CN204649150U - A kind of vector magnetic sensor array - Google Patents

Abstract

A vector magnetic sensor array, comprising a plurality of magnetosensitive vector sensors, a driver chip, a control circuit and a PCB circuit board, the magnetosensitive vector sensor is connected to the driver chip, and the magnetosensitive vector sensor and the driver chip are located on the PCB circuit board On the top layer, the control circuit is designed to configure parameters and read data from the driver chip, and transmit data to the host computer through the RS-232 serial port. The control circuit is located at the bottom of the PCB circuit board, and the driver circuit passes through Via connection. The vector magnetic sensor array ensures the position accuracy and orthogonality of the X-direction, Y-direction, and Z-direction magneto-sensitive inductance through the auxiliary welding of the positioning mold, and has good displacement measurement accuracy. The circuit structure is compact, the volume is small, the power consumption is low, the scale integration is easy, the manufacturing method is simple, and the practicability is strong.

Description

A Vector Magnetic Sensor Array

technical field

The utility model relates to the technical field of sensors, in particular to a vector magnetic sensor array, which is suitable for displacement monitoring of deep layers of landslide bodies, and can also be used for other non-contact displacement measurements.

Background technique

The underground displacement measurement of landslide mass is an effective means to monitor the stability of landslide mass. The traditional monitoring method is to use borehole inclinometer for monitoring. This method needs to drill down from the surface of the landslide to several meters below the sliding surface, install a precision inclinometer tube with a chute, and then carry out concrete grouting on the outside of the inclinometer tube to make the inclinometer tube and the landslide body firmly combined, and then pass An inclinometer is placed in the chute, and the inclination of the inner wall of the inclinometer is monitored by the inclinometer. Usually, the state curve at the early stage of inclinometer pipe embedding is taken as the reference curve, and the subsequent measured curve is compared with the reference curve (or the previously measured curve) to obtain the displacement deformation of the sliding surface and the accurate elevation position of the sliding surface. However, this test method has the following problems: 1) The construction of the inclinometer pipe is complicated, the installation work is large, and the cost is high. The inclinometer hole requires professional geological drilling, the borehole diameter is large, the depth needs to cross the sliding surface, and the inner wall and linearity of the inclinometer hole have high requirements. In order to ensure the measurement accuracy, the installed inclinometer tubes are mostly made of special materials. After the chute is processed by precision machining, the inclinometer tubes are expensive! 2) The reliability of the borehole inclinometer is low and maintenance is difficult. The length of a single inclinometer tube is usually less than 3 meters. For most landslides, multiple inclinometer tubes need to be connected, and when the connection point is close to complex terrain conditions, such as karst caves, it is easy to cause insufficient grouting. As a result, some parts are overhead, and disconnection occurs after the force is applied, which leads to the abandonment of the entire inclinometer tube. And when the deformation of the landslide body is too large, the local deformation of the inclinometer pipe is excessive, and the inclinometer probe will also be blocked, causing the inclinometer pipe to be scrapped in advance. In addition, the part of the inclinometer pipe exposed to the ground needs to be strictly protected. Any foreign matter blocking the pipe will cause the inclinometer pipe to be discarded. Based on the problems of borehole inclinometers, it is of great economic value and practical significance to explore a new method suitable for deep displacement monitoring of landslides.

Based on the magnetic positioning method, the deep displacement of the landslide is monitored, the detection point and the target point are separated, and the permanent magnet is used to form the target point, and the large-distance slip that occurs in the deep layer is converted into the change of the local magnetic field. By monitoring the change of the magnetic field, and then solved Calculate the displacement changes in the deep part of the landslide body, such as the publicized patent application "On-line monitoring method for landslide deep displacement measurement based on magnetic positioning" (application number: 201310352732.2), which can well avoid the problem of borehole inclinometers, and has Nice application foreground. However, simulation analysis and experimental research show that in order to obtain the mm-level displacement change of the target point, it is necessary to construct a magnetic vector sensor array, and at the same time detect the change of the magnetic field at different detection positions caused by the target point displacement. The higher the sensitivity of the sensor, the higher the position accuracy. The more accurate, the higher the displacement resolution of the detectable target points. Therefore, the development of a vector magnetic sensor array with high sensitivity and accurate position accuracy is the key to detect the deep displacement of landslide by magnetic positioning method. At present, the practical magnetic sensors mainly include fluxgate sensors, AMR magnetic sensors, Hall magnetic sensors, etc. Among them, the sensitivity of fluxgate sensors and AMR magnetic sensors can reach sub-nT level, but complex signal conditioning and extraction are required. Circuits and systems are bulky and expensive, and the price of a single set of vector magnetic sensors is tens of thousands of yuan, making it difficult to integrate arrays. The Hall magnetic sensor is small in size, but its sensitivity is not high (sub-mT level), and it is difficult to carry out accurate measurement. At the end of 2011, the American PNI company launched a sensor based on precision magnetic inductance, its volume is only 6mm*1.5mm*2mm, matched with a dedicated driver chip, it can achieve 0.1uT-level high-precision measurement, and the cost is low, and the peripheral circuit design is simple , multi-sensor integration is convenient, and has a good application prospect. In addition, the non-contact displacement measurement based on the magnetic positioning method also has strict requirements on the position accuracy and orthogonality of each component of the vector sensor. At present, the PCB circuit board manufacturing process is very mature, and the processing accuracy of the pad can reach 0.01mm. Therefore, the position accuracy and orthogonality of the vector sensor after welding depend entirely on the mounting process of the device. Traditional soldering methods mainly include manual soldering and SMT surface mount. Ordinary manual soldering, the positioning error of the device is at the mm level, it is difficult to guarantee the orthogonality of the X direction, the Y direction, and the Z direction, and the quality of the array production is related to the quality of the technicians, it is difficult to guarantee the quality of the array; SMT surface mount The assembly process is a fully automated circuit board welding technology. The mounting accuracy is high but the price is expensive. It also requires custom-made special mounting stencils and loading fixtures, and the production period is long. Although this technology can better guarantee the position accuracy of the device, due to the special shape of the Z-direction magneto-sensitive inductor, it is difficult to guarantee the orthogonality of the Z-direction, X-direction, and Y-direction during mounting, which will greatly reduce the sensor capacity in the Z-direction. measurement accuracy. Therefore, it is very important to explore new circuit fabrication methods to ensure the accuracy of vector magnetic sensor arrays, but no specific methods related to the fabrication of high-sensitivity vector magnetic sensor arrays have been retrieved yet.

Contents of the invention

The technical problem to be solved by the utility model is to provide a vector magnetic sensor array, which uses precision magneto-sensitive inductors as sensing units, and constructs a vector magnetic sensor array through a specific manufacturing method. The sensor array has the advantages of high displacement measurement precision, small size, low power consumption, high sensitivity, cheap price, etc., and the manufacturing method is ingeniously designed.

In order to solve the above-mentioned technical problems, the technical scheme that the utility model takes is:

A vector magnetic sensor array, including a plurality of magnetosensitive vector sensors, a drive module, a control module, a PCB circuit board, the magnetosensitive vector sensor is connected to the drive module, the magnetosensitive vector sensor and the drive module are located on the top layer of the PCB circuit board, and the control module It is used to configure parameters and read data of the drive module, and transmit data to the host computer through the RS-232 serial port. The control module is located at the bottom of the PCB circuit board and is connected to the drive module through via holes .

The magneto-sensitive vector sensor is composed of three magneto-sensitive inductors arranged orthogonally in the X direction, the Y direction and the Z direction;

The X-direction magneto-sensitive inductance constitutes a sensing array, and the position error of the inductance center distance is less than +/-0.1mm;

The magneto-sensitive inductance in the Y direction constitutes a sensing array, and the position error of the inductance center distance is less than +/-0.1mm;

The Z-direction magneto-sensitive inductance constitutes a sensing array, and the position error of the inductance center distance is less than +/-0.1mm.

The X-direction, Y-direction, and Z-direction magneto-sensitive inductors are assisted in positioning by a positioning mold to ensure position accuracy and orthogonality.

The pads of the X-direction, Y-direction, and Z-direction magneto-sensitive inductors are connected to the heat conduction pads on the bottom layer of the circuit board using two Φ1mm via holes; a signal ground layer is also provided between the top layer and the bottom layer of the PCB circuit board , used to isolate the electromagnetic influence of the control module on the magnetic vector sensor.

According to the above scheme of the utility model, the vector magnetic sensor of the utility model is based on the magneto-sensitive inductance sensor. When the change of the target point displacement causes the magnetic field of the measurement point to change, the inductance of the magneto-sensitive inductor changes. Through pre-configuration and calibration, The driving circuit converts the above changes into digital signals, and then transmits the data information to the host computer through the control circuit. The magneto-sensitive inductance is driven by a dedicated chip, and its inductance changes are directly converted into digital output, eliminating the usual A/D conversion. The hardware structure of the circuit is simple, small in size, low in power consumption, and high in sensitivity, making it easy to form complex arrays. .

A method for making a vector magnetic sensor array, the vector magnetic sensor array comprising a plurality of magneto-sensitive vector sensors, a drive module of the magneto-sensitive vector sensor, a control module and a PCB circuit board, the magneto-sensitive vector sensor and the drive module connected, the magnetosensitive vector sensor and the drive module are located on the top layer of the PCB circuit board, the control module is designed to perform parameter configuration and data reading of the drive module, and transmit data to the In the upper computer, the control module is located at the bottom layer of the PCB circuit board, and is connected to the drive module through via holes.

The manufacturing method of the vector magnetic sensor array comprises the following steps:

Stack the PCB circuit board and the stencil through the positioning holes, and apply solder paste on the magneto-sensitive inductance pad on the stencil;

Remove the stencil, stack the positioning mold with the magneto-sensitive inductance limit hole array with the PCB circuit board through the positioning holes, and lock it with screws;

Put the magneto-sensitive inductors into the limit holes of the positioning mold in turn, and apply pressure evenly to ensure that the magneto-sensitive inductors are in contact with the pads;

Fix the four corners of the PCB circuit board on a special soldering frame, and hang the other parts in the air. Use a heat gun with a diameter of Φ5mm to heat the thermal pads and vias on the bottom of the PCB circuit board at a constant temperature. The temperature is controlled at 300 ° C ~ 350 ° C, and the wind speed is 4 levels (about 500L/min), the air outlet of the heat gun and the PCB circuit board maintain an angle of 45 degrees, and the heating time is 10 seconds;

After all the thermal pads and vias are heated at constant temperature, loosen the positioning device, remove the positioning mold, and check whether the pads of the magneto-sensitive inductor are complete;

Use the resistance of the multimeter to measure the two poles of the magneto-sensitive inductor, and judge whether there is a weak soldering according to the resistance. For the magneto-sensitive inductor pins that are soldered, repair the soldering on the top layer by hand.

According to the circuit design, manually solder other electronic devices.

A vector magnetic sensor array is applied to the deep displacement monitoring of landslide body.

According to the scheme of the above-mentioned utility model, the heat conduction structure is designed on the PCB circuit board, the positioning mold is used to assist the positioning and assembly of the magneto-sensitive inductor, and the back of the heat gun is used for heating and welding, and it can be realized without making special fixtures and SMT patch processing. The high-precision welding of the magneto-sensitive inductor, the positioning accuracy and orthogonality of the device are mainly guaranteed by the positioning mold. The manufacturing method of the array is simple, the cost is low, the concept is ingenious, and the operability is good.

Compared with the prior art, the utility model has the beneficial effects of:

1) The sensitivity of the magnetic inductance is 15nT, and the detection accuracy of the magnetic field change is higher than 0.1uT. The vector magnetic sensor array constructed based on the magnetic inductance has high sensitivity and has the potential of high-precision displacement measurement;

2) The magneto-inductive sensor is small in size (such as 6mm*1.5mm*2mm), and the magnetoelectric conversion process does not need to increase the signal conditioning circuit, save the A/D conversion circuit, the circuit structure is compact, the volume is small, the power consumption is low, and the price Inexpensive and easy to integrate at scale.

3) By designing the heat conduction structure on the PCB circuit board, using positioning molds to assist assembly, and manual mounting, the high-precision welding of the magnetic sensitive inductance device can be realized. The manufacturing method is simple and the cost is low.

Description of drawings

Fig. 1-1 is the schematic diagram of the front structure of an embodiment of the vector magnetic sensor array of the present invention;

Fig. 1-2 is the back structure schematic diagram of an embodiment of the vector magnetic sensor array of the present invention;

Fig. 2 is the exterior drawing of positioning mold;

In the figure: 1—vector magnetic sensor, 2—drive module, 3—control module, 4—PCB circuit board, 5—X direction magnetic sensitive inductor, 6—Y direction magnetic sensitive inductor, 7—Z direction magnetic sensitive inductor.

Fig. 3 is a schematic diagram of the application of the vector magnetic sensor array in the deep displacement monitoring of the landslide body.

Detailed ways

Below in conjunction with accompanying drawing, specific embodiment of the present utility model is described in further detail:

As shown in Figure 1, an embodiment of the vector magnetic sensor array, the present embodiment comprises 9 magnetic sensitive vector sensors 1, the driving module 2 of 9 magnetic sensitive vector sensors, the control module 3 and the PCB circuit board 4, the magnetic sensitive vector sensor 1 is connected to the drive module 2, the magnetic sensitive vector sensor 1 and the drive module 2 are located on the top layer of the PCB circuit board 4, the control module 3 is designed to perform parameter configuration and data reading for the drive module 2, and transmit The serial port work mode transmits data to the upper computer, the control module 3 is located at the bottom of the PCB circuit board 4, and is connected with the drive module 2 through a via hole, the drive module 2 is selected from the PNI 12927 of the American PNI company, the control module 3 is selected from the STC12LE2052AD single-chip microcomputer, and the single-chip microcomputer The interface with the upper computer adopts RS-232 connection.

The magnetosensitive vector sensor 1 is composed of three magnetosensitive inductances arranged orthogonally in the X direction, the Y direction and the Z direction;

The X-direction magnetically sensitive inductor 5 forms a sensor array, which is selected from the American PNI company SEN-R65. The specification is: 6mm*1.5mm*2mm, and the position error of the inductor center distance is less than +/-0.1mm;

Y-direction magneto-sensitive inductor 6 constitutes a sensor array, select SEN-R65 from American PNI company, the specification is: 6mm*1.5mm*2mm, the position error of the inductance center distance is less than +/-0.1mm;

Z-direction magneto-sensitive inductor 7 constitutes a sensor array, select SEN-Z65 from American PNI company, specification: 6mm*2mm*2mm, position error of inductance center distance is less than +/-0.1mm.

X-direction, Y-direction, and Z-direction magneto-sensitive inductors are assisted in positioning by positioning mold 8 to ensure position accuracy and orthogonality. Positioning mold 4 is made of stainless steel material with a thickness of 2mm and is made by CNC machining center. The position error is less than 0.05mm, vertical Degree error is less than 0.1°;

The solder pads of the magneto-sensitive inductors in the X direction, Y direction, and Z direction are connected to the heat conduction pad on the bottom layer of the circuit board with 2 Φ1mm via holes, and the heat conduction pad is 2mm*2mm; between the top layer and the bottom layer of the PCB circuit board 4 A signal ground layer is also provided for isolating the electromagnetic influence of the control circuit on the magnetic vector sensor;

The manufacturing method of the above-mentioned embodiment comprises the following steps:

Stack the PCB circuit board 4 and the stencil through the positioning holes, and paint solder paste on the magneto-sensitive inductance pad on the stencil;

Remove the stencil, stack the positioning mold 8 with the magneto-sensitive inductance limit hole array with the PCB circuit board 4 through the positioning holes, and lock them with screws.

Put the magneto-sensitive inductors into the limit holes of the positioning mold 8 in sequence, and apply pressure evenly to ensure that the magneto-sensitive inductors are in contact with the pads.

Fix the four corners of the PCB circuit board 4 on a special soldering frame, and suspend other parts in the air. Use a heat gun with a diameter of Φ5mm to heat the heat-conducting pads and via holes on the bottom layer of the PCB circuit board 4 at a constant temperature. The temperature is controlled at 300°C to 350°C. 4 gears (about 500L/min), the air outlet of the heat gun and the PCB circuit board 4 maintain an angle of 45°, and the heating time is 10 seconds.

After all the heat conduction pads and vias are heated at constant temperature, loosen the positioning device, remove the positioning mold 8, and check whether the pads of the magneto-sensitive inductor are complete;

Use the resistance of the multimeter to measure the two poles of the magneto-sensitive inductor, and judge whether there is a weak soldering according to the resistance. For the magneto-sensitive inductor pins that are soldered, repair the soldering on the top layer by hand.

According to the circuit design, manually solder other electronic devices.

As shown in FIG. 2 , it is a schematic diagram of a positioning mold 8 for auxiliary assembly.

The external dimensions of the magneto-sensitive inductors in the X direction, Y direction and Z direction are precisely matched with the hole size of the positioning mold 8, and the error is less than 0.1 mm.

The single-chip microcomputer control circuit, RS232 communication circuit, etc. involved in the utility model all belong to the prior art, and have various forms and applications in the field of automatic control. Only some implementation methods are listed here, and the detailed features of the circuit are not described in detail.

A kind of vector magnetic sensor array is applied to landslide body deep layer displacement monitoring, as shown in Figure 3, first permanent magnet 9 is embedded in the side of landslide body stable layer 7, then described vector sensor array (9 vector sensors: 1# to 9# are arranged in a rectangle) to bury the other side of the sliding surface 8 of the landslide body, and read the magnetic parameters of each probe in the array in the initial state. When the sliding surface 8 is affected by environmental factors and moves, the spatial position of the permanent magnet 9 relative to the vector magnetic sensor array changes, and its magnetic influence changes, thus causing corresponding changes in the measurement results of each probe on the array. According to the algorithm pre-determined in the experiment, the relationship between the change of the magnetic component and the relative displacement is established, and the displacement change corresponding to the change of the magnetic vector is calculated to obtain the displacement in the spatial position of the landslide body. The specific implementation is as follows:

In the utility model, since the distance between the detection point corresponding to the detector and the permanent magnet is far greater than the linearity of the permanent magnet itself, the permanent magnet can be equivalent to a magnetic dipole at this time, which will form a stable magnetic field in the area where the detection point is located. environment. The coordinate system corresponding to the magnetic detector is set as the spatial global coordinate system. Since the spatial position of the permanent magnet remains unchanged, the center of the permanent magnet can be set as the coordinate origin. The spatial coordinates of the detection points are (x ₁ , y ₁ , z ₁ ), and the detected magnetic induction components are B _1x , B _1y , and B _1z . The spatial distances of the two detection points relative to the center of the permanent magnet are The equivalent magnetic moment of the permanent magnet is P _m , and the azimuth and elevation angles in the coordinate system are α and β respectively. The coordinate transformation relationship solved according to the magnetic field component of the detection point is as follows:

${\mathrm{<span\; class="notranslate">\; B</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; \&mu;</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; P</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}}{\mathrm{<span\; class="notranslate">\; 4</span>}\mathrm{<span\; class="notranslate">\; \&pi;</span>}{\mathrm{<span\; class="notranslate">\; r</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{\mathrm{<span\; class="notranslate">\; 5</span>}}}<span\; class="notranslate">\; [</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 3</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 3</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; ]</span>$

${\mathrm{<span\; class="notranslate">\; B</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; \&mu;</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; P</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}}{\mathrm{<span\; class="notranslate">\; 4</span>}\mathrm{<span\; class="notranslate">\; \&pi;</span>}{\mathrm{<span\; class="notranslate">\; r</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{\mathrm{<span\; class="notranslate">\; 5</span>}}}<span\; class="notranslate">\; [</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 3</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 3</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; ]</span>$

${\mathrm{<span\; class="notranslate">\; B</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; \&mu;</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; P</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}}{\mathrm{<span\; class="notranslate">\; 4</span>}\mathrm{<span\; class="notranslate">\; \&pi;</span>}{\mathrm{<span\; class="notranslate">\; r</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{\mathrm{<span\; class="notranslate">\; 5</span>}}}<span\; class="notranslate">\; [</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; a</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 3</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 3</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; ]</span>$

Based on the above relationship, establish the unknowns of the other 8 detection points, that is, the coordinates (x, y, z) and α and β of the two detection points, and then consider the positional relationship of the 9 detection points on the circuit, through computer programming. The respective coordinates (x, y, z) and α and β are obtained, so as to determine the spatial position of the detection point. In fact, based on the principle of satellite positioning, three magnetic vector detectors can theoretically locate the position of the permanent magnet. Here, nine magnetic vector detectors are used for detection, and the purpose is to further improve the detection accuracy of the system.

When a landslide occurs at the detection point, the spatial orientation of the detector and the magnetic induction intensity component of the detection point will change with the change of the detection point. Based on the above positioning principle, the coordinates (x', y', z') of the landslide displacement ) and α' and β' are re-solved to obtain the new position after sliding. Taking the displacement of the detection point at the center of the array as the landslide displacement, it can be calculated as:

$\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; =</span>\sqrt{{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>\frac{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}^{<span\; class="notranslate">\; \&prime;</span><span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{<span\; class="notranslate">\; \&prime;</span><span\; class="notranslate">\; \&prime;</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>\frac{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}^{<span\; class="notranslate">\; \&prime;</span><span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{<span\; class="notranslate">\; \&prime;</span><span\; class="notranslate">\; \&prime;</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>\frac{{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}^{<span\; class="notranslate">\; \&prime;</span><span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{<span\; class="notranslate">\; \&prime;</span><span\; class="notranslate">\; \&prime;</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}$

The magnetic positioning and displacement calculation method involved in the utility model has already been applied in landslides and civil engineering, and will not be described in detail here.

The core of the utility model is to start from the principle of magnetic positioning, select precision inductance as the magnetic field sensing element, and construct a high-sensitivity vector magnetic sensor array; design the heat conduction of the PCB circuit board, use the positioning mold to assist welding, and effectively ensure the sensing Positional accuracy and orthogonality of components.

Claims (4)

1. a vector magnetic sensor array, comprising a plurality of magnetic sensitive vector sensors (1), drive module (2), control module (3), PCB circuit board (4), described magnetic sensitive vector sensor (1) and all The drive module (2) is connected, and the magnetosensitive vector sensor (1) and the drive module (2) are located on the top layer of the PCB circuit board (4); the control module (3) is used to parameterize the drive module (2) Configure and read data, and transmit data to the host computer through the RS-232 serial port working mode. The control module (3) is located at the bottom of the PCB circuit board (4), and is connected with the drive module (2) through a via hole, and is characterized in that , The magnetic sensitive vector sensor (1) is composed of three magnetic sensitive inductors arranged orthogonally in the X direction, the Y direction and the Z direction; The X-direction magneto-sensitive inductance (5) constitutes a sensing array, and the position error of the inductance center distance is less than +/-0.1mm; The Y-direction magneto-sensitive inductance (6) constitutes a sensing array, and the position error of the inductance center distance is less than +/-0.1mm; The Z-direction magnetically sensitive inductance (7) constitutes a sensing array, and the position error of the inductance center distance is less than +/-0.1mm. 2. The vector magnetic sensor array according to claim 1, characterized in that: the magneto-sensitive inductors in the X direction, Y direction and Z direction are assisted in positioning by a positioning mold (8). 3. The vector magnetic sensor array according to claim 1, characterized in that: the pads of the magneto-inductors in the X direction, the Y direction, and the Z direction all adopt 2 via holes of Φ1mm and the bottom layer of the PCB circuit board (4) The thermal pad connection. 4. The vector magnetic sensor array according to claim 1, characterized in that: a signal ground layer is also provided between the top layer and the bottom layer of the PCB circuit board (4), for isolating the control module (3) to the magnetic vector sensor electromagnetic influence.