Low-frequency fault source positioning method fusing small sound array and asynchronous measurement

Abstract

The invention relates to the field of fault analysis, in particular to a low-frequency fault source positioning method integrating a small sound array and asynchronous measurement, which comprises the following steps: determining the range category of an equipment monitoring range according to the number of target monitoring equipment; determining the equipment state of one type of monitoring range according to the proportion of the key monitoring equipment and the inspection reference value so as to optimize the inspection route, and determining whether to adjust the inspection equipment combination or not according to the monitoring frequency coefficient; in response to a signal abnormal condition, determining whether to adjust the signal acquisition parameters according to the signal quality parameters; determining whether to adjust the array working parameters of the key inspection equipment according to the frequency matching coefficient, and determining an array adjustment mode; and under the condition that the array adjustment is completed, the fault sound source position of the abnormal monitoring equipment is positioned based on the to-be-analyzed sound source cross-spectrum matrix, and the timeliness and the accuracy of the fault judgment result of the target monitoring equipment are improved.

Description

Technical Field

[0001] The present invention relates to the field of fault analysis, and in particular to a low-frequency fault source location method integrating a small acoustic array and asynchronous measurement. Background Art

[0002] During the long-term use of rotating machinery, it is affected by factors such as alternating loads, impact loads, and speed fluctuations, which may lead to system failures in the rotating machinery. By using a mobile inspection device equipped with a small microphone array, the sound source signals of each device during operation can be obtained in real time for fault diagnosis, which can ensure the effective monitoring of rotating machinery failures. In addition, the complexity and variability of the sound field in the actual monitoring site can easily affect the movement process and signal acquisition process of the mobile inspection device, resulting in low efficiency in the monitoring process of each device. Therefore, how to adjust the operation of the mobile inspection device according to the actual monitoring scenario to ensure the timeliness and effectiveness of its acquisition of fault sound source signals is an urgent problem to be solved by technical personnel in this field.

[0003] Chinese patent publication number CN114384472A discloses a method for locating a sound source of a mobile robot, a robot, and a readable storage medium, wherein the method for locating a sound source of a mobile robot comprises: S1, when a sound source signal is detected, the robot moves along circular trajectories C1 and C2 in sequence and measures the signal sound pressures p1 and p2 respectively; S2, converting the signal sound pressures p1 and p2 into output voltages e1 and e2 respectively, obtaining the maximum and minimum coordinates of e1 and e2 in sequence and establishing a linear equation group to obtain the coordinates of the projection of the sound source on the moving plane where the robot is located; S3, combining the point coordinates of the maximum and minimum values ​​of the signal sound pressures p1 and p2 on the circular trajectory and the pressure amplitude ratio relationship, establishing an equation to determine the three-dimensional coordinates of the measured sound source. However, the above scheme has the following problems: it fails to adjust the operation of the mobile robot in the process of collecting sound source signals based on the impact of the actual monitoring scene on the monitoring process of the mobile robot, resulting in low timeliness and effectiveness of the abnormal judgment results of the sound source. Summary of the invention

[0004] To this end, the present invention provides a low-frequency fault source locating method that integrates a small acoustic array and asynchronous measurement, so as to overcome the problem in the prior art that the monitoring process of the mobile robot cannot be intelligently adjusted based on the actual monitoring scenario, resulting in low timeliness and effectiveness of the abnormal judgment results of the fault sound source.

[0005] To achieve the above object, the present invention provides a low-frequency fault source location method integrating a small acoustic array and asynchronous measurement, comprising:

[0006] Obtain the equipment monitoring range, and determine the range category of the equipment monitoring range according to the number of target monitoring devices included in the monitoring range of each equipment;

[0007] Determine the equipment status of a monitoring range according to the proportion of key monitoring equipment and the inspection reference value, optimize the inspection route for the monitoring range in the first preset equipment status, and determine whether to adjust the inspection equipment combination according to the monitoring frequency coefficient;

[0008] In response to abnormal signal conditions, determine whether to adjust the signal acquisition parameters of key inspection equipment of the abnormal monitoring equipment according to the signal quality parameters, and adjust the preset adjustment parameters according to the difference value of the signal quality parameters;

[0009] Determine whether to adjust the array working parameters of the key inspection equipment according to the frequency matching coefficient, and determine the array adjustment method according to the sound source signal frequency of the key inspection equipment. The array adjustment method is to adjust the array aperture or array density;

[0010] Under the condition that the array adjustment is completed, the cross-spectrum matrix of the sound source to be analyzed is obtained, and the fault location information of the abnormal monitoring device is determined based on the cross-spectrum matrix of the sound source to be analyzed.

[0011] Further, the target monitoring area is divided into regions according to the interval distances between the target monitoring devices to obtain a number of device monitoring ranges, and the range category of the device monitoring range is determined according to the number of target monitoring devices included in each device monitoring range;

[0012] Recording a device monitoring range in which the number of target monitoring devices included is greater than the preset number of target monitoring devices as a type of monitoring range;

[0013] The equipment monitoring range in which the number of included target monitoring devices is less than or equal to the preset number of target monitoring devices is recorded as a second-category monitoring range.

[0014] Furthermore, for a single first-class monitoring range, if the first-class monitoring range is in a first preset equipment state where the proportion of key monitoring equipment is greater than the preset proportion of key monitoring equipment or the inspection reference value is greater than the preset inspection reference value, the inspection priority coefficient of each inspection route is set according to the point influence coefficient and the route execution coefficient;

[0015] The inspection priority coefficient is positively correlated with the point influence coefficient and the route execution coefficient respectively.

[0016] Furthermore, under the condition that the route optimization is completed, the reference equipment monitoring frequency and the equipment monitoring frequency difference value of each type of monitoring range in the first preset equipment state are periodically detected, and it is determined whether to adjust the inspection equipment combination of the corresponding type of monitoring range according to the monitoring frequency coefficient;

[0017] The monitoring frequency coefficient is determined according to the reference device monitoring frequency and the device monitoring frequency difference value;

[0018] The route optimization completion condition is that each type of monitoring range in the first preset equipment state completes the inspection route optimization.

[0019] Furthermore, for a single type of monitoring range in the first preset device state, if the monitoring frequency coefficient is less than the preset monitoring frequency coefficient, the inspection equipment combination for the type of monitoring range is adjusted, and the type of monitoring range is recorded as a key monitoring range, and the number of dispatch inspection equipment for the key monitoring range is determined according to the reference equipment monitoring frequency;

[0020] Determine the dispatch inspection equipment according to the task execution parameters and task execution cycle of each relevant inspection equipment;

[0021] The related inspection equipment is a mobile inspection equipment of an adjacent monitoring range of the type of monitoring range, and the adjacent monitoring range is a type of monitoring range in a second preset equipment state whose interval distance with the type of monitoring range is less than the preset range interval distance.

[0022] Further, in response to the signal abnormality condition, the signal quality parameters of the abnormal monitoring device at the current moment are detected, and it is determined whether to adjust the signal acquisition parameters of the key inspection device of the abnormal monitoring device according to the signal quality parameters;

[0023] If the signal quality parameter is less than or equal to the reference signal quality parameter, the signal acquisition parameter of the key inspection device of the abnormal monitoring device is adjusted to obtain the optimal acquisition parameter;

[0024] If the signal quality parameter is greater than the reference signal quality parameter, the signal acquisition parameter of the key inspection device of the abnormal monitoring device at the current moment is recorded as the optimal acquisition parameter;

[0025] The signal abnormality condition is that a target monitoring device is judged to be an abnormal monitoring device, and the abnormal monitoring device is a target monitoring device whose abnormal coefficient of the device sound source signal is greater than a preset abnormal coefficient. The mobile inspection device that obtains the device sound source signal with an abnormal coefficient greater than the preset abnormal coefficient is recorded as a key inspection device.

[0026] Furthermore, for a single abnormal monitoring device, if the signal acquisition parameters of its key inspection equipment are adjusted, the signal acquisition parameters are iteratively updated, the signal quality parameters under each signal acquisition parameter are detected, and the preset adjustment parameters are reduced and adjusted according to the difference value of the signal quality parameters, and the optimal acquisition parameters are determined;

[0027] If the signal quality parameter difference value is less than or equal to the preset signal quality parameter difference value, the signal acquisition parameter of the key inspection device of the abnormal monitoring device at the current moment is recorded as the optimal acquisition parameter;

[0028] The reduction value of the preset adjustment parameter is positively correlated with the difference value of the signal quality parameter.

[0029] Furthermore, the frequency matching coefficient of each abnormal monitoring device and its key inspection device is tested;

[0030] If the frequency matching coefficient between an abnormal monitoring device and its key inspection device is less than the preset frequency matching coefficient, the array operating parameters of the key inspection device are adjusted;

[0031] The array operating parameters include array density and array aperture.

[0032] Furthermore, if the array operating parameters of a key inspection device are adjusted, the array adjustment method is determined according to the frequency band range of the fault characteristic frequency of the device sound source signal of the abnormal monitoring device;

[0033] If the sound source signal frequency is less than the preset sound source signal frequency, the array aperture is increased and adjusted;

[0034] If the sound source signal frequency is greater than the preset sound source signal frequency, the array density is increased and adjusted.

[0035] Further, under the condition that the array adjustment is completed, the array is sequentially moved based on the adjusted array working parameters to collect sound source signals at different positions to determine the cross-spectral matrix of the sound source to be analyzed;

[0036] Based on the beamforming positioning algorithm, the cross-spectral matrix of the sound source to be analyzed is processed and positioned to obtain the fault location information of the abnormal monitoring equipment;

[0037] The array adjustment completion condition is that a key inspection device completes the adjustment of the array working parameters.

[0038] Compared with the prior art, the beneficial effect of the present invention lies in that the technical scheme of the present invention determines the range category of the monitoring range of each device according to the number of target monitoring devices included, and adjusts the inspection route arrangement of the mobile inspection device within a type of monitoring range of the first preset device, thereby ensuring the monitoring efficiency of each mobile inspection device for the target monitoring device and ensuring the timeliness and accuracy of the fault judgment results for the target monitoring device.

[0039] Furthermore, the present invention determines the equipment status of a type of monitoring range based on the proportion of key monitoring equipment and the inspection reference value, and characterizes the influence of the actual situation of each type of monitoring range on the inspection efficiency of the mobile inspection equipment based on the proportion of key monitoring equipment and the inspection reference value. If it is in the first preset equipment state, it indicates that the type of monitoring range has a great influence on the inspection process of its mobile inspection equipment, and the inspection process is optimized for the type of monitoring range in the first preset equipment state to avoid low monitoring efficiency of the target monitoring equipment and ensure the timeliness of the fault judgment result for the target monitoring equipment.

[0040] Furthermore, the present invention determines whether to adjust the inspection equipment combination for a corresponding type of monitoring range based on the monitoring frequency coefficient, and determines the scheduling of the inspection equipment based on the task execution parameters and the task execution cycle, so as to avoid excessive monitoring pressure on the mobile inspection equipment in a type of monitoring range, resulting in low inspection efficiency; and while alleviating the monitoring pressure of this type of type of monitoring range, it avoids the scheduling of mobile inspection equipment to affect the monitoring range of other equipment, thereby ensuring the timeliness of the fault judgment results for the target monitoring equipment.

[0041] Furthermore, the present invention determines whether to iteratively update the signal acquisition parameters of the key inspection equipment of the abnormal monitoring equipment according to the signal quality parameters, and reduces and adjusts the preset adjustment parameters according to the signal quality parameter difference value, and determines the optimal acquisition parameters to ensure the acquisition quality of the equipment sound source signal and the signal acquisition efficiency, avoid affecting the subsequent fault analysis process, and improve the timeliness and accuracy of the fault judgment results for the target monitoring equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic diagram of a low-frequency fault source location method integrating a small acoustic array and asynchronous measurement according to the present invention;

[0043] Figure 2 This is a flow chart of the present invention for determining the equipment status of a category of monitoring range according to the proportion of key monitoring equipment and inspection reference values;

[0044] Figure 3 This is a flow chart of the present invention for determining whether to adjust the inspection equipment combination according to the monitoring frequency coefficient;

[0045] Figure 4 The present invention is a flow chart for determining whether to adjust the signal acquisition parameters of key inspection equipment according to the signal quality parameters. DETAILED DESCRIPTION

[0046] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with 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.

[0047] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0048] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0049] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] See also Figures 1 to 4 As shown, the present invention provides a low-frequency fault source location method integrating a small acoustic array and asynchronous measurement, comprising:

[0051] Obtain the equipment monitoring range, and determine the range category of the equipment monitoring range according to the number of target monitoring devices included in the monitoring range of each equipment;

[0052] Determine the equipment status of a monitoring range according to the proportion of key monitoring equipment and the inspection reference value, optimize the inspection route for the monitoring range in the first preset equipment status, and determine whether to adjust the inspection equipment combination according to the monitoring frequency coefficient;

[0053] In response to abnormal signal conditions, determine whether to adjust the signal acquisition parameters of key inspection equipment of the abnormal monitoring equipment according to the signal quality parameters, and adjust the preset adjustment parameters according to the difference value of the signal quality parameters;

[0054] Determine whether to adjust the array working parameters of the key inspection equipment according to the frequency matching coefficient, and determine the array adjustment method according to the sound source signal frequency of the key inspection equipment. The array adjustment method is to adjust the array aperture or array density;

[0055] Under the condition that the array adjustment is completed, the cross-spectrum matrix of the sound source to be analyzed is obtained, and the fault location information of the abnormal monitoring device is determined based on the cross-spectrum matrix of the sound source to be analyzed.

[0056] Among them, the target monitoring area of ​​the present invention is a site where equipment fault monitoring is required, and the target monitoring equipment is a device with rotating machinery that needs to be monitored for faults. There are several mobile inspection devices in the present invention, and each mobile inspection device is correspondingly provided with an inspection task. The inspection task includes the need to perform fault monitoring on the target monitoring equipment and the inspection route during the inspection. The mobile inspection equipment is equipped with a microphone array, and the signal acquisition parameters can be adjusted according to the actual situation. The sound signal obtained by the microphone array for a target monitoring device is recorded as the sound source signal of the device;

[0057] The present invention applies several equipment inspection records, and any equipment inspection record records the interval distance between target monitoring devices, the number of target monitoring devices included in the detection range of each device, the inspection reference value, the proportion of key monitoring equipment, the interference coefficient, the monitoring frequency coefficient, the interval distance between each relevant monitoring range and its corresponding type of monitoring range, the abnormality coefficient, the signal quality parameter difference value, the frequency matching coefficient and the signal quality parameter during at least one abnormal monitoring process of each target monitoring device in the target monitoring area, and each equipment inspection record corresponds to a qualified mark, which records whether the user's requirements for the validity of the fault judgment result meet the user's needs.

[0058] Specifically, the target monitoring area is divided into regions according to the interval distances between the target monitoring devices to obtain several device monitoring ranges, and the range category of the device monitoring range is determined according to the number of target monitoring devices included in the monitoring range of each device.

[0059] Recording a device monitoring range in which the number of target monitoring devices included is greater than the preset number of target monitoring devices as a type of monitoring range;

[0060] The equipment monitoring range in which the number of included target monitoring devices is less than or equal to the preset number of target monitoring devices is recorded as a second-category monitoring range.

[0061] Among them, if a device monitoring range only includes one target monitoring device, the interval distance between the target monitoring device and any target monitoring device in the target monitoring area is greater than the preset interval distance; if a device monitoring range includes two or more target monitoring devices, the interval distance between any two target monitoring devices within the device monitoring range is less than or equal to the preset interval distance, and the interval distance between any two target monitoring devices is the straight-line distance between the locations of the two target monitoring devices. The value of the preset interval distance can be determined by the user according to the actual working scenario. For example, the user can set it according to the equipment inspection record, and a method for determining the value of the preset interval distance is provided, and the maximum value of the interval distance between the target monitoring devices within the monitoring range of each device in the equipment inspection record that meets the user's requirements for the effectiveness of the fault judgment result is recorded as the preset interval distance;

[0062] The value of the preset number of target monitoring devices can be determined by the user according to the actual working scenario. For example, the user can set it according to the equipment inspection record. The higher the user's requirement for the effectiveness of the fault judgment result, the smaller the value of the preset number of target monitoring devices. A method for determining the value of the preset number of target monitoring devices is provided. The equipment inspection record that has not been optimized for the inspection process is recorded as a scheduling reference record. The maximum value of the number of target monitoring devices included in the detection range of each device in the scheduling reference record that meets the user's requirement for the effectiveness of the fault judgment result is recorded as the preset number of target monitoring devices. A value of the preset number of target monitoring devices is provided, and the value of the preset number of target monitoring devices is 2;

[0063] The number of mobile inspection devices in each device monitoring range is determined according to the number of target monitoring devices included in the device monitoring range. For a single device inspection range, the number of mobile inspection devices set up is positively correlated with the number of target monitoring devices included in the device inspection range.

[0064] Specifically, for a single first-class monitoring range, if the first-class monitoring range is in the first preset equipment state where the proportion of key monitoring equipment is greater than the preset proportion of key monitoring equipment or the inspection reference value is greater than the preset inspection reference value, the inspection priority coefficient for each inspection route is set according to the point influence coefficient and the route execution coefficient;

[0065] The inspection priority coefficient is positively correlated with the point influence coefficient and the route execution coefficient respectively.

[0066] Wherein, the equipment status includes a first preset equipment status and a second preset equipment status. For a single type-one monitoring range, if the proportion of key monitoring equipment in the type-one monitoring range is greater than the preset proportion of key monitoring equipment or the inspection reference value is greater than the preset inspection reference value, then the type-one monitoring range is determined to be in the first preset equipment status; if the proportion of key monitoring equipment in the type-one monitoring range is less than or equal to the preset proportion of key monitoring equipment and the inspection reference value is less than or equal to the preset inspection reference value, then the type-one monitoring range is determined to be in the second preset equipment status;

[0067] For a single type-one monitoring range, the proportion of key monitoring equipment = the number of key monitoring equipment within the type-one monitoring range / the number of target monitoring equipment within the type-one monitoring range. The inspection reference value is the average value of the lengths of each inspection route within the type-one monitoring range. The preset proportion of key monitoring equipment and the preset inspection reference value can be determined by the user according to the actual working scenario. For example, the user can set them according to the equipment inspection record. The higher the user's requirements for the effectiveness of the fault judgment result, the smaller the value of the preset proportion of key monitoring equipment and the smaller the value of the preset inspection reference value. A method for determining the value of the preset proportion of key monitoring equipment is provided. The equipment inspection record for route optimization is recorded as a state reference record. The minimum value of the proportion of key monitoring equipment in each type-one monitoring range in the state reference record that meets the user's requirements for the effectiveness of the fault judgment result is recorded as the preset proportion of key monitoring equipment. A value for the preset proportion of key monitoring equipment is provided. The value of the preset proportion of key monitoring equipment is 0.6. A method for determining the value of the preset inspection reference value is provided. The minimum value of the inspection reference value of each type-one monitoring range in the state reference record that meets the user's requirements for the effectiveness of the fault judgment result is recorded as the preset inspection reference value.

[0068] The key monitoring device is a target monitoring device whose interference coefficient is greater than a preset interference coefficient. For a single target monitoring device, the interference coefficient is the number of interference devices within a preset analysis range of the target monitoring device. The preset analysis range is a circular area with the target monitoring device as the center and a preset analysis length as the radius. The interference device is an electronic device with an electromagnetic field and other movable devices other than the mobile inspection device. The method for determining the value of the preset interference coefficient can be determined by the user according to the actual working scenario. For example, the user can set it according to the equipment inspection record. The higher the user's requirements for the validity of the fault judgment result, the smaller the value of the preset interference coefficient. A method for determining the value of the preset interference coefficient is provided, and the minimum value of the interference coefficient of each key monitoring device in the equipment inspection record that meets the user's requirements for the validity of the fault judgment result is recorded as the preset interference coefficient. If the mobile inspection device does not pass through other target monitoring devices in the process of reaching the location of another target monitoring device from the location of one target monitoring device, the route passed by the mobile inspection device is recorded as the inspection route between the above two target monitoring devices.

[0069] For a type of monitoring range that is in a state lower than a preset equipment status, the inspection priority coefficient of any inspection route = 1 / (point influence coefficient + route execution coefficient). The inspection route with a larger inspection priority coefficient has a higher priority in becoming the route selected by the mobile inspection device of this type of monitoring range when performing inspection tasks for each target monitoring device. The point influence coefficient is the average time for each mobile inspection device to complete the inspection task within the inspection route. The route execution coefficient is the average value of the equipment monitoring frequency of each relevant monitoring device of the inspection route. The relevant monitoring device is the target monitoring device that can obtain the equipment sound source signal when the mobile inspection device performs the inspection task on the inspection route.

[0070] Specifically, under the condition that the route optimization is completed, the reference equipment monitoring frequency and the equipment monitoring frequency difference value of each type of monitoring range in the first preset equipment state are periodically detected, and it is determined whether to adjust the inspection equipment combination of the corresponding type of monitoring range according to the monitoring frequency coefficient;

[0071] The monitoring frequency coefficient is determined according to the reference device monitoring frequency and the device monitoring frequency difference value;

[0072] The route optimization completion condition is that each type of monitoring range in the first preset equipment state completes the inspection route optimization.

[0073] Among them, the present invention applies a cyclic inspection scheduling cycle, and the duration of the inspection scheduling cycle can be determined by the user. The higher the user's requirements for the effectiveness of the fault judgment result, the shorter the duration of the inspection scheduling cycle. A duration of the inspection scheduling cycle is provided, and the inspection scheduling cycle is 30 minutes. At the end time of each inspection scheduling cycle, the reference device monitoring frequency and the device monitoring frequency difference value of each type of monitoring range in the first preset device state are detected, and it is determined whether to adjust the inspection device combination of each type of monitoring range;

[0074] For any monitoring range in the first preset device state, the monitoring frequency coefficient = ln (reference device monitoring frequency / device monitoring frequency difference value), the reference device monitoring frequency is the average value of the acoustic signal monitoring frequency of each target monitoring device in the monitoring range, and the device monitoring frequency difference value is n is the number of target monitoring devices within the monitoring range of this type, Pi is the acoustic signal monitoring frequency of the i-th target monitoring device, P0 is the reference device monitoring frequency, and for a single target monitoring device, the acoustic signal monitoring frequency is the sum of the number of times each mobile inspection device collects sound source signals for the target monitoring device within a patrol scheduling cycle.

[0075] Specifically, for a single type of monitoring range in the first preset equipment state, if the monitoring frequency coefficient is less than the preset monitoring frequency coefficient, the inspection equipment combination for the type of monitoring range is adjusted, and the type of monitoring range is recorded as a key monitoring range. The number of dispatch inspection equipment for the key monitoring range is determined according to the reference equipment monitoring frequency;

[0076] Determine the dispatch inspection equipment according to the task execution parameters and task execution cycle of each relevant inspection equipment;

[0077] The related inspection equipment is a mobile inspection equipment of an adjacent monitoring range of the type of monitoring range, and the adjacent monitoring range is a type of monitoring range in a second preset equipment state whose interval distance with the type of monitoring range is less than the preset range interval distance.

[0078] Among them, the value of the preset monitoring frequency coefficient can be determined by the user according to the actual working scenario. For example, the user can set it according to the equipment inspection record. The higher the user's requirement for the effectiveness of the fault judgment result, the smaller the value of the preset monitoring frequency coefficient. A method for setting the value of the preset monitoring frequency coefficient is provided, and the minimum value of the monitoring frequency coefficient of each key monitoring range in the equipment inspection record that meets the user's requirement for the effectiveness of the fault judgment result is recorded as the preset monitoring frequency coefficient; since different mobile inspection devices are equipped with microphone arrays with different numbers of array elements and different aperture sizes, different mobile inspection devices have different frequency working ranges for acoustic signal processing, so adjusting the inspection equipment combination can adapt to the monitoring frequency coefficients of different target monitoring devices.

[0079] For any key monitoring range, select several related inspection equipment to collect equipment sound source signals for the target monitoring equipment within the key monitoring range, record the selected several related inspection equipment as scheduling inspection equipment, the number of scheduling inspection equipment is negatively correlated with the reference equipment monitoring frequency of the key monitoring range, for any related inspection equipment, determine the scheduling priority coefficient of the related inspection equipment according to the task execution parameter and the task execution cycle, the scheduling priority coefficient = 1 / (task execution parameter + task execution cycle), the task execution parameter is the number of target monitoring equipment that the related inspection equipment needs to collect equipment sound source signals, the task execution cycle is the time required for the related inspection equipment to complete the current inspection task, the unit of measurement of the task execution cycle is hours, the larger the scheduling priority coefficient of the related inspection equipment, the higher the priority of the scheduling inspection equipment;

[0080] The interval distance between two equipment monitoring ranges is the distance between the two closest points on their corresponding edge lines. The value of the preset range interval distance can be determined by the user according to the actual working scenario. For example, the user can set it according to the equipment inspection record. The higher the user's requirements for the effectiveness of the fault judgment result, the smaller the value of the preset range interval distance. A method for setting the value of the preset range interval distance is provided, and the average value of the interval distance between each relevant monitoring range and its corresponding type of monitoring range in the equipment inspection record that meets the user's requirements for the effectiveness of the fault judgment result is recorded as the preset range interval distance.

[0081] Specifically, in response to the signal abnormality condition, the signal quality parameters of the abnormal monitoring device at the current moment are detected, and it is determined whether to adjust the signal acquisition parameters of the key inspection device of the abnormal monitoring device according to the signal quality parameters;

[0082] If the signal quality parameter is less than or equal to the reference signal quality parameter, the signal acquisition parameter of the key inspection device of the abnormal monitoring device is adjusted to obtain the optimal acquisition parameter;

[0083] If the signal quality parameter is greater than the reference signal quality parameter, the signal acquisition parameter of the key inspection device of the abnormal monitoring device at the current moment is recorded as the optimal acquisition parameter;

[0084] The signal abnormality condition is that a target monitoring device is judged to be an abnormal monitoring device, and the abnormal monitoring device is a target monitoring device whose abnormal coefficient of the device sound source signal is greater than a preset abnormal coefficient. The mobile inspection device that obtains the device sound source signal with an abnormal coefficient greater than the preset abnormal coefficient is recorded as a key inspection device.

[0085] Among them, for a single acquisition of the device sound source signal, the abnormal coefficient is the sum of the product of the signal energy difference value and the signal-to-noise ratio difference value and the corresponding weight coefficient, the signal energy difference value = the signal energy reference value of the currently acquired device sound source signal - the preset signal energy value, the signal-to-noise ratio difference value = the signal-to-noise ratio reference value of the currently acquired device sound source signal - the preset signal-to-noise ratio value, and a signal energy difference value and a signal-to-noise ratio difference value corresponding to the weight coefficient are provided. The weight coefficient corresponding to the signal energy difference value is 0.5, and the weight coefficient corresponding to the effective sound pressure difference value is 0.5. When the device sound source signal is acquired each time, the root mean square value of the acquired device sound source signal is calculated. The detected root mean square value is recorded as the signal energy reference value of the corresponding device sound source signal, and the detected signal-to-noise ratio is recorded as the signal-to-noise ratio reference value of the corresponding device sound source signal. The present invention does not set the device signal used for detecting the root mean square value of the device sound source signal and the signal-to-noise ratio. The user makes a selection according to actual needs. In addition, the user can set the value of the preset signal energy value and the preset signal-to-noise ratio according to actual conditions. How to detect the root mean square value and the signal-to-noise ratio of the device sound source signal and how to set the value of the preset signal energy value and the preset signal-to-noise ratio are contents that are easy to understand for those skilled in the art and are not described in detail here.

[0086] The value of the preset abnormality coefficient can be determined by the user according to the actual working scenario. For example, the user can set it according to the equipment inspection record. The higher the user's requirements for the effectiveness of the fault judgment result, the smaller the value of the preset abnormality coefficient. A method for determining the value of the preset abnormality coefficient is provided, and the minimum value of the abnormality coefficient of the device sound source signal of the abnormal monitoring device in the equipment inspection record that meets the user's requirements for the effectiveness of the fault judgment result is recorded as the preset abnormality coefficient;

[0087] For a single abnormal monitoring device, the signal quality parameter is determined based on the effective signal power and noise signal power of the device sound source signal of the abnormal monitoring device. Signal quality parameter = natural logarithm of effective signal power / (1+noise signal power). How to detect the effective signal power and noise signal power of the device sound source signal is easy for technical personnel in this field to understand and will not be elaborated here. The value of the reference signal quality parameter can be determined by the user according to the actual working scenario. For example, the user can set it according to the equipment inspection record. The higher the user's requirement for the effectiveness of the fault judgment result, the larger the value of the reference signal quality parameter. A method for determining the value of the reference signal quality parameter is provided, and the average value of the signal quality parameters of each device sound source signal obtained under the optimal acquisition parameters in the equipment inspection record that meets the user's requirement for the effectiveness of the fault judgment result is recorded as the reference signal quality parameter.

[0088] Specifically, for a single abnormal monitoring device, if the signal acquisition parameters of its key inspection equipment are adjusted, the signal acquisition parameters are iteratively updated, the signal quality parameters under each signal acquisition parameter are detected, and the preset adjustment parameters are reduced and adjusted according to the difference value of the signal quality parameters, and the optimal acquisition parameters are determined;

[0089] If the signal quality parameter difference value is less than or equal to the preset signal quality parameter difference value, the signal acquisition parameter of the key inspection device of the abnormal monitoring device at the current moment is recorded as the optimal acquisition parameter;

[0090] The reduction value of the preset adjustment parameter is positively correlated with the difference value of the signal quality parameter.

[0091] Among them, the categories of signal acquisition parameters in the present invention include distance parameters, height parameters and angle parameters of the sound source acquisition array. The distance parameter is the distance between the location of the key inspection equipment to which the sound source acquisition array belongs and the location of the corresponding abnormal monitoring equipment. The height parameter is the shortest distance between the sound source acquisition array and the ground of the driving area of ​​the key inspection equipment. The angle parameter is the angle between the plane where the current sound source acquisition array is located and the initial array plane. The initial array plane is the plane where the sound source acquisition array is located without changing the angle. Different categories of signal acquisition parameters are respectively provided with corresponding preset adjustment parameters. In the subsequent adjustment process, the preset adjustment parameters can be reduced and adjusted according to the difference value of the signal quality parameters. The values ​​of the preset adjustment parameters of each category of signal acquisition parameters before adjustment are provided. The value of the preset adjustment parameter corresponding to the distance parameter is 0.25m, the value of the preset adjustment parameter corresponding to the height parameter is 0.125m, and the value of the preset adjustment parameter corresponding to the angle parameter is 30°.

[0092] When adjusting the signal acquisition parameters once, it is only performed on the signal acquisition parameters of a single category, and the signal acquisition parameters are changed based on the preset adjustment parameters of the signal acquisition parameters of this category. The signal quality parameters before and after the signal acquisition parameter adjustment are detected, and the signal quality parameter difference value = the signal quality parameter detected after the adjustment of the signal acquisition parameters is completed - the signal quality parameter detected before the adjustment of the signal acquisition parameters is completed. If the signal quality parameter difference value is less than or equal to the preset signal quality parameter difference value, the iterative update of the signal acquisition parameters is stopped, and the signal acquisition parameters of the key inspection equipment of the abnormal monitoring equipment at the current moment are recorded as the optimal acquisition parameters. If the signal quality parameter difference value is greater than the preset signal quality parameter difference value, the signal acquisition parameters continue to be adjusted, and the preset adjustment parameters of the signal acquisition quality of the category adjusted this time are reduced according to the signal quality parameter difference value;

[0093] The value of the preset signal quality parameter difference value can be determined by the user according to the actual working scenario. For example, the user can set it according to the equipment inspection record. The higher the user's requirement for the effectiveness of the fault judgment result, the smaller the value of the preset signal quality parameter difference value. A method for determining the preset signal quality parameter difference value is provided. When the signal acquisition parameters are iteratively updated each time, the average value of the signal quality parameter difference values ​​detected is recorded as the preset signal quality parameter difference value.

[0094] Specifically, the frequency matching coefficient of each abnormal monitoring device and its key inspection equipment is tested;

[0095] If the frequency matching coefficient between an abnormal monitoring device and its key inspection device is less than the preset frequency matching coefficient, the array operating parameters of the key inspection device are adjusted;

[0096] The array operating parameters include array density and array aperture.

[0097] Among them, for a single abnormal monitoring device, the device sound source signal of the abnormal monitoring device is detected to obtain the frequency band range of its fault characteristic frequency. How to obtain the frequency band range of the fault characteristic frequency of different devices is easy for technicians in this field to understand. The present invention provides a detection method for the frequency band range of the fault characteristic frequency of a motor bearing, and detects the fault frequencies of the outer ring of the motor bearing, the inner ring of the motor bearing and the rolling element of the motor bearing under different operating parameters. The maximum and minimum values ​​of each fault frequency obtained are recorded as the maximum and minimum values ​​of the frequency band range of the fault characteristic frequency of the motor bearing. How to detect the fault frequencies of the outer ring of the motor bearing, the inner ring of the motor bearing and the rolling element of the motor bearing under different operating parameters is easy for technicians in this field to understand and will not be elaborated here.

[0098] For a single key inspection device, the working frequency band of its microphone array is detected. The frequency matching coefficient between the key inspection device and its corresponding abnormal monitoring device = overlapping frequency band range / working frequency band of the microphone array of the key inspection device. The overlapping frequency band range is the overlapping part of the working frequency band of the microphone array of the key inspection device and the frequency band range of the fault characteristic frequency of the equipment sound source signal of the abnormal monitoring device corresponding to the key inspection device. The value of the preset frequency matching coefficient can be determined by the user according to the actual working scenario. For example, the user can set it according to the equipment inspection record. The higher the user's requirement for the effectiveness of the fault judgment result, the larger the value of the preset frequency matching coefficient. A method for setting the value of the preset frequency matching coefficient is provided, and the maximum value of the frequency matching coefficient of the key inspection device adjusted for the array working parameters each time in the equipment inspection record that meets the user's requirement for the effectiveness of the fault judgment result is recorded as the preset frequency matching coefficient.

[0099] Specifically, if the array operating parameters of a key inspection device are adjusted, the array adjustment method is determined according to the frequency band range of the fault characteristic frequency of the device sound source signal of the abnormal monitoring device;

[0100] If the sound source signal frequency is less than the preset sound source signal frequency, the array aperture is increased and adjusted;

[0101] If the sound source signal frequency is greater than the preset sound source signal frequency, the array density is increased and adjusted.

[0102] The sound source signal frequency is equal to the preset sound source signal frequency, and no adjustment is made to the array working parameters.

[0103] Specifically, under the condition that the array adjustment is completed, the array is sequentially moved at different positions based on the adjusted array working parameters to collect sound source signals to determine the cross-spectral matrix of the sound source to be analyzed;

[0104] Based on the beamforming positioning algorithm, the cross-spectral matrix of the sound source to be analyzed is processed and positioned to obtain the fault location information of the abnormal monitoring equipment;

[0105] The array adjustment completion condition is that a key inspection device completes the adjustment of array working parameters.

[0106] The sound source signal frequency is the multiple of the frequency with the largest amplitude of the device sound source signal obtained by the key inspection device under the optimal acquisition parameters, and the preset sound source signal frequency is the middle value of the working frequency band of the microphone array of the key inspection device;

[0107] If the sound source signal frequency is less than the preset sound source signal frequency, it indicates that the microphone array of the current key inspection equipment has poor low-frequency fault positioning capability for abnormal monitoring equipment. The microphone array is sequentially moved in the plane under the optimal acquisition parameters, and the equipment sound source signal is collected several times to complete asynchronous measurement to expand the array aperture of the current microphone array. The acquired sound source signals of several devices are converted into sub-cross-spectrum matrices, and the matrix completion method is used to generate each sub-cross-spectrum matrix into a cross-spectrum matrix of the microphone array for the current abnormal monitoring equipment. This matrix is ​​recorded as the cross-spectrum matrix of the sound source to be analyzed. The fault position is located based on the cross-spectrum matrix of the sound source to be analyzed currently acquired, which can effectively improve the processing capability of the microphone array for low-frequency signals.

[0108] If the frequency of the sound source signal is greater than the preset sound source signal frequency, the plane of the microphone array of the key inspection equipment under the optimal acquisition parameters is sequentially moved slightly to expand the density of the entire microphone array to further improve the high-frequency capability; the completed cross-spectrum matrix obtained after the array working parameter adjustment is recorded as the sound source cross-spectrum matrix to be analyzed, and the fault location is performed on the equipment sound source signal through the beamforming algorithm to obtain the fault position of the abnormal monitoring equipment. How to obtain the sub-cross-spectrum matrix, how to complete the matrix and how to use the beamforming algorithm for fault location are easy to understand for technicians in this field and will not be elaborated here.

[0109] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0110] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A low-frequency fault source location method integrating small acoustic array and asynchronous measurement, characterized in that: include: Obtain the equipment monitoring range, and determine the range category of the equipment monitoring range according to the number of target monitoring devices included in the monitoring range of each equipment; Determine the equipment status of a monitoring range according to the proportion of key monitoring equipment and the inspection reference value, optimize the inspection route for the monitoring range in the first preset equipment status, and determine whether to adjust the inspection equipment combination according to the monitoring frequency coefficient; In response to abnormal signal conditions, determine whether to adjust the signal acquisition parameters of key inspection equipment of the abnormal monitoring equipment according to the signal quality parameters, and adjust the preset adjustment parameters according to the difference value of the signal quality parameters; Determine whether to adjust the array working parameters of the key inspection equipment according to the frequency matching coefficient, and determine the array adjustment method according to the sound source signal frequency of the key inspection equipment. The array adjustment method is to adjust the array aperture or array density; Under the condition that the array adjustment is completed, the cross-spectral matrix of the sound source to be analyzed is obtained, and the fault location information of the abnormal monitoring device is determined based on the cross-spectral sound source matrix to be analyzed.

2. The low-frequency fault source location method integrating small acoustic array and asynchronous measurement according to claim 1 is characterized in that: The target monitoring area is divided into regions according to the interval distance between the target monitoring devices to obtain several equipment monitoring ranges, and the range category of the equipment monitoring range is determined according to the number of target monitoring devices included in the monitoring range of each equipment. Recording a device monitoring range in which the number of target monitoring devices included is greater than the preset number of target monitoring devices as a type of monitoring range; The equipment monitoring range in which the number of included target monitoring devices is less than or equal to the preset number of target monitoring devices is recorded as a second-category monitoring range.

3. The low-frequency fault source location method integrating small acoustic array and asynchronous measurement according to claim 2 is characterized in that: For a single first-class monitoring range, if the first-class monitoring range is in the first preset equipment state where the proportion of key monitoring equipment is greater than the preset proportion of key monitoring equipment or the inspection reference value is greater than the preset inspection reference value, the inspection priority coefficient of each inspection route is set according to the point influence coefficient and the route execution coefficient; The inspection priority coefficient is positively correlated with the point influence coefficient and the route execution coefficient respectively.

4. The low-frequency fault source location method integrating small acoustic array and asynchronous measurement according to claim 3 is characterized in that: Under the condition that the route optimization is completed, the reference equipment monitoring frequency and the equipment monitoring frequency difference value of each type of monitoring range in the first preset equipment state are periodically detected, and whether to adjust the inspection equipment combination of the corresponding type of monitoring range according to the monitoring frequency coefficient; The monitoring frequency coefficient is determined according to the reference device monitoring frequency and the device monitoring frequency difference value; The route optimization completion condition is that each type of monitoring range in the first preset equipment state completes the inspection route optimization.

5. The low-frequency fault source location method integrating small acoustic array and asynchronous measurement according to claim 4 is characterized in that: For a single monitoring range in the first preset device state, if the monitoring frequency coefficient is less than the preset monitoring frequency coefficient, the inspection equipment combination for the monitoring range is adjusted, and the monitoring range is recorded as a key monitoring range. The number of dispatch inspection equipment for the key monitoring range is determined according to the reference equipment monitoring frequency; Determine the dispatch inspection equipment according to the task execution parameters and task execution cycle of each relevant inspection equipment; The related inspection equipment is a mobile inspection equipment of an adjacent monitoring range of the type of monitoring range, and the adjacent monitoring range is a type of monitoring range in a second preset equipment state whose interval distance with the type of monitoring range is less than the preset range interval distance.

6. The low-frequency fault source location method integrating small acoustic array and asynchronous measurement according to claim 5 is characterized in that: In response to the signal abnormality condition, the signal quality parameters of the abnormal monitoring device at the current moment are detected, and according to the signal quality parameters, it is determined whether to adjust the signal acquisition parameters of the key inspection device of the abnormal monitoring device; If the signal quality parameter is less than or equal to the reference signal quality parameter, the signal acquisition parameter of the key inspection device of the abnormal monitoring device is adjusted to obtain the optimal acquisition parameter; If the signal quality parameter is greater than the reference signal quality parameter, the signal acquisition parameter of the key inspection device of the abnormal monitoring device at the current moment is recorded as the optimal acquisition parameter; The signal abnormality condition is that a target monitoring device is judged to be an abnormal monitoring device, and the abnormal monitoring device is a target monitoring device whose abnormal coefficient of the device sound source signal is greater than a preset abnormal coefficient. The mobile inspection device that obtains the device sound source signal with an abnormal coefficient greater than the preset abnormal coefficient is recorded as a key inspection device.

7. The low-frequency fault source location method integrating small acoustic array and asynchronous measurement according to claim 6 is characterized in that: For a single abnormal monitoring device, if the signal acquisition parameters of its key inspection equipment are adjusted, the signal acquisition parameters are iteratively updated, the signal quality parameters under each signal acquisition parameter are detected, and the preset adjustment parameters are reduced and adjusted according to the difference value of the signal quality parameters, and the optimal acquisition parameters are determined; If the signal quality parameter difference value is less than or equal to the preset signal quality parameter difference value, the signal acquisition parameter of the key inspection device of the abnormal monitoring device at the current moment is recorded as the optimal acquisition parameter; The reduction value of the preset adjustment parameter is positively correlated with the difference value of the signal quality parameter.

8. The low-frequency fault source location method integrating small acoustic array and asynchronous measurement according to claim 7 is characterized in that: Test the frequency matching coefficient between each abnormal monitoring device and its key inspection equipment; If the frequency matching coefficient between an abnormal monitoring device and its key inspection device is less than the preset frequency matching coefficient, the array operating parameters of the key inspection device are adjusted; The array operating parameters include array density and array aperture.

9. The low-frequency fault source location method integrating small acoustic array and asynchronous measurement according to claim 8 is characterized in that: If the array operating parameters of a key inspection device are adjusted, the array adjustment method is determined according to the frequency band range of the fault characteristic frequency of the device sound source signal of the abnormal monitoring device; If the sound source signal frequency is less than the preset sound source signal frequency, the array aperture is increased and adjusted; If the sound source signal frequency is greater than the preset sound source signal frequency, the array density is increased and adjusted.

10. The low-frequency fault source location method integrating small acoustic array and asynchronous measurement according to claim 9 is characterized in that: Under the condition that the array adjustment is completed, the array is sequentially moved based on the adjusted array working parameters to collect sound source signals at different positions to determine the cross-spectral matrix of the sound source to be analyzed; Based on the beamforming positioning algorithm, the cross-spectral matrix of the sound source to be analyzed is processed and positioned to obtain the fault location information of the abnormal monitoring equipment; The array adjustment completion condition is that a key inspection device completes the adjustment of the array working parameters.

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