CN112782650B - Acoustic emission source positioning method and system based on cube array - Google Patents
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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Abstract
The invention discloses an acoustic emission source positioning method and system based on a cube array, and relates to the field of acoustic emission positioning detection. The acoustic emission detection technology is an important nondestructive detection method, and the safety of the structure is guaranteed by timely finding out damage and potential threat. The method comprises the steps of arranging acoustic emission sensors in a cube array, determining the time difference of the acoustic emission sensors by using a cross-correlation function, determining whether to adjust the distance of the acoustic emission sensors according to test calibration, collecting acoustic emission signals, calculating and determining the time difference by using the cross-correlation function, and finally determining the position of an acoustic emission source according to the time difference and the side length of the cube. The invention does not relate to acoustic emission speed and is not affected by isotropy and anisotropy of the material. The method does not need an iterative process during calculation, improves the calculation speed and accuracy, and is more suitable for positioning the acoustic emission source of the three-dimensional structure.
Description
Technical Field
The invention relates to the field of acoustic emission dynamic detection, in particular to a method and a system for positioning an acoustic emission source by using an acoustic emission time difference method.
Background
Acoustic emissions are phenomena that produce transient elastic waves by the rapid release of energy from a localized source within the material. Monitoring the machining process with acoustic emission sensors is very efficient and is more reliable because the fault detection caused by the sensors is very sensitive to the machining process. Acoustic emission technology is considered to be one of the most accurate monitoring methods in machining, and has relatively superior signal-to-noise ratio and sensitivity, which are more advantageous than conventional sensors.
At present, acoustic emission positioning technology plays an increasingly important role in engineering, and engineering materials often generate micro-damages such as cracks and hollows in the materials due to the diversity of loads and the complexity of external environments in the application process. Under external loading, these micro-injuries can spread further, leading to failure damage to the material or structure. Monitoring the location of micro-defects that produce acoustic emission sources is of great importance in the engineering field. It is often desirable in engineering to use acoustic emission techniques to monitor and locate surface defects and material damage points in the engineering in real time. The signal received by the acoustic emission sensor is sent by the detected object, and the internal defect of the detected object actively participates in the detection process, which is the essential difference between the acoustic emission detection technology and other nondestructive detection technologies, and has the irreplaceable superiority of other detection methods.
The microdefect of the material is positioned by acoustic emission signals, and there are usually a time difference positioning method, a region positioning method, a correlation positioning method, a pattern recognition positioning method and the like, wherein the time difference positioning method is the most widely applied method. The principle of the time difference positioning method is to solve the time difference of the acoustic emission signals emitted by the same acoustic emission source reaching each acoustic emission sensor and the space position of each acoustic emission sensor through a series of linear equations of the geometric relationship between the acoustic emission source and the acoustic emission sensors.
Disclosure of Invention
In view of the above, the invention provides a method and a system for positioning an acoustic emission source based on a cube array.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
an acoustic emission source positioning method based on a cube array comprises the following steps:
establishing acoustic emission source positioning sensors arranged in a cube array of a three-dimensional structure;
the received acoustic signals of the acoustic emission are converted into electrical signals of the acoustic emission through an acoustic emission sensor;
the acoustic emission electric signals enter a signal acquisition and processing system;
performing cross-correlation function calculation on the electric signals passing through the signal acquisition and processing system, wherein the time difference between adjacent wave peaks of the cross-correlation function is the required time difference tau obtained by the acoustic emission signals;
and determining the position of the acoustic emission source according to the time difference tau.
Preferably, the cross-correlation function calculation process is specifically as follows: the cross-correlation function between any one wave a (t) and another wave B (t+τ) with a delay time τ is as follows:
any one of the functions A (t) and B (t) with a time delay of tau ', and a cross-correlation function R of the two functions A (t) and B (t+tau') within a finite time interval AB (τ) contains a maximum value at τ=τ', and this cross-correlation method is used for localization of continuous acoustic emission sources.
Preferably, the side length of the square array is d, and the time difference tau is used for obtaining the position P (x, y, z) of the acoustic emission sourceIf l > d and r > d, continuing the detection; otherwise, the distance of the acoustic emission sensor is adjusted until l > d and r > d are satisfied. Far more than two orders of magnitude, more than 100 times.
Preferably, the acoustic emission source positioning method is specifically as follows:
first acoustic emission sensor S 1 Second sound emission sensor S 2 Third acoustic emission sensor S 3 Fourth acoustic emission sensor S 4 A group of second sound emission sensors S 2 The third acoustic emission sensor S 3 The fourth acoustic emission sensor S 4 With the first acoustic emission sensor S 1 Time differences of Deltat respectively 12 、Δt 13 、Δt 14 ；S 1 P has a length of l, P is measured by the first acoustic emission sensor S 1 Projection in the xoy plane of the coordinate system, which is the origin of coordinates, is P xy1 P is in the form of the first acoustic emission sensor S 1 The projection in the plane of the coordinate system yoz, which is the origin of coordinates, is P yz The method comprises the steps of carrying out a first treatment on the surface of the x-axis and S 1 An included angle of P is alpha 1 Y-axis and S 1 An included angle of P is alpha 2 Z-axis and S 1 An included angle of P is alpha 3 Y-axis and S 1 P xy1 Included angle beta 1 Z-axis and S 1 P yz Included angle beta 2 ；
When l > d and r > d, we find:
due to P xy1 At the first acoustic emission sensor S for point P 1 The projection in the xoy plane of the coordinate system, which is the origin of coordinates, is:
the two formulas are compared:
due to P yz At the first acoustic emission sensor S for point P 1 The projection in the plane of the coordinate system yoz, which is the origin of coordinates, is:
the two formulas are compared:
point P is at the first acoustic emission sensor S 1 The coordinates of the coordinate system that is the origin of coordinates are set as (x p1 ，y p1 ，z p1 ) The number of the steps is, if any,
obtaining:
fifth acoustic emission sensor S 5 Sixth acoustic emission sensor S 6 Seventh Acoustic emission sensor S 7 Eighth acoustic emission sensor S 8 A group of sixth acoustic emission sensors S 6 The seventh acoustic emission sensor S 7 The eighth acoustic emission sensor S 8 And the fifth acoustic emission sensor S 5 Time differences of Deltat respectively 56 、Δt 57 、Δt 58 ；S 5 P has a length r, P is measured by the fifth acoustic emission sensor S 5 Projection in the xoy plane of the coordinate system, which is the origin of coordinates, is P xy5 P is in the fifth acoustic emission sensor S 5 The projection in the plane of the coordinate system yoz, which is the origin of coordinates, is P yz The method comprises the steps of carrying out a first treatment on the surface of the x-axis and S 5 An included angle of P is theta 1 Y-axis and S 5 An included angle of P is theta 2 Z-axis and S 5 An included angle of P is theta 3 The method comprises the steps of carrying out a first treatment on the surface of the y-axis and S 5 P xy5 Included angle of gamma 1 Z-axis and S 5 P yz Included angle of gamma 2 ；
When l > d and r > d, we find:
due to P xy5 At the point P with the fifth acoustic emission sensor S 5 The projection in the xoy plane of the coordinate system, which is the origin of coordinates, is:
the two formulas are compared:
due to P yz At the point P with the fifth acoustic emission sensor S 5 The projection in the plane of the coordinate system yoz, which is the origin of coordinates, is:
rcosθ 2 ＝rcosθ 1 sinγ 2 ；
rcosθ 3 ＝rcosθ 1 cosγ 2 ；
the two formulas are compared:
point P is at the fifth acoustic emission sensor S 5 The coordinates of the coordinate system that is the origin of coordinates are set as (x p5 ，y p5 ，z p5 ) The number of the steps is, if any,
obtaining:
wherein x is p5 ＝x p1 -d、y p5 ＝y p1 -d、z p5 ＝z p1 D, simultaneous obtaining:
the location of the acoustic emission source is determined.
The acoustic emission source positioning system based on the cube array comprises an acoustic emission sensor, a signal amplifier, a signal acquisition and processing system and a display and recording system, wherein the acoustic emission sensor is connected with the signal amplifier through a signal wire, the signal amplifier is connected with the signal acquisition and processing system through the signal wire, and the signal acquisition and processing system and the display and recording system are connected through the signal wire.
Preferably, the signal acquisition and processing system calculates a cross-correlation function of the acquired acoustic emission signals to obtain time differences among the sensors, and finally, the recording and display system determines the position of the acoustic emission source by utilizing the time differences and the square side length.
Compared with the prior art, the acoustic emission source positioning method and system based on the cube array provided by the invention have the following beneficial effects:
(1) The acoustic emission is a dynamic detection method, and the energy detected by the acoustic emission comes from the detected object, so that the detection accuracy is improved.
(2) Is insensitive to the geometric shape of the measured object, and is suitable for detecting complex-shaped components with other limited methods. While being suitable for use in environments where other methods are difficult or inaccessible.
(3) The positioning method is irrelevant to the propagation speed of the acoustic emission signal, and the influence of the propagation speed difference of the acoustic emission signal caused by the anisotropy of the material is avoided.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of the method of the invention;
FIG. 2 is a schematic diagram of the time difference of the cross-correlation function of the present invention;
FIG. 3 is a diagram of a square array arrangement of the present invention;
FIG. 4 is a schematic view of the location P of an acoustic emission source of the present invention;
FIG. 5 is a schematic diagram of an acoustic emission source determination of the present invention;
FIG. 6 is a schematic diagram of a system flow of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1:
the embodiment discloses an acoustic emission source positioning method and system based on a cube array, wherein eight acoustic emission sensors are selected and arranged in the cube array, and the side length of the cube is d. The invention does not relate to acoustic emission speed and is not affected by isotropy and anisotropy of the material. The method does not need an iterative process during calculation, improves the calculation speed and accuracy, and is more suitable for positioning the acoustic emission source of the three-dimensional structure. The acoustic emission detection technology is an important nondestructive detection method, and the safety of the structure is guaranteed by timely finding out damage and potential threat. The invention provides a new method for positioning an acoustic emission source in acoustic emission detection, as shown in fig. 1, the acoustic emission source positioning method based on a cube array comprises the following steps: establishing acoustic emission source positioning sensors arranged in a cube array of a three-dimensional structure; the received acoustic signals of the acoustic emission are converted into electrical signals of the acoustic emission through an acoustic emission sensor; the acoustic emission electric signal enters a signal acquisition and processing system; performing cross-correlation function calculation on the electric signals passing through the signal acquisition and processing system, wherein the time difference between adjacent wave peaks of the cross-correlation function is the time difference tau required by the acoustic emission signal; the position of the acoustic emission source is determined from the time difference τ.
Preferably, as shown in fig. 2, the specific process of the cross-correlation function for time difference is as follows:
the cross-correlation function represents the degree of correlation between two time sequences, i.e. describes the time of the signals x (t), y (t) at any two different instants t 1 ，t 2 The degree of correlation between the values of (c) is determined. The correlation between the two signals is highest at a time interval tau, which reflects the lag time of the main transmission channel between the two signals x (t), y (t). The two acquired acoustic emission signals are subjected to cross-correlation function analysis, so that corresponding cross-correlation function images can be obtained, the time interval tau corresponding to the maximum peak value on the cross-correlation function images is the time difference tau between the acoustic emission signals, and any one wave A (t) and the other wave with the delay time tau are obtainedThe cross-correlation function between B (t+τ) is as follows:
any one of the functions A (t) and B (t) with a time delay of tau ', and a cross-correlation function R of the two functions A (t) and B (t+tau') within a finite time interval AB (τ) must contain a maximum value at τ=τ', which cross-correlation method is used for localization of continuous acoustic emission sources. If the acoustic emission sensor a receives the continuous acoustic emission signal a (t), the acoustic emission sensor B receives the continuous acoustic emission signal B (t+τ '), with a time delay τ' relative to the wave a (t), then the time difference in propagation of the acoustic emission signal from the source to the two probes may be determined from its cross-correlation function R AB The maximum peak position of (τ), i.e., Δt AB ＝τ′。
As shown in fig. 4, eight acoustic emission sensors are arranged in an array of cubes, placed at eight vertices of the cubes, respectively, as shown in the following figures. The side length of the cube is d, S 1 A coordinate system is established for the origin of coordinates.
Firstly, acquiring acoustic emission signals to perform cross-correlation function calculation to obtain time difference between acoustic emission sensors, and obtaining the position P (x, y, z) of an acoustic emission source by using the time difference If l > d and r > d, then proceed with the detection. Otherwise, the distance of the acoustic emission sensor is adjusted until l > d and r > d are satisfied. Wherein, far more than two orders of magnitude, more than 100 times, are referred to.
Preferably, as shown in fig. 5, the specific process of acoustic emission source determination is as follows:
first acoustic emission sensor S 1 Second sound emission sensor S 2 Third acoustic emission sensor S 3 Fourth acoustic emission sensorS 4 A second sound emission sensor S 2 Third acoustic emission sensor S 3 Fourth acoustic emission sensor S 4 With a first acoustic emission sensor S 1 The time differences are respectively deltat 12 、Δt 13 、Δt 14 ；S 1 P is l in length and P is measured by a first acoustic emission sensor S 1 Projection in the xoy plane of the coordinate system, which is the origin of coordinates, is P xy1 P is detected by a first acoustic emission sensor S 1 The projection in the plane of the coordinate system yoz, which is the origin of coordinates, is P yz The method comprises the steps of carrying out a first treatment on the surface of the x-axis and S 1 An included angle of P is alpha 1 Y-axis and S 1 An included angle of P is alpha 2 Z-axis and S 1 An included angle of P is alpha 3 Y-axis and S 1 P xy1 Included angle beta 1 Z-axis and S 1 P yz Included angle beta 2 ；
When l > d and r > d, we find:
due to P xy1 At the point P with the first acoustic emission sensor S 1 The projection in the xoy plane of the coordinate system, which is the origin of coordinates, is:
the two formulas are compared:
due to P yz At the point P with the first acoustic emission sensor S 1 The projection in the plane of the coordinate system yoz, which is the origin of coordinates, is:
the two formulas are compared:
point P is at the first acoustic emission sensor S 1 The coordinates of the coordinate system that is the origin of coordinates are set as (x p1 ，y p1 ，z p1 ) The number of the steps is, if any,
obtaining:
fifth acoustic emission sensor S 5 Sixth acoustic emission sensor S 6 Seventh Acoustic emission sensor S 7 Eighth acoustic emission sensor S 8 A group of sixth acoustic emission sensors S 6 Seventh Acoustic emission sensor S 7 Eighth acoustic emission sensor S 8 And a fifth acoustic emission sensor S 5 Time differences of Deltat respectively 56 、Δt 57 、Δt 58 ；S 5 P has a length r and P is measured by a fifth acoustic emission sensor S 5 Projection in the xoy plane of the coordinate system, which is the origin of coordinates, is P xy5 P is at the fifth acoustic emission sensor S 5 The projection in the plane of the coordinate system yoz, which is the origin of coordinates, is P yz The method comprises the steps of carrying out a first treatment on the surface of the x-axis and S 5 An included angle of P is theta 1 Y-axis and S 5 An included angle of P is theta 2 Z-axis and S 5 An included angle of P is theta 3 The method comprises the steps of carrying out a first treatment on the surface of the y-axis and S 5 P xy5 Included angle of gamma 1 Z-axis and S 5 P yz Included angle of gamma 2 ；
When l > d and r > d, we find:
due to P xy5 At the fifth acoustic emission sensor S for point P 5 Is the projection in the xoy plane of the coordinate system of the origin of coordinates,the method comprises the following steps:
the two formulas are compared:
due to P yz At the fifth acoustic emission sensor S for point P 5 The projection in the plane of the coordinate system yoz, which is the origin of coordinates, is:
rcosθ 2 ＝rcosθ 1 sinγ 2 ；
rcosθ 3 ＝rcosθ 1 cosγ 2 ；
the two formulas are compared:
p point is at the fifth acoustic emission sensor S 5 The coordinates of the coordinate system that is the origin of coordinates are set as (x p5 ，y p5 ，z p5 ) The number of the steps is, if any,
obtaining:
wherein x is p5 ＝x p1 -d、y p5 ＝y p1 -d、z p5 ＝z p1 D, simultaneous obtaining:
the position of the acoustic emission source is determined and the acoustic emission source position in three-dimensional space is visible as determined by eight acoustic emission sensors of the cube array.
Example 2:
example 2 differs from example 1 only in that the remainder are the same, see example 1 for the same parts.
An acoustic emission source positioning system based on a cube array is shown in fig. 6, and comprises an acoustic emission sensor, a signal amplifier, a signal acquisition and processing system and a display and recording system. The acoustic emission sensor is connected with the signal amplifier through a signal wire, the signal amplifier is connected with the signal acquisition and processing system through a signal wire, and the signal acquisition and processing system and the display and recording system are connected through a signal wire. Wherein the acoustic emission sensor is operative to convert a received acoustic signal of acoustic emission into an acoustic emission electrical signal. The acoustic emission sensor is selected from SR150M of the acoustic bloom technology company, the frequency is 6 kHz-400 kHz, the number is 8, and the acoustic emission sensor is fixed on eight vertexes of the cube array through the medium-temperature silicone grease couplant. The acoustic emission sensor is connected with an amplifier through a signal wire, and the amplifier is mainly used for amplifying weak input signals, so that the signal-to-noise ratio of the signals is improved, and signal attenuation is prevented. The signal acquisition and processing system selects a 16-channel acquisition card of the acoustic bloom technology company, the sampling frequency is 10MHz, and the sampling precision is 16 bits. The method comprises the following specific steps:
an array of three-dimensional acoustic emission source location sensors is established as shown in fig. 3. Constructing a cube with a side length of d, and arranging eight acoustic emission sensors at eight vertexes of the cube respectively to form S 1 And establishing a space rectangular coordinate system for the origin of coordinates. S is S 1 、S 2 、S 3 、S 4 、S 5 、S 6 、S 7 、S 8 The spatial position of (2) is shown in figure 3.
The acoustic emission signal is processed by the acoustic emission sensor and enters the signal acquisition and processing system.
And performing cross-correlation function calculation on the acquired acoustic emission signals, and calculating the acoustic emission signals to obtain the required time difference. Although the exact time of sound wave generation and the exact moment of arrival of the sound wave at the acoustic emission sensor are unknown, the time difference of any two acoustic emission sensors is known. Obtaining a second sound emission sensor S 2 Third acoustic emission sensor S 3 Fourth acoustic emission sensor S 4 With a first acoustic emission sensor S 1 Time differences of Deltat respectively 12 、Δt 13 、Δt 14 Sixth acoustic emission sensor S 6 Seventh Acoustic emission sensor S 7 Eighth acoustic emission sensor S 8 And a fifth acoustic emission sensor S 5 Time differences of Deltat respectively 56 、Δt 57 、Δt 58 。
And finally, determining the position of the acoustic emission source by using the time difference and the square side length through a recording and displaying system.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. The acoustic emission source positioning method based on the cube array is characterized by comprising the following steps of:
establishing acoustic emission source positioning sensors arranged in a cube array of a three-dimensional structure;
the received acoustic signals of the acoustic emission are converted into electrical signals of the acoustic emission through an acoustic emission sensor;
the acoustic emission electric signals enter a signal acquisition and processing system;
performing cross-correlation function calculation on the electric signals passing through the signal acquisition and processing system, wherein the time difference between adjacent wave peaks of the cross-correlation function is the time difference tau required for receiving the acoustic emission signals;
determining the position of an acoustic emission source according to the time difference tau;
the side length of the cube array is d, and the time difference tau is used for obtaining the position P (x, y, z) of the acoustic emission source, so that the distanceIf l > d and r > dContinuing to detect; otherwise, the distance of the acoustic emission sensor is adjusted until l > d and r > d are satisfied:
the acoustic emission source positioning method specifically comprises the following steps:
first acoustic emission sensor S 1 Second sound emission sensor S 2 Third acoustic emission sensor S 3 Fourth acoustic emission sensor S 4 A group of second sound emission sensors S 2 The third acoustic emission sensor S 3 The fourth acoustic emission sensor S 4 With the first acoustic emission sensor S 1 Time differences of Deltat respectively 12 、Δt 13 、Δt 14 ；S 1 P has a length of l, P is measured by the first acoustic emission sensor S 1 Projection in the xoy plane of the coordinate system, which is the origin of coordinates, is P xy1 P is in the form of the first acoustic emission sensor S 1 The projection in the plane of the coordinate system yoz, which is the origin of coordinates, is P yz The method comprises the steps of carrying out a first treatment on the surface of the x-axis and S 1 An included angle of P is alpha 1 Y-axis and S 1 An included angle of P is alpha 2 Z-axis and S 1 An included angle of P is alpha 3 Y-axis and S 1 P xy1 Included angle beta 1 Z-axis and S 1 P yz Included angle beta 2 ；
When l > d and r > d, we find:
due to P xy1 At the first acoustic emission sensor S for point P 1 The projection in the xoy plane of the coordinate system, which is the origin of coordinates, is:
the two formulas are compared:
due to P yz At the first acoustic emission sensor S for point P 1 The projection in the plane of the coordinate system yoz, which is the origin of coordinates, is:
the two formulas are compared:
point P is at the first acoustic emission sensor S 1 Coordinates of a coordinate system being the origin of coordinatesSet as (x) p1 ，y p1 ，z p1 ) The number of the steps is, if any,
obtaining:
fifth acoustic emission sensor S 5 Sixth acoustic emission sensor S 6 Seventh Acoustic emission sensor S 7 Eighth acoustic emission sensor S 8 A group of sixth acoustic emission sensors S 6 The seventh acoustic emission sensor S 7 The eighth acoustic emission sensor S 8 And the fifth acoustic emission sensor S 5 Time differences of Deltat respectively 56 、Δt 57 、Δt 58 ；S 5 P has a length r, P is measured by the fifth acoustic emission sensor S 5 Projection in the xoy plane of the coordinate system, which is the origin of coordinates, is P xy5 P is in the fifth acoustic emission sensor S 5 The projection in the plane of the coordinate system yoz, which is the origin of coordinates, is P yz The method comprises the steps of carrying out a first treatment on the surface of the x-axis and S 5 An included angle of P is theta 1 Y-axis and S 5 An included angle of P is theta 2 Z-axis and S 5 An included angle of P is theta 3 The method comprises the steps of carrying out a first treatment on the surface of the y-axis and S 5 P xy5 Included angle of gamma 1 Z-axis and S 5 P yz Included angle of gamma 2 ；
When l > d and r > d, we find:
due to P xy5 At the point P with the fifth acoustic emission sensor S 5 The projection in the xoy plane of the coordinate system, which is the origin of coordinates, is:
the two formulas are compared:
due to P yz At the point P with the fifth acoustic emission sensor S 5 The projection in the plane of the coordinate system yoz, which is the origin of coordinates, is:
rcosθ 2 ＝rcosθ 1 sinγ 2 ；
rcosθ 3 ＝rcosθ 1 cosγ 2 ；
the two formulas are compared:
point P is at the fifth acoustic emission sensor S 5 The coordinates of the coordinate system that is the origin of coordinates are set as (x p5 ，y p5 ，z p5 ) The number of the steps is, if any,
obtaining:
wherein x is p5 ＝x p1 -d、y p5 ＝y p1 -d、z p5 ＝z p1 D, simultaneous obtaining:
the location of the acoustic emission source is determined.
2. The method for positioning acoustic emission sources based on a square array according to claim 1, wherein the cross-correlation function calculation process is specifically as follows: the cross-correlation function between any one wave a (t) and another wave B (t+τ) with a delay time τ is as follows:
any one of the functions A (t) and B (t) with a time delay of tau ', and a cross-correlation function R of the two functions A (t) and B (t+tau') within a finite time interval AB (τ) comprises a maximum value at τ=τ'.
3. An acoustic emission source positioning system based on a square array, which is characterized by comprising an acoustic emission sensor, a signal amplifier, a signal acquisition and processing system and a display and recording system, wherein the acoustic emission sensor is connected with the signal amplifier through a signal line, the signal amplifier is connected with the signal acquisition and processing system through the signal line, and the signal acquisition and processing system and the display and recording system are connected through the signal line.
4. The acoustic emission source positioning system based on the cube array according to claim 3, wherein the signal acquisition and processing system performs cross-correlation function calculation on the acquired acoustic emission signals to obtain time differences between the sensors, and finally determines the position of the acoustic emission source by using the time differences and the cube side length through the recording and display system.
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