collection device .

Specifically, the terminal device is a computer terminal, and the computer terminal is connected to the signal acquisition device through wireless.

Based on the above-mentioned positioning detection device for subsurface microcracks of composite materials, the present invention also provides a positioning detection method for subsurface microcracks of composite materials, and the positioning detection method for subsurface microcracks of composite materials includes the following step:

S10. Collect the vibration signal received by the sensor structure by the signal collection device arranged on the mobile structure, and output the corresponding collection signal.

The step S10 specifically includes:

S101. Setting a positioning distance error threshold and determining a local detection area;

S102, placing the excitation structure in the local detection area;

S103, placing two bionic sensor arrays on the surface of the layer to be detected;

In this embodiment, as shown in Figure 6, the local detection area is circular, and the center distance between the two bionic sensor arrays is used as the diameter of the circular detection area, and the middle line between the centers of the two arrays is The point position is taken as the center of the circular detection area, the vibrator 7 is placed at the boundary of the circular detection area, and the step angle of the vibrator is set according to the degree of detection accuracy.

Further, the local detection area adopts a circular area, and the step angle of the vibrator 7 in the local detection area is 45°.

In another preferred embodiment, the local detection area is a square, and the center distance between the two bionic sensor arrays is used as the side length of the square detection area, and the midpoint of the line connecting the centers of the two arrays is used as the square detection area The center of the square area, the vibrator 7 is placed at the upper and lower boundaries of the square area, and the step length of the vibrator is set according to the detection accuracy.

S20. Output the data to be analyzed after performing co-location processing on the received acquisition signal.

The step S20 specifically includes:

The control computer terminal calculates the location of the vibration source through the bionic multi-sensor array collaborative positioning method, and calculates the Euclidean distance error from the actual vibration source position.

Specifically, apply the scorpion excitation-inhibition localization model to each bionic sensor array to orient the vibration source generated by the exciter, and then cooperate with the orientation results of two adjacent bionic sensor arrays in turn, apply plane geometry, and calculate the intersection point as The coordinates of the vibration source position, and then calculate the Euclidean distance error between it and the actual vibration source position (that is, the data to be analyzed).

It should be noted that the single sensor array imitates the excitation-inhibition model of a scorpion for vibration source orientation, and the arrangement of the sensor array is distributed on eight symmetrical angles on the circumference according to the seam receptors at the end of the scorpion's eight-legged end, and the distribution angles are ± 30°, 65°, ±105°, ±150°. The orientation origin of the orientation model is expanded to two, and two orientation models with different origin positions are constructed; and then the two orientation models are coordinated to form a bionic multi-sensor array collaborative positioning method for two-dimensional positioning of the vibration source.

The biomimetic multi-sensor array co-localization method can be applied to different types of composite material surfaces for vibration source localization, regardless of the propagation speed of the vibration wave on the composite material.

Further, as shown in Figure 5, the vibration signals received by the 8 vibration sensors of each bionic sensor array are transmitted through the combined action of the pulse emission model and the 3/1 configuration to transmit pulses, and then the orientation of the current array is calculated by group vector encoding The angle of the vibration source. Since the vibration signal reaches each vibration sensor at different times, and under the action of the 3/1 configuration, the vibration signal received by each vibration sensor will be converted into the corresponding pulse number, and group vector encoding is performed according to the pulse number to realize single bionic Source orientation of the sensor array.

As shown in Fig. 5, the bionic sensor array 1 responds to the vibration source direction angle of φ ₁ , the bionic sensor array 2 responds to the vibration source direction angle of φ ₂ , and the center distance between arrays 1 and 2 is d, then the two The intersection point of two straight lines satisfies the following equation,

(x _r , y _r ) are the position coordinates of the positioning vibration source. Finally, the existence of cracks is measured by the Euclidean distance between the actual vibration source location and the location co-located by the bionic multi-sensor array, which is expressed as,

is the calculated Euclidean distance, and (x _r , y _r ) is the actual coordinate of the vibration source.

It should be noted that two bionic sensor arrays are installed on a freely movable tracked trolley for crack detection.

S30. Judging and classifying the currently collected data to be analyzed according to the preset data, and saving the detection result when it is judged that there is a crack.

The data to be analyzed is the actual distance error, and the preset data is the positioning distance error threshold; the specific content of the step S30 includes:

S301. Comparing and judging the preset positioning distance error threshold and the actual distance error;

S302. When the actual distance error is greater than the positioning distance error threshold, determine that there is a crack in the current detection area and save the detection result.

Specifically, according to the Euclidean distance error, it is judged whether the crack exists in the local detection area currently detected, and according to the deviation between the orientation angle result of the bionic sensor array and the actual angle result, it is judged whether the crack is around the path formed by the vibration source and the center of the bionic sensor array. There are cracks.

As shown in Figures 6 to 8, each local detection area is composed of an upper semicircle area and a lower semicircle area, and stepping is an operation performed by controlling the vibrator 7 through a 5-axis mechanical arm. After the step S30, a step is also included. :

S4111. When a crack is detected at the first angle of the upper semicircle area, step to the first angle of the lower semicircle area for detection;

S4112. When no crack is detected at the first angle of the upper semicircle area, step to the next angle of the upper semicircle area for detection;

S41131. When cracks are detected at other angles in the upper semicircle area, step to the first angle in the lower semicircle area for detection;

S41132. When the last angle detection of the upper semicircle is completed, step to the first angle of the lower semicircle area for detection;

S4121. Save the detection result when a crack is detected at the first angle in the lower semicircle area;

S4122. When no crack is detected at the first angle in the lower semicircle area, continue to detect at the next angle;

S41231. Save the detection results when cracks are detected from other angles in the lower semicircle area;

S41232. Save the detection result when no crack is detected at the last angle of the lower semicircle area.

S50. The crawler trolley moves to the next detection area for detection.

Described step S50 specifically comprises:

Update along the direction of the straight line formed by the bionic sensor array, and form a quarter of a circular arc intersection between adjacent circular local detection areas in the same direction. After the update of this direction is completed, turn and move to the next parallel direction , the circular local area in the next direction and the previous direction form a quarter of the arc intersection.

Further, the crawler trolley is used to move, so that the second partial detection area of the vibrator and the first partial detection area have a quarter of an intersection arc. Move, so that there is a quarter of the intersection arc between the third partial detection area and the second partial detection area. There is a quarter of the intersection arc between the first partial detection area and the third partial detection area.

In another preferred embodiment, when the local detection area is square, step S50 specifically includes: the left and right borders between adjacent square local detection areas in the same direction coincide, and after the update of the direction is completed, turn around and move to the next In the parallel direction, the upper and lower boundaries of the square local areas in the next direction and the previous direction coincide.

It should be noted that the moving direction of the tracked trolley is preferentially moved in the above-mentioned way.

和

三个方向上振动传感器接收的振动信号的抑制作用，其中

Due to the existence of the 3/1 configuration, the number of pulses emitted by the pulse emission model in each direction is different. The vibration sensor in the γ _k direction will emit pulses through the pulse emission model after being stimulated by vibration and reaching a certain threshold, and at the same time will be subjected to the reverse

and

Inhibition of vibration signals received by vibration sensors in three directions, where

The content of the present invention will be further described below by specific detection steps:

In the initial state, when the detection device is not detecting or is in a moving state, the bionic sensor array is suspended in the air through the steering gear without contacting the surface of the composite material to be detected. At the same time, the 5-axis mechanical arm also suspends the exciter in the air .

First, set the positioning distance error threshold, then place the detection device on the surface of the composite material to be detected (that is, the layer to be detected), control the crawler trolley 1 to move to a suitable detection position, and pass the 5-axis mechanical arm 2 installed on the crawler trolley 1 The exciter 7 is placed on the 45° direction of the circular local detection area (as shown in Figure 6), and the steering gear 4 is controlled to rotate at a certain angle so that the two bionic sensor arrays are in contact with the surface of the composite material;

Then the vibration exciter 7 is supplied with a square wave signal of 50% duty cycle of 30KHz for one period of time, and simultaneously, the acquisition device collects the vibration signals received by 16 vibration sensors, and wirelessly transmits them to the computer terminal, as shown in Figure 5;

The computer terminal uses the bionic multi-sensor array 3 cooperative positioning method to locate the vibration source of the currently received vibration signal, and calculates the Euclidean distance error between the location of the vibration source and the actual location of the vibration source, and compares it with the set threshold;

If the distance error is greater than the threshold, it is judged that there is a crack in the upper semicircle area of the current circular local detection area, and the detection in the direction of 90° (the second angle of the upper semicircle area) and 135° (the third angle of the upper semicircle area) of the upper semicircle is skipped, At this time, the 5-axis mechanical arm 2 is controlled to raise, rotate and place the exciter 7 in the direction of -135° (the first angle in the lower semicircle area) of the lower semicircle, and keep the two bionic sensor arrays in contact with the surface of the composite material. Vibrator 7 is supplied with the same one-period square-wave drive signal as above to locate the vibration source. By calculating the comparison between the Euclidean distance error and the threshold value, if the distance error in the current -135° direction is greater than the threshold value, the current lower semicircle detection area is judged. There is a crack, the detection of the circular local detection area is completed, and the crawler trolley 1 moves to the next detection area; if the distance error in the current -135° direction is less than the threshold, continue to move the vibrator to the next -90° direction, and carry out The same steps are used to determine whether there is a crack. If both the directions of -90° (the second angle of the lower semicircle area) and -45° (the third angle of the lower semicircle area) are less than the threshold, then the lower semicircle area is detected as having no cracks. If - If it is greater than the threshold in the 90° direction, or less than the threshold in the -90° direction, and greater than the threshold in the -45° direction, then the lower semicircle area is detected as having no cracks, as shown in Figure 8.

If the distance error is less than or equal to the threshold value, then control the 5-axis mechanical arm 2 to lift the vibrator 7 to a small height, and rotate it to place it in the direction of 90° (ie, the second angle of the upper semicircle area) of the circular base cloth detection area. , the two bionic sensor arrays keep in contact with the surface of the composite material, and supply the above-mentioned one-period square wave drive signal to the vibrator 7 to locate the vibration source. By calculating the comparison between the Euclidean distance error and the threshold value, if the current distance error is greater than Threshold, it is judged that there is no crack detected in the current upper semicircle area, and the 5-axis manipulator is controlled to move the vibrator 7 to the lower semicircle area; if the distance error in the current direction is less than the threshold, continue to move the vibrator to the next 135° In the direction, perform the same steps to determine whether there is a crack. If the distance error in the 135° direction is less than the threshold, then there is no crack in the upper semicircle detection area. Move the vibrator to the lower semicircle detection area. If the distance error in the 135° direction is greater than the threshold , then there is a crack in the upper semicircle detection area, move the vibrator to the lower semicircle detection area.

After completing the detection of cracks in the circular area, the computer terminal saves the detection results of the area.

The circular local detection area is moved and updated as shown in Figure 7, and it is updated along the direction of the straight line formed by the bionic sensor array. The circular arc of the first direction intersects. When the update detection of this direction is completed, it turns and moves to the next parallel direction. There is also a quarter of the circular arc intersecting between the next direction and the previous direction. The crawler trolley moves After arriving at the center of the next circular detection area, according to the above detection process, place the vibrator and the bionic sensor array at the same time, and start a new round of detection.

In summary, the present invention provides a device and method for positioning and detecting microcracks in the subsurface of composite materials, wherein the method includes: a moving structure; A vibration signal; a sensing structure set on the mobile structure for receiving the vibration signal. In the present invention, the vibrating structure sends out the vibration signal and the sensing structure receives the vibration signal, and cooperates with the position change of the moving structure to drive the vibrating structure and the sensing structure, so as to realize the autonomous generation of the vibration source and its positioning, further The presence of cracks is judged based on the positioning results, thereby improving the efficiency and accuracy of crack detection in all areas.

It should be understood that the application of the present invention is not limited to the above examples, and those skilled in the art can make improvements or transformations according to the above descriptions, and all these improvements and transformations should belong to the protection scope of the appended claims of the present invention.

Claims (6)

1. A positioning detection device for composite subsurface microcracks, characterized in that it comprises: mobile structure; an exciting structure, arranged on the moving structure, for generating a vibration signal; a sensing structure, arranged on the mobile structure, for receiving the vibration signal; The sensing structure includes 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 two adjacent bionic sensor arrays is the same; Each of the bionic sensor arrays includes a plurality of vibration sensors, and the plurality of vibration sensors of each of the bionic sensor arrays are arranged in an annular array; The number of the bionic sensor arrays is set to two, and each of the bionic sensor arrays includes eight vibration sensors; The moving structure is a crawler trolley; 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 to control the movement of the sensing structure, and the mechanical An arm assembly is connected to the vibration excitation structure, and the mechanical arm assembly is used to control the position of the vibration excitation structure; The vibration sensor is an acceleration sensor, and the acceleration sensor is used to receive the Rayleigh wave component in the vibration wave; Finding the intersection point of two straight lines through plane geometry satisfies the following formula:

Wherein, one described bionic sensor array responds to vibration source direction angle as φ1, another described bionic sensor array responds to vibration source direction angle as φ2, and the center distance between two described bionic sensor arrays is d, (x, y ) is the location coordinates of the positioning vibration source; The Euclidean distance satisfies the following formula:

Among them, ρ is the Euclidean distance, (x _r , y _r ) is the actual coordinate of the vibration source. 2. The positioning detection device for composite material subsurface microcracks according to claim 1, wherein the drive assembly includes a steering gear fixedly connected to the moving structure, and the steering gear end is connected to the control arm One end of the control arm is rotationally connected, and the other end of the control arm is fixedly connected with the sensing structure. 3. The positioning detection device for composite material subsurface micro-cracks according to claim 1, wherein the positioning detection device includes a signal acquisition device arranged on the moving structure, and the signal acquisition device is used for The vibration signal received by the sensing structure is collected. 4. The positioning detection device for composite material subsurface micro-cracks according to claim 3, wherein the positioning detection device also includes a terminal device, and the terminal device is connected with the signal acquisition device by a signal, The terminal device is used for calculating and judging the received data of the signal acquisition device. 5. A method for positioning detection of subsurface microcracks in composite materials, characterized in that, comprising the steps of: The vibration signal received by the sensor structure is collected by the signal collection device arranged on the mobile structure, and the corresponding collection signal is output; Coordinate positioning processing on the received acquisition signal and output the data to be analyzed; Judgment and classification of the currently collected data to be analyzed according to the preset data, and save the detection results when it is judged that there is a crack; The sensing structure includes 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 two adjacent bionic sensor arrays is the same; Each of the bionic sensor arrays includes a plurality of vibration sensors, and the plurality of vibration sensors of each of the bionic sensor arrays are arranged in an annular array; The number of the bionic sensor arrays is set to two, and each of the bionic sensor arrays includes eight vibration sensors; The moving structure is a crawler trolley; 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 to control the movement of the sensing structure, and the mechanical The arm assembly is connected to the vibration excitation structure, and the mechanical arm assembly is used to control the position of the vibration excitation structure; The vibration sensor is an acceleration sensor, and the acceleration sensor is used to receive the Rayleigh wave component in the vibration wave; Finding the intersection point of two straight lines through plane geometry satisfies the following formula:

Wherein, one of the bionic sensor arrays responds to a vibration source direction angle of φ1, the other bionic sensor array responds to a vibration source direction angle of φ2, and the center distance between the two bionic sensor arrays is d, (x, y ) is the location coordinates of the positioning vibration source; The Euclidean distance satisfies the following formula:

Among them, ρ is the Euclidean distance, (x _r , y _r ) is the actual coordinate of the vibration source. 6. the location detection method that is used for composite material subsurface layer microcrack according to claim 5, is characterized in that, described data to be analyzed is actual distance error, and described pre-set data is location distance error threshold; The steps of judging and classifying the currently collected data to be analyzed according to the preset data, and saving the detection results when it is judged that there is a crack include: Compare and judge according to the preset positioning distance error threshold and the actual distance error; When the actual distance error is greater than the positioning distance error threshold, it is judged that there is a crack in the current detection area and the detection result is saved.

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