A magnetic anomaly detection device based on single chip microcomputer and magnetic gradient tensor technology

Abstract

The present invention provides a magnetic anomaly detection device based on a single-chip microcomputer and magnetic gradient tensor technology, which belongs to the technical field of detection and identification of residual explosive detonators. It includes a control unit, a data acquisition unit, a data processing unit and a data output unit, specifically including a sensor array and a single-chip microcomputer development board, the sensor array is used to collect magnetic anomaly signals, and the single-chip microcomputer development board is used for signal processing; the sensor array includes five groups of magnetic sensors, and the five groups of magnetic sensors are arranged in a plane cross shape. The sensor array is the data acquisition unit, which is used to collect magnetic gradient tensor data at the location of the detector; the single-chip microcomputer development board includes a single-chip microcomputer simplest system board and a single-chip microcomputer peripheral. By setting up a sensor array and a single-chip microcomputer development board, this application can effectively complete the detection and identification of residual explosive detonators, increase the efficiency of manual gun inspection measures after explosion, improve reliability, and has significant field application and economic value.

Description

Technical Field

[0001] The present application relates to the technical field of detection and identification of residual explosion-resistant detonators, and in particular to a magnetic anomaly detection device based on a single-chip microcomputer and magnetic gradient tensor technology. Background Art

[0002] Currently, with the continuous increase in coal seam mining depth, underground coal seam conditions are becoming more complex and variable. To reduce subsequent operating costs, rock tunnel design is often carried out along the coal seam direction. This involves large engineering efforts, increasing complexity, and interconnectedness. With the continuous improvement of mechanization, mechanization is an efficient method for tunneling straight rock tunnels. However, for rock tunnels with steep slopes and many turns, blasting is still the main method used both domestically and internationally.

[0003] However, due to loose wiring, strong conductivity of the coal body, and the quality of the detonator (detonator) itself, some detonators refused to explode after the section was detonated. During the subsequent gangue discharge process, they exploded again due to squeezing, friction, etc., posing a fatal threat to surrounding workers.

[0004] Existing manual post-blast inspection methods are inefficient and unreliable, and there is currently a lack of methods in China that can directly and effectively detect and identify residual detonators. Therefore, there is an urgent need to develop technology and equipment that can directly scan and identify detonators in waste rock piles. Summary of the Invention

[0005] In order to make up for the above deficiencies, the present application provides a magnetic anomaly detection device based on a single-chip microcomputer and magnetic gradient tensor technology.

[0006] The embodiment of the present application provides a magnetic anomaly detection device based on a single-chip microcomputer and magnetic gradient tensor technology, including a control unit, a data acquisition unit, a data processing unit, and a data output unit. The device is characterized in that it specifically includes a sensor array and a single-chip microcomputer development board, wherein the sensor array is used to collect magnetic anomaly signals, and the single-chip microcomputer development board is used for signal processing;

[0007] The sensor array includes five groups of magnetic sensors, which are arranged in a planar cross shape. The sensor array is the data acquisition unit, which is used to collect magnetic gradient tensor data at the location of the detector;

[0008] The single-chip microcomputer development board includes a single-chip microcomputer simplest system board and single-chip microcomputer peripherals, the single-chip microcomputer peripherals include an LCD screen, an LED light, a buzzer button, a memory card, a USB to TTL component, a DuPont line and an explosion-proof battery, and the single-chip microcomputer development board includes the control unit, the data processing unit and the data output unit.

[0009] In the above implementation process, by setting up a sensor array and a single-chip microcomputer development board, the detection and identification of residual detonators can be effectively completed, which increases the efficiency of manual post-blast inspection measures, improves reliability, and has significant field application and economic value.

[0010] In a specific embodiment, the magnetic induction sensor is model RM3100, which is used to measure the components of the magnetic field vector in the spatial coordinate system. The magnetic induction sensor uses the MODBUS protocol and is connected to the microcontroller serial port for communication via a DuPont line. The serial port of the magnetic induction sensor is connected to an LED light, and the LED light is used to determine the signal transmission and reception status and faults of the magnetic sensor.

[0011] In a specific implementation scheme, the control unit is composed of a single-chip microcomputer and a key component. The single-chip microcomputer model is STM32F407. The control unit is responsible for data processing and control of the single-chip microcomputer. The key component is responsible for inputting control signals and switching the working state of the single-chip microcomputer.

[0012] In a specific embodiment, the control unit is connected to the explosion-proof battery, the buzzer and the LED light, the explosion-proof battery is used to power the single-chip microcomputer, and the buzzer and the LED light are used to indicate the working status of the device.

[0013] In a specific embodiment, the data processing unit is used to process the collected data through a single chip microcomputer, as well as to pre-process the measurement signal and perform data calculation and judgment.

[0014] In a specific embodiment, the measurement signal preprocessing includes ellipsoid correction, linear correction and Kalman filtering, which respectively correct the zero bias error, misalignment error and noise interference of the sensor array.

[0015] In a specific embodiment, the data operation and judgment include the calculation of the magnetic gradient tensor matrix G and the contraction value C based on the tensor matrix. T Calculation and Euler inversion positioning r calculation; the magnetic gradient tensor matrix G is a symmetric matrix with 5 independent elements B xx 、B xy 、B xz 、B yy and B yz , B ix 、B iy , B iz are the measured values of sensor i in the x, y, and z axes, respectively, where i = 1 to 4. The specific calculation is as follows:

[0016]

[0017] C Tis the local modulus of the magnetic field gradient tensor, which is only related to the distance |r| from the magnetic anomaly target to the detector and the angle between the magnetic vector of the magnetic anomaly target and the distance. According to the magnetic moment of the magnetic target, the parameter range of the possible existence of the target within 1m can be given. The specific calculation is as follows:

[0018]

[0019] Euler inversion positioning based on G and the center sensor measurement value B x5 、B y5 、B z5 , calculated as follows, the approximate azimuth vector r of the magnetic target relative to the sensor array can be obtained;

[0020]

[0021] r=-3G -1 B.

[0022] In a specific embodiment, the magnetic target is a residual explosion-rejecting detonator with a specific magnetic tag.

[0023] In a specific embodiment, the data output unit is composed of an LCD screen, a memory card, and a USB to TTL component, which respectively realize real-time display of data, memory card storage, and serial port output.

[0024] In a specific implementation scheme, the data output unit outputs the processed magnetic sensor data to an LCD screen, a memory card, and a USB to TTL component. The LCD screen is used to display the storage status of the memory card, the magnetic sensor data, and the tensor parameter change curve in real time. The memory card is used to store the magnetic sensor data in real time and for subsequent analysis. The USB to TTL component is used for communication between the device and the host computer.

[0025] Effective effects:

[0026] By setting up a sensor array and a single-chip microcomputer development board, this application can effectively complete the detection and identification of residual explosion detonators, increase the efficiency of post-explosion manual gun inspection measures, improve reliability, and has significant field application and economic value. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the implementation methods of the present application, the following is a brief introduction to the drawings required for use in the implementation methods. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1is a schematic structural diagram of a sensor array provided in an embodiment of the present application;

[0029] Figure 2 Functional block diagram provided for the implementation of this application;

[0030] Figure 3 A program logic block diagram provided for the implementation of this application. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0032] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0033] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0034] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0035] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on this application.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0037] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connect," "fixed," and the like should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integration; they may refer to direct connections or indirect connections through an intermediate medium; they may refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0038] In the present application, unless otherwise expressly specified and limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0039] See also Figure 1-3 The present application provides a magnetic anomaly detection device based on a single-chip microcomputer and magnetic gradient tensor technology, including a control unit, a data acquisition unit, a data processing unit and a data output unit, specifically including a sensor array and a single-chip microcomputer development board, wherein the sensor array is used to collect magnetic anomaly signals, and the single-chip microcomputer development board is used for signal processing;

[0040] The sensor array includes five groups of magnetic sensors, which are arranged in a planar cross shape. The sensor array is the data acquisition unit, which is used to collect magnetic gradient tensor data at the location of the detector;

[0041] The single-chip microcomputer development board includes a single-chip microcomputer simplest system board and single-chip microcomputer peripherals, the single-chip microcomputer peripherals include an LCD screen, an LED light, a buzzer button, a memory card, a USB to TTL component, a DuPont line and an explosion-proof battery, and the single-chip microcomputer development board includes the control unit, the data processing unit and the data output unit.

[0042] In the present application, the model of the magnetic induction sensor is RM3100, which is used to measure the components of the magnetic field vector in the spatial coordinate system. The magnetic induction sensor uses the MODBUS protocol and is connected to the microcontroller serial port for communication through a DuPont line. The serial port of the magnetic induction sensor is connected to an LED light, and the LED light is used to judge the magnetic sensor signal reception and transmission status and faults.

[0043] In the present application, the control unit is composed of a single-chip microcomputer and a key component. The single-chip microcomputer model is STM32F407. The control unit is responsible for data processing and control of the single-chip microcomputer. The key component is responsible for inputting control signals and switching the working state of the single-chip microcomputer. The control unit is connected to the explosion-proof battery, the buzzer and the LED light. The explosion-proof battery is used to power the single-chip microcomputer. The buzzer and the LED light are used to indicate the working state of the device.

[0044] In the specific setting, the data processing unit is used to process the collected data through the single chip microcomputer, as well as preprocess the measurement signal and perform data calculation and judgment; the measurement signal preprocessing includes ellipsoid correction, linear correction and Kalman filtering, which respectively correct the zero bias error, misalignment error and noise interference of the sensor array; the data calculation and judgment includes the calculation of the magnetic gradient tensor matrix G and the contraction value C based on the tensor matrix T Calculation and Euler inversion positioning r calculation; the magnetic gradient tensor matrix G is a symmetric matrix with 5 independent elements B xx 、B xy 、B xz 、B yy and B yz , B ix 、B iy , B iz are the measured values of sensor i in the x, y, and z axes, respectively, where i = 1 to 4. The specific calculation is as follows:

[0045]

[0046] C T is the local modulus of the magnetic field gradient tensor, which is only related to the distance |r| from the magnetic anomaly target to the detector and the angle between the magnetic vector of the magnetic anomaly target and the distance. According to the magnetic moment of the magnetic target, the parameter range of the possible existence of the target within 1m can be given. The specific calculation is as follows:

[0047]

[0048] Euler inversion positioning based on G and the center sensor measurement value B x5 、B y5 、B z5 , calculated as follows, the approximate azimuth vector r of the magnetic target relative to the sensor array can be obtained;

[0049]

[0050] r=-3G -1 B;

[0051] In the present application, the magnetic target is a residual explosion-proof detonator with a specific magnetic label.

[0052] In the present application, the data output unit is composed of an LCD screen, a memory card and a USB to TTL component, which respectively realize real-time display of data, memory card storage and serial port output; the data output unit outputs the processed magnetic sensor data to the LCD screen, memory card and USB to TTL component. The LCD screen is used to display the memory card storage status, magnetic sensor data, and tensor parameter change curve in real time. The memory card is used to store magnetic sensor data in real time and for subsequent analysis. The USB to TTL component is used for communication between the device and the host computer.

[0053] The working principle of this magnetic anomaly detection device based on a single-chip microcomputer and magnetic gradient tensor technology is as follows: when in use, the device correction parameters are first obtained through ellipsoid correction and linear correction methods and input into a memory card. The sensor array is connected to the single-chip microcomputer development board via a DuPont extension cable, and the memory card containing the correction parameters is connected to the memory card slot. After that, it can be officially used;

[0054] (1) Turn on the explosion-proof battery and the microcontroller power switch, and the microcontroller will start to acquire, process and output data in real time. The data will be displayed in real time on the LCD screen. Under normal reading conditions, the LED light will flash and the buzzer will be off. If the magnetic sensor is damaged, the data of the corresponding magnetic sensor will be displayed as NAN on the LCD screen, and the LED light of the corresponding sensor serial port will no longer flash as the data is read;

[0055] (2) Once the data reaches the predetermined range, the screen displays a prompt message, the LED light of the single-chip computer is always on, and the buzzer is activated, which together indicate that there may be a magnetic anomaly target. When the data increases significantly, the error of the calculated azimuth relative to the actual position of the magnetic anomaly target decreases, which can reflect the possible position of the magnetic anomaly target to a certain extent, thereby achieving the purpose of detection.

[0056] The foregoing is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included within the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined or explained in subsequent figures.

[0057] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A magnetic anomaly detection device based on a single chip microcomputer and magnetic gradient tensor technology, characterized in that: It includes a sensor array and a single-chip microcomputer development board, wherein the sensor array is used to collect magnetic anomaly signals, and the single-chip microcomputer development board is used for signal processing; The sensor array includes five groups of magnetic sensors, which are arranged in a planar cross shape. The sensor array is a data acquisition unit for collecting magnetic gradient tensor data at the location of the detector. The single-chip microcomputer development board includes a single-chip microcomputer simplest system board and single-chip microcomputer peripherals, the single-chip microcomputer peripherals include an LCD screen, an LED light, a buzzer button, a memory card, a USB to TTL component, a DuPont line and an explosion-proof battery, and the single-chip microcomputer development board includes a control unit, a data processing unit and a data output unit; The data processing unit is used to process the collected data through the single chip microcomputer, and to perform pre-processing, data calculation and judgment on the measurement signal; The data operation and judgment include magnetic gradient tensor matrix calculation, tensor matrix-based contraction value calculation and Euler inversion positioning calculation; wherein the magnetic gradient tensor matrix G is a symmetric matrix with 5 independent elements B xx 、B xy 、B xz 、B yy and B yz , B ix 、B iy , B iz are the measured values of sensor i in the x, y, and z axes, respectively, where i = 1 to 4. The specific calculation formula is as follows: Contraction value C T is the local modulus of the magnetic field gradient tensor, and its specific calculation formula is as follows: Euler inversion positioning is based on the magnetic gradient tensor matrix and the central sensor measurement value B x5 、B y5 、B z5 Obtain the approximate azimuth vector r of the magnetic target relative to the sensor array. The specific calculation formula is as follows: r=-3G -1 B。 2. The magnetic anomaly detection device based on a single chip microcomputer and magnetic gradient tensor technology according to claim 1 is characterized in that: The model of the magnetic sensor is RM3100, which is used to measure the components of the magnetic field vector in the spatial coordinate system. The magnetic sensor uses the MODBUS protocol and is connected to the microcontroller serial port for communication via a DuPont cable. The serial port of the magnetic sensor is connected to an LED light, which is used to determine the signal transmission and reception status and faults of the magnetic sensor.

3. The magnetic anomaly detection device based on a single chip microcomputer and magnetic gradient tensor technology according to claim 1 is characterized in that: The control unit is composed of a single-chip microcomputer and a key component. The single-chip microcomputer model is STM32F407. The control unit is responsible for data processing and controlling the single-chip microcomputer. The key component is responsible for inputting control signals and switching the working state of the single-chip microcomputer.

4. The magnetic anomaly detection device based on a single chip microcomputer and magnetic gradient tensor technology according to claim 3 is characterized in that: The control unit is connected to the explosion-proof battery, the buzzer and the LED light. The explosion-proof battery is used to power the single-chip microcomputer, and the buzzer and the LED light are used to indicate the working status of the device.

5. The magnetic anomaly detection device based on a single chip microcomputer and magnetic gradient tensor technology according to claim 1, characterized in that: The measurement signal preprocessing includes ellipsoid correction, linear correction and Kalman filtering, which respectively correct the zero bias error, misalignment error and noise interference of the sensor array.

6. The magnetic anomaly detection device based on a single chip microcomputer and magnetic gradient tensor technology according to claim 1, characterized in that: The magnetic target is a detonator with a specific magnetic label that refuses to explode or a detonator with a residual explosion.

7. The magnetic anomaly detection device based on a single chip microcomputer and magnetic gradient tensor technology according to claim 1, characterized in that: The data output unit is composed of an LCD screen, a memory card and a USB to TTL component, which respectively realize real-time display of data, memory card storage and serial port output.

8. The magnetic anomaly detection device based on a single chip microcomputer and magnetic gradient tensor technology according to claim 7, characterized in that: The data output unit outputs the processed magnetic sensor data to the LCD screen, memory card and USB to TTL component. The LCD screen is used to display the memory card storage status, magnetic sensor data and tensor parameter change curve in real time. The memory card is used to store the magnetic sensor data in real time and for subsequent analysis. The USB to TTL component is used for communication between the device and the host computer.

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