A system and method for detecting and locating fault noise of automobile transport ship equipment

Abstract

The present invention discloses a system and method for detecting and locating fault noise of automobile transport ship equipment, the system comprising: a microphone array composed of a plurality of microphones, a signal acquisition card, and a back-end machine for imaging and positioning; the microphone array is arranged in the test area of ​​the ship to collect multi-channel audio data; the microphone array is connected to the back-end machine through the signal acquisition card; the back-end machine uses a standard sound source to calibrate the sound pickup of each microphone, obtains multi-channel audio data, spatial information of the microphone array arrangement and imaging setting parameters, calculates the steering vector under different array arrangements, performs weight compensation on the steering vector, outputs the maximum angle of beamforming response and the assignment of each grid point in the scanning plane, and outputs the sound source imaging result formed by the assignment of each grid point in the scanning plane. The present invention improves the spatial resolution of the array, makes it possible to flexibly arrange the microphone array, and realizes convenient and fast fault noise detection and positioning for ship equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of ship noise detection and positioning, and in particular to a system and method for detecting and positioning fault noise of automobile transport ship equipment. Background Art

[0002] As a large ocean-going transport ship that has emerged in recent years, the new generation of large green new energy ocean-going car transport ships adopts a variety of hybrid energy sources, has many equipments and complex systems, and has high requirements for the reliability and safety of the equipment. Therefore, it also puts forward new requirements for the online fault monitoring of the equipment. At present, fault noise detection and positioning technology is usually completed using large microphone arrays, and car transport ships are in motion when working, and there are bumps and other phenomena, which makes it difficult to arrange large fixed microphone arrays; in addition, the cabins of car transport ships are usually small, and the spatial layout is also complex and changeable. Using a fixed-shape microphone array to measure noise distribution will also be limited by many inconveniences such as insufficient space, and the use of a small-sized microphone array will lose measurement accuracy. In view of the movement characteristics of car transport ships during operation and the complex internal layout, there is an urgent need for a device fault noise detection and positioning technology with high enough measurement accuracy and flexible layout. Summary of the invention

[0003] In order to overcome the defects and shortcomings of the prior art, the present invention provides a system and method for detecting and locating fault noise of automobile transport ship equipment, which utilizes a flexibly arranged microphone array and a back-end machine loaded with a program adapted to the microphone array to achieve convenient and fast fault noise detection and positioning for ship equipment.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] The present invention provides a fault noise detection and positioning system for automobile transport and ship equipment, comprising: a microphone array composed of a plurality of microphones, a signal acquisition card, and a back-end machine for imaging and positioning;

[0006] The microphone array is arranged in the test area of ​​the ship to collect multi-channel audio data;

[0007] The microphone array is connected to the back-end machine via a signal acquisition card;

[0008] The back-end machine uses a standard sound source to calibrate the sound pickup of each microphone, obtains multi-channel audio data, spatial information of the microphone array arrangement and imaging setting parameters, calculates the steering vector under different array arrangements, performs weight compensation on the steering vector, outputs the maximum angle of beamforming response and the assignment of each grid point in the scanning plane, and outputs the sound source imaging result formed by the assignment of each grid point in the scanning plane.

[0009] As a preferred technical solution, the backend includes an audio processing module, an audio reading module, a parameter setting module, a sound source imaging calculation module, an imaging image output module and a positioning result output module;

[0010] The audio processing module is used to pre-process the multi-channel audio data collected by the microphone array and store it as a multi-channel audio data file;

[0011] The audio reading module is used to read the multi-channel audio data file and convert it into a data matrix form to obtain an audio data matrix;

[0012] The parameter setting module is used to obtain imaging setting parameters;

[0013] The sound source imaging calculation module is used to perform sound source imaging according to the imaging setting parameters and the audio data matrix, and specifically includes:

[0014] Obtain the audio data matrix in the audio reading module and calculate the audio signal cross-spectrum matrix, which contains the cross-spectrum of the signals received by different microphones in the microphone array;

[0015] Based on the spatial information of the microphone array arrangement and the imaging setting parameters, the steering vector, the time delay and the beam response spectrum of the array are calculated, the steering vector is weighted according to the beam response spectrum of the array, and the maximum angle of the beamforming response and the value of each grid point in the scanning plane are output;

[0016] The imaging image output module is used to display the sound source imaging result formed by the assignment of each grid point in the scanning plane in the form of a picture containing coordinate axes;

[0017] The positioning result output module is used to generate a text result of sound source positioning.

[0018] As a preferred technical solution, the audio processing module is used to pre-process the multi-channel audio data collected by the microphone array, specifically including digital amplification, background noise removal, and removal of non-environmental noise caused by the device during the recording process;

[0019] And / or, the matrix size of the audio data matrix is ​​the number of samples×the number of channels.

[0020] As a preferred technical solution, the parameter setting module is used to obtain imaging setting parameters, including: scanning plane distance, microphone array coordinates, array focusing angle, grid density in the scanning plane, imaging algorithm type, single iteration calculation sampling amount, total iteration calculation sampling amount and target frequency range.

[0021] As a preferred technical solution, the steering vector, time delay and array beam response spectrum are calculated based on the spatial information of the microphone array arrangement and the imaging setting parameters, specifically including:

[0022] According to the scanning plane distance Z, the array focusing angle and the grid density in the scanning plane, the coordinate Y of each scanning point in the scanning plane is determined, and the Euclidean distance between the scanning point and the microphone is calculated with the microphone array coordinate X, which is expressed as:

[0023] Δ‖YX‖

[0024] The steering vector between the mth scanning point and the nth microphone is calculated and expressed as:

[0025] I mn =Δ mn ·XP(-2πift) /

[0026] t=Δ mn /

[0027] Where f is the target frequency of imaging, EXP represents the natural exponential function, i represents a complex number, c is the speed of sound propagation, Δ mn represents the Euclidean distance between the mth scanning point and the nth microphone, and t is the time delay, which is obtained based on the sound propagation speed and the coordinates of the imaging grid point;

[0028] According to the imaging target frequency f and the microphone array coordinate X, the beam response spectrum of the array to the frequency f is calculated, that is, the beam response sensitivity of the array to different angles.

[0029] As a preferred technical solution, weight compensation is performed on the steering vector according to the beam response spectrum of the array, specifically including:

[0030] The beam response spectrum of the array is the beam response sensitivity of the array to different angles. The sensitivity at different angles is compared with the preset standard sensitivity range, and the weight of the steering vector at an angle below the standard range is increased, or the weight of the steering vector at an angle above the standard range is reduced.

[0031] As a preferred technical solution, outputting the maximum angle of beamforming response and the assignment of values ​​to each grid point in the scanning plane specifically includes:

[0032] According to the type of imaging algorithm, the number of samples calculated in a single iteration, the number of samples calculated in total iterations, and the target frequency range, the calculation of the sound source imaging algorithm is completed, and the maximum angle of the beamforming response and the assignment of values ​​to each grid point in the scanning plane are output. The maximum angle of the beam response is the angle of the point with the maximum intensity relative to the plane of the microphone array and the center point of the plane. Each imaging grid point is traversed, and the total signal intensity projected by the microphone array at the imaging grid point after the correct delay is calculated respectively. The point with the maximum intensity is found through a simple traversal operation.

[0033] As a preferred technical solution, the types of imaging algorithms include: delayed-sum algorithm, deconvolution algorithm, and functional function algorithm.

[0034] As a preferred technical solution, the imaging image output module is used to display the sound source imaging result formed by the assignment of each grid point in the scanning plane in the form of a picture containing a coordinate axis, wherein the horizontal and vertical coordinates in the coordinate axis respectively represent the X-axis direction coordinate and the Y-axis direction coordinate of the plane of the area to be measured, and the depth of the color represents the noise intensity, the darker the color, the stronger the noise, and the closer to the noise source position;

[0035] And / or, the positioning result output module is used to generate a text result of sound source positioning, including the obtained sound source position and the position information of the microphone array, taking the point with the highest value in the imaging plane as the sound source center, calculating the Euclidean geometric distance between the sound source center and the geometric center point of the microphone array and the angle relative to the microphone array plane to obtain the position information.

[0036] The present invention also provides a method for detecting and locating fault noise of automobile transport and ship equipment, provided with the above-mentioned fault noise detection and locating system of automobile transport and ship equipment, the method comprises the following steps:

[0037] Arrange a plurality of microphones in the area of ​​the ship to be tested according to the shape of a preset microphone array;

[0038] The microphone array collects multi-channel audio data and transmits it to the back-end machine through a signal acquisition card;

[0039] The back-end machine uses a standard sound source to calibrate the sound pickup of each microphone, obtains multi-channel audio data, spatial information of the microphone array arrangement and imaging setting parameters, calculates the steering vectors of the scanning plane grid points and each microphone under different array arrangements, performs weight compensation on the steering vectors, improves the spatial resolution of the array, outputs the maximum angle of the beamforming response and the assignment of each grid point in the scanning plane, outputs the sound source imaging result formed by the assignment of each grid point in the scanning plane, and outputs text information at the same time, including the angle between the highest assignment point and the center of the microphone array plane and the microphone array plane.

[0040] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0041] Compared with the existing means for detecting and locating faults in ship equipment, the present invention enables the rear-end machine to calculate the parameters required for the sound source imaging algorithm according to parameter settings, improves the spatial resolution of the array, makes it possible to flexibly arrange the microphone array, and is no longer limited to fixed microphone numbers, models, and array shapes. It has the advantages of flexibility and variability, is less restricted by the complex internal space of the ship, and reduces the hardware requirements through the high flexibility of each link. It can also improve the accuracy and calculation speed of sound source imaging and positioning by improving the hardware level, achieving controllable costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 FIG. is a schematic diagram of the overall framework of the system for detecting and locating faults in the equipment of an automotive transport ship according to the present invention;

[0043] Figure 2 FIG. is a schematic diagram of the implementation process of the sound source imaging calculation module according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0045] Embodiment 1

[0046] As Figure 1 shown, this embodiment provides a system for detecting and locating faults in the equipment of an automotive transport ship, including: a microphone array composed of a plurality of microphones, a signal acquisition card, and a rear-end machine for imaging and positioning;

[0047] In this embodiment, microphones with any number and determined relative positions are arranged near the area to be measured on the ship to form a microphone array, and the microphone array is connected to the rear-end machine through a signal acquisition card;

[0048] After processing the audio and setting the imaging parameters as required on the rear-end machine, the rear-end machine can automatically calculate the noise intensity and noise distribution on the plane of the area to be measured, and finally output image and text information to locate the position of the noise source for the user; specifically, the rear-end machine calculates the steering vector in different array arrangement cases and improves the spatial resolution of the array through weight compensation, thereby reducing the spatial restrictions on the arrangement and making it possible to flexibly arrange the microphone array; it is also possible to change the models and quantities of the microphones, and the models of the signal acquisition card and the rear-end machine according to the requirements for imaging effects and costs.

[0049] In this embodiment, the rear-end machine for imaging and positioning includes: an audio processing module, an audio reading module, a parameter setting module, a sound source imaging calculation module, an imaging image output module, and a positioning result output module;

[0050] The audio processing module is used to pre-process and store the multi-channel audio data collected by the microphone array. Specifically, the multi-channel audio data collected by the microphone array is input into the back-end machine through the signal acquisition card, and then digitally amplified and background noise removed. The goal is to provide a reasonable level and remove non-environmental noise caused by the equipment during the recording process. The processed data is then saved as a multi-channel audio data file.

[0051] In this embodiment, the audio reading module is used to read a multi-channel audio data file, convert the multi-channel audio data file into a data matrix form, and obtain an audio data matrix, the matrix size of which is the number of samples × the number of channels. The audio data matrix is ​​imported into the sound source imaging calculation module as raw data;

[0052] In this embodiment, the parameter setting module is used to provide an input window for required parameters, and the type of imaging algorithm to be sampled and the subdivision parameters required by the algorithm can be set; in the parameter setting module, various required parameters are input, including: scanning plane distance, microphone array coordinates, array focusing angle, grid density in the scanning plane, imaging algorithm type, single iteration calculation sampling amount, total iteration calculation sampling amount and target frequency range;

[0053] like Figure 2 As shown, the sound source imaging calculation module is used to perform sound source imaging according to the parameters input by the user in the parameter setting module and the audio data matrix in the audio reading module, specifically including:

[0054] Get the audio data matrix in the audio reading module and calculate the audio cross spectrum, which is the audio signal cross spectrum matrix. The matrix contains the cross spectra of the signals received by different microphones in the array.

[0055] The steering vector and time delay are calculated based on the scanning plane distance, microphone array coordinates, array focusing angle, grid density in the scanning plane, and target frequency interval. The scanning plane is fixed as a rectangular plane, and the grid density includes the total number of grid points and grid point spacing information, so that the relative coordinates of each grid point in the imaging plane can be determined. The scanning plane distance refers to the straight-line distance between the center point (0, 0, 0) of the microphone array plane and the center point P of the imaging plane; the array focusing angle parameter determines the pitch and horizontal angles of the line connecting the two points and the microphone array plane, so as to determine the specific spatial coordinates of the center point P of the imaging plane and the spatial coordinates of other grid points; the target frequency interval depends on the needs of the user and can be set by the user.

[0056] Then, the sound source imaging algorithm is calculated according to the type of imaging algorithm, the number of samples calculated in a single iteration, the number of samples calculated in total iterations, the target frequency range and other parameters, and finally the maximum angle of the beamforming response and the value of each point in the scanning plane are output;

[0057] In this embodiment, multiple algorithms such as delayed sum algorithm, deconvolution algorithm, and functional function algorithm can be selected according to the set parameters;

[0058] Among them, the application of audio cross spectrum CSM in different types of imaging algorithms is different:

[0059] 1. The delay sum algorithm mainly obtains the time (delay) required for sound propagation corresponding to the distance between each imaging point and each microphone, and uses CSM to calculate the signal of each microphone after the delay on the point. According to the principle of constructive interference, the closer the point is to the real sound source, the greater the total signal strength projected to the point by each microphone. Therefore, the total signal strength of each point can reflect the proximity to the real sound source position.

[0060] 2. The deconvolution algorithm uses the CSM matrix as a control group, sets a virtual sound source at each point, calculates the new CSM formed by the virtual sound source in the microphone array according to the steering vector, compares the new CSM with the control group CSM, and outputs the similarity between the new CSM of each point and the control group CSM (the sum of the variances of the corresponding elements) after traversing each point, thereby determining the similarity with the real sound source position;

[0061] 3. The functional function algorithm reduces the influence of the correlation sound source by performing eigenvalue decomposition on the CSM, and performs a delayed sum algorithm operation on the new CSM decomposed and reorganized in a certain form;

[0062] 4. The sampling amount of a single iteration calculation can be understood as the duration of the audio intercepted in each calculation, and the sampling amount of the total iteration calculation can be understood as the total duration of the audio when imaging a segment of audio;

[0063] 5. The target interval frequency is the audio frequency range of interest, such as 1999Hz~2001Hz, which can be divided into three frequency points of 1999, 2000 and 2001. The three frequencies are respectively introduced into the part of the audio frequency that needs to be used in the above imaging algorithm, and the average value of the results is finally calculated;

[0064] 6. Traverse each imaging grid point and calculate the total signal intensity projected by the microphone array at that point after the correct delay. The point with the maximum intensity can be found through a simple traversal operation. The maximum angle of the beam response is the angle of the maximum intensity point relative to the plane of the microphone array and the center point of the plane (usually the origin of the spatial coordinate system).

[0065] In this embodiment, the imaging image output module is used to create a window and display the sound source imaging results in the window in the form of a picture containing coordinate axes. The horizontal and vertical coordinates in the image results respectively represent the X-axis coordinate and the Y-axis coordinate of the plane of the test area. The depth of the color represents the noise intensity. The darker the color, the stronger the noise and the closer to the noise source position.

[0066] In this embodiment, the positioning result output module provides a text result of sound source positioning, including text information such as the distance between the obtained sound source position (the scanning point with the largest response) and the geometric center of the above-mentioned microphone array, the pitch angle and the azimuth angle; specifically, the point with the highest value in the imaging plane is taken as the sound source center, and the specific spatial coordinates of the point can be determined, and further the Euclidean geometric distance between the point and the geometric center point of the microphone array (usually the origin of the spatial coordinate system) and the angle relative to the plane of the microphone array can be obtained.

[0067] Example 2

[0068] This embodiment also provides a method for detecting and locating fault noise of automobile transport and ship equipment, which is provided with the above-mentioned automobile transport and ship equipment fault noise detection and locating system of embodiment 1. The method comprises the following steps:

[0069] S1: Design the microphone array shape according to the required shape, arrange several microphones near the ship area to be tested, and connect the microphone array to the back-end machine through a signal acquisition card;

[0070] Specifically, the model and quantity of microphones are selected according to the needs, and then the microphones are flexibly arranged near the area to be tested. The back-end machine uses a standard sound source to calibrate the sound pickup of each microphone, including noise reduction, digital amplification and frequency band compensation of the collected audio data, so as to adapt to the response characteristics of different microphones, overcome the influence of different microphone models on the recording quality, and ensure the quality of audio data;

[0071] S2: The backend machine obtains various input parameters, including audio data for sound source imaging, spatial information of microphone array arrangement, types of sound source imaging algorithms, and subdivision parameters required by various algorithms;

[0072] S3: Based on various input parameters, the scanning plane grid points and the steering vectors of each microphone are calculated, and the spatial resolution of the array is improved through weight compensation, so as to adapt to microphone arrays of different layouts and allow flexible arrangement of microphone arrays;

[0073] Specifically, in order to ensure the sound source imaging effect of the flexibly arranged microphone array, before performing the sound source imaging calculation, the steering vector, time delay amount and beam response spectrum of the array are preferentially calculated according to the above parameters, wherein the beam response spectrum of the array is the beam response sensitivity of the array to different angles, and the beamforming response spectrum is determined by the virtual standard sound source and the steering vector. The total signal intensity received by the microphone array when the standard sound source is at different spatial positions can reflect the beam response spectrum, that is, it reflects the sensitivity of the microphone array to specific frequency sounds incident from different angles, and the maximum response angle can be found through traversal operations;

[0074] And according to the beam response spectrum of the array, the weight compensation of the steering vector is performed to improve the accuracy of the sound source imaging calculation results;

[0075] Specifically, after obtaining the beam response spectrum, the sensitivity of the array to specific frequency signals at different angles can be determined. The sensitivity at different angles can be compared with the preset standard sensitivity range. The weight of the steering vector at an angle lower than the standard range can be increased to make its sensitivity within the standard range. Similarly, the weight of the angle with too high sensitivity can be reduced.

[0076] In this embodiment, the steering vector I is used to estimate the intensity and phase of the sound emitted by the sound source when it is transmitted to a certain spatial point. If the signal of a certain sound source is S, the signal of the sound propagating to the spatial point P is:

[0077] S P =I P S

[0078] According to the scanning plane distance Z, the array focusing angle and the grid density in the scanning plane, the coordinate Y of each scanning point in the scanning plane can be determined, and then the Euclidean distance between the scanning point and the microphone can be calculated with the microphone array coordinate X:

[0079] Δ‖YX‖

[0080] Then calculate the steering vector between the mth scanning point and the nth microphone:

[0081] i mn =Δ mn ·XP(-2πifΔ mn / ) /

[0082] Where, f is the target frequency of imaging, c is the speed of sound propagation, Δ / is the time delay t, and the time delay is calculated based on the speed of sound propagation and the coordinates of the imaging grid points;

[0083] This embodiment calculates the beam response spectrum of the array to the frequency f according to the imaging target frequency f and the microphone array coordinate X, which reflects the sensitivity of the array to the frequency signal at different angles; by analyzing the beam response spectrum, weight compensation is performed for different steering vectors I, so that the sensitivity of each angle of the array tends to be uniform, thereby improving the accuracy of sound source imaging;

[0084] S4: Output the sound source imaging calculation result, wherein the imaging calculation result includes a two-dimensional picture formed by the assignment of each grid point on the imaging plane, and the depth of the color in the picture represents the signal strength at the point, that is, the darker the point color, the closer the point is to the sound source position; at the same time, output text information, including the angle between the line between the highest assigned point and the center of the microphone array plane (usually the origin of the spatial coordinate system) and the microphone array plane;

[0085] In this embodiment, the noise position is visualized and output as an image, and combined with text results describing the specific angle, the distribution of equipment noise in the measured ship area and the location of the noise source are determined to locate the noise source.

[0086] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A fault noise detection and positioning system for automobile transport and ship equipment, characterized in that: include: A microphone array consisting of several microphones, a signal acquisition card, and a backend machine for imaging and positioning; The microphone array is arranged in the test area of ​​the ship to collect multi-channel audio data; The microphone array is connected to the back-end machine via a signal acquisition card; The backend machine uses a standard sound source to calibrate the sound pickup of each microphone, obtains multi-channel audio data, spatial information of microphone array arrangement and imaging setting parameters, calculates the steering vector under different array arrangements, performs weight compensation on the steering vector, outputs the maximum angle of beamforming response and the assignment of each grid point in the scanning plane, and outputs the sound source imaging result formed by the assignment of each grid point in the scanning plane; The backend includes an audio processing module, an audio reading module, a parameter setting module, a sound source imaging calculation module, an imaging image output module and a positioning result output module; The audio processing module is used to pre-process the multi-channel audio data collected by the microphone array and store it as a multi-channel audio data file; The audio reading module is used to read the multi-channel audio data file and convert it into a data matrix form to obtain an audio data matrix; The parameter setting module is used to obtain imaging setting parameters; The sound source imaging calculation module is used to perform sound source imaging according to the imaging setting parameters and the audio data matrix, and specifically includes: Obtain the audio data matrix in the audio reading module and calculate the audio signal cross-spectrum matrix, which contains the cross-spectrum of the signals received by different microphones in the microphone array; Based on the spatial information of the microphone array arrangement and the imaging setting parameters, the steering vector, the time delay and the beam response spectrum of the array are calculated, the steering vector is weighted according to the beam response spectrum of the array, and the maximum angle of the beamforming response and the value of each grid point in the scanning plane are output; Output beamforming response maximum angle and the assignment of each point in the scanning plane, including: According to the type of imaging algorithm, the number of samples calculated in a single iteration, the number of samples calculated in total iterations, and the target frequency range, the sound source imaging algorithm is calculated, and the maximum angle of the beamforming response and the value of each point in the scanning plane are output. The maximum angle of the beam response is the angle of the point with the maximum intensity relative to the plane of the microphone array and the center point of the plane. Each imaging point is traversed, and the total signal intensity projected by the microphone array at the imaging point after the correct delay is calculated. The point with the maximum intensity is found by a simple traversal operation; The imaging image output module is used to display the sound source imaging result formed by the assignment of each grid point in the scanning plane in the form of a picture containing coordinate axes; The positioning result output module is used to generate a text result of sound source positioning.

2. The automobile transportation ship equipment fault noise detection and positioning system according to claim 1 is characterized in that: The audio processing module is used to pre-process the multi-channel audio data collected by the microphone array, including digital amplification, background noise removal, and removal of non-environmental noise caused by the equipment during the recording process; And / or, the matrix size of the audio data matrix is ​​the number of samples×the number of channels.

3. The automobile transportation ship equipment fault noise detection and positioning system according to claim 1 is characterized in that: The parameter setting module is used to obtain imaging setting parameters, including: scanning plane distance, microphone array coordinates, array focusing angle, grid density in the scanning plane, imaging algorithm type, single iteration calculation sampling amount, total iteration calculation sampling amount and target frequency range.

4. The automobile transportation ship equipment fault noise detection and positioning system according to claim 1 is characterized in that: Based on the spatial information of the microphone array arrangement and the imaging setting parameters, the steering vector, time delay and beam response map of the array are calculated, including: According to the scanning plane distance Z, the array focusing angle and the grid density in the scanning plane, the coordinate Y of each scanning point in the scanning plane is determined, and the Euclidean distance between the scanning point and the microphone is calculated with the microphone array coordinate X, which is expressed as: Δ=‖YX‖ The steering vector between the mth scanning point and the nth microphone is calculated and expressed as: I mn =Δ mn ·EXP(-2πift) / Z t=Δ mn / c Where f is the target frequency of imaging, EXP represents the natural exponential function, i represents a complex number, c is the speed of sound propagation, Δ mn represents the Euclidean distance between the mth scanning point and the nth microphone, and t is the time delay, which is obtained based on the sound propagation speed and the coordinates of the imaging grid point; According to the imaging target frequency f and the microphone array coordinate X, the beam response spectrum of the array to the frequency f is calculated, that is, the beam response sensitivity of the array to different angles.

5. The automobile transportation ship equipment fault noise detection and positioning system according to claim 1 is characterized in that: The steering vector is weighted according to the array's beam response spectrum, including: The beam response spectrum of the array is the beam response sensitivity of the array to different angles. The sensitivity at different angles is compared with the preset standard sensitivity range, and the weight of the steering vector at an angle below the standard range is increased, or the weight of the steering vector at an angle above the standard range is reduced.

6. The automobile transport ship equipment fault noise detection and positioning system according to claim 1 or 3, characterized in that: The types of imaging algorithms include: delayed-sum algorithm, deconvolution algorithm, and functional function algorithm.

7. The automobile transportation ship equipment fault noise detection and positioning system according to claim 1 is characterized in that: The imaging image output module is used to display the sound source imaging result formed by the assignment of each grid point in the scanning plane in the form of a picture containing coordinate axes, wherein the horizontal and vertical coordinates in the coordinate axes respectively represent the X-axis direction coordinate and the Y-axis direction coordinate of the plane of the area to be measured, and the depth of the color represents the noise intensity, and the darker the color, the stronger the noise and the closer to the noise source position; And / or, the positioning result output module is used to generate a text result of sound source positioning, including the obtained sound source position and the position information of the microphone array, taking the point with the highest value in the imaging plane as the sound source center, calculating the Euclidean geometric distance between the sound source center and the geometric center point of the microphone array and the angle relative to the microphone array plane to obtain the position information.

8. A method for detecting and locating fault noise of automobile transport and ship equipment, characterized in that: A fault noise detection and positioning system for automobile transport ship equipment according to any one of claims 1 to 7 is provided, and the method comprises the following steps: Arrange a plurality of microphones in the area of ​​the ship to be tested according to the shape of a preset microphone array; The microphone array collects multi-channel audio data and transmits it to the back-end machine through a signal acquisition card; The back-end machine uses a standard sound source to calibrate the sound pickup of each microphone, obtains multi-channel audio data, spatial information of the microphone array arrangement and imaging setting parameters, calculates the steering vectors of the scanning plane grid points and each microphone under different array arrangements, performs weight compensation on the steering vectors, improves the spatial resolution of the array, outputs the maximum angle of the beamforming response and the assignment of each grid point in the scanning plane, outputs the sound source imaging result formed by the assignment of each grid point in the scanning plane, and outputs text information at the same time, including the angle between the highest assignment point and the center of the microphone array plane and the microphone array plane.

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