Low frequency fault source location method fusing small acoustic array and non-synchronous measurement

Abstract

The present application relates to the field of fault analysis, and more particularly to a low-frequency fault source positioning method fusing a small acoustic array and non-synchronous measurement, comprising: determining the range category of the device monitoring range according to the number of target monitoring devices; determining the device state of a monitoring range according to the key monitoring device proportion and the inspection reference value to optimize the inspection route, and determining whether to adjust the inspection device combination according to the monitoring frequency coefficient; in response to the signal abnormal condition, determining whether to adjust the signal acquisition parameter according to the signal quality parameter; determining whether to adjust the array working parameter of the key inspection device according to the frequency matching coefficient, and determining the array adjustment mode; under the condition of array adjustment completion, positioning the fault sound source position of the abnormal monitoring device based on the cross-spectrum matrix of the sound source to be analyzed, and the present application improves the timeliness and accuracy of the fault judgment result of the target monitoring device.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of fault analysis, and in particular to a low-frequency fault source positioning method fusing a small acoustic array and non-synchronous measurement. BACKGROUND

[0002] During the long-term use of rotating machinery, it is affected by factors such as alternating load, impact load, and speed fluctuation, resulting in system failure of the rotating machinery. The use of a mobile inspection device equipped with a small microphone array can obtain sound source signals of each device in the running process in real time to perform fault diagnosis, thereby ensuring effective monitoring of rotating machinery failure. In addition, the complexity and variability of the actual monitoring site sound field can affect the movement process and signal acquisition process of the mobile inspection device, resulting in low efficiency of the monitoring process of each device. Therefore, how to adjust the operation of the mobile inspection device according to the actual monitoring scene to ensure the timeliness and effectiveness of the acquisition of fault sound source signals is a problem that needs to be solved by those skilled in the art.

[0003] Chinese Patent Publication No. CN114384472A discloses a mobile robot sound source positioning method, robot, and readable storage medium. The mobile robot sound source positioning method includes: S1, after detecting a sound source signal, sequentially moving along circular trajectories C1 and C2 and measuring signal sound pressures p1 and p2, respectively; S2, converting the signal sound pressures p1 and p2 into output voltages e1 and e2, respectively, sequentially obtaining the maximum and minimum coordinates of e1 and e2, and establishing a linear equation set to obtain the coordinates of the sound source projection on the moving plane of the robot; and 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 amplitude ratio relationship, establishing an equation to determine the three-dimensional coordinates of the measured sound source. However, the above-mentioned scheme has the following problems: it fails to adjust the operation of the mobile robot during the sound source signal acquisition process based on the influence of the actual monitoring scene on the monitoring process of the mobile robot, resulting in low timeliness and effectiveness of the abnormal determination result of the sound source. SUMMARY

[0004] Therefore, the present application provides a low-frequency fault source positioning method fusing a small acoustic array and non-synchronous measurement to overcome the problem that the prior art fails to intelligently adjust the monitoring process of the mobile robot based on the actual monitoring scene, resulting in low timeliness and effectiveness of the abnormal determination result of the fault sound source.

[0005] To achieve the above-mentioned purpose, the present application provides a low-frequency fault source positioning method fusing a small acoustic array and non-synchronous measurement, which includes:

[0006] acquire device monitoring ranges, determine the range category of the device monitoring range according to the number of target monitoring devices contained in each device monitoring range;

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

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

[0009] determine whether to adjust the array working parameter of the key inspection device according to the frequency matching coefficient, and determine the array adjustment mode according to the sound source signal frequency of the key inspection device, the array adjustment mode being adjusting the array aperture or the array density;

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

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

[0012] device monitoring ranges containing a number of target monitoring devices greater than the preset target monitoring device number are recorded as a first monitoring range;

[0013] device monitoring ranges containing a number of target monitoring devices less than or equal to the preset target monitoring device number are recorded as a second monitoring range.

[0014] Further, for a single first monitoring range, if the first monitoring range is in a first preset device state where the key monitoring device proportion is greater than the preset key monitoring device proportion 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 has a positive correlation with the point influence coefficient and the route execution coefficient, respectively.

[0016] Further, under the condition that the route optimization is completed, periodically detect the reference device monitoring frequency and the device monitoring frequency difference value of each first monitoring range in the first preset device state, and determine whether to adjust the inspection device combination of the corresponding first 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 monitoring range in the first preset device state completes the route optimization.

[0019] Further, 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 device combination for the monitoring range is adjusted, the monitoring range is recorded as a key monitoring range, and the number of scheduled inspection devices for the key monitoring range is determined according to the reference device monitoring frequency.

[0020] The scheduled inspection device is determined according to the task execution parameters and the task execution period of each related inspection device.

[0021] The related inspection device is a mobile inspection device of a neighboring monitoring range of the monitoring range, and the neighboring monitoring range is a monitoring range in the second preset device state with an interval distance less than a preset range interval distance from the monitoring range.

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

[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 best 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 time is recorded as the best acquisition parameter.

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

[0026] Further, for a single abnormal monitoring device, if the signal acquisition parameter of the key inspection device thereof is adjusted, the signal acquisition parameter is iteratively updated, the signal quality parameter under each signal acquisition parameter is detected, the preset adjustment parameter is adjusted by a decreasing adjustment according to the signal quality parameter difference value, and the best acquisition parameter is determined.

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

[0028] The preset adjustment parameter reduction value and the signal quality parameter difference value are in a positive correlation relationship.

[0029] Further, the frequency matching coefficient of each abnormal monitoring device and its key inspection equipment is detected.

[0030] If the frequency matching coefficient of an abnormal monitoring device and its key inspection equipment is less than a preset frequency matching coefficient, the array working parameter of the key inspection equipment is adjusted.

[0031] The array working parameter includes an array density and an array aperture.

[0032] Further, if the array working parameter of a key inspection equipment is adjusted, the array adjustment mode 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 a preset sound source signal frequency, the array aperture is adjusted to increase.

[0034] If the sound source signal frequency is greater than a preset sound source signal frequency, the array density is adjusted to increase.

[0035] Further, under the condition of array adjustment completion, the sound source signal is collected in different positions by sequentially moving the array based on the adjusted array working parameter, to determine a to-be-analyzed sound source cross-spectrum matrix.

[0036] The to-be-analyzed sound source cross-spectrum matrix is processed and positioned based on a beam forming positioning algorithm, to obtain fault position information of the abnormal monitoring device.

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

[0038] Compared with the prior art, the beneficial effects of the present application are that in the technical scheme of the present application, the range category of the monitoring range of each device is determined according to the number of target monitoring devices contained, and the inspection route arrangement of the mobile inspection device in the first preset device monitoring range is adjusted, so as to ensure the monitoring efficiency of each mobile inspection device for the target monitoring device, and ensure the timeliness and accuracy of the fault judgment result of the target monitoring device.

[0039] Further, in the application, the device state of a monitoring range is determined according to the key monitoring device proportion and the inspection reference value, and the influence of the actual situation of each monitoring range on the inspection efficiency of the mobile inspection device is represented according to the key monitoring device proportion and the inspection reference value, if the device state is in the first preset device state, it indicates that the monitoring range has a greater influence on the inspection process of the mobile inspection device, and the inspection process optimization is carried out for the monitoring range in the first preset device state, so as to avoid the low monitoring efficiency of the target monitoring device and ensure the timeliness of the fault judgment result of the target monitoring device.

[0040] Further, in the application, whether the combination of the inspection devices of the corresponding monitoring range is adjusted is determined according to the monitoring frequency coefficient, and the scheduled inspection device is determined according to the task execution parameter and the task execution period, so as to avoid that the monitoring pressure of the mobile inspection device in the monitoring range is too large to cause low inspection efficiency, and at the same time, the influence of the scheduled mobile inspection device on other device monitoring ranges is avoided, so as to ensure the timeliness of the fault judgment result of the target monitoring device.

[0041] Further, in the application, whether the signal acquisition parameter of the key inspection device of the abnormal monitoring device is iteratively updated is determined according to the signal quality parameter, the preset adjustment parameter is reduced according to the signal quality parameter difference value, and the best acquisition parameter is determined, so as to ensure the acquisition quality and signal acquisition efficiency of the device sound source signal, and avoid the influence on the subsequent fault analysis process, and the application improves the timeliness and accuracy of the fault judgment result of the target monitoring device. BRIEF DESCRIPTION OF DRAWINGS

[0042] Fig. 1 The schematic diagram of the low-frequency fault source positioning method of the application fuses a small sound array and non-synchronous measurement;

[0043] Fig. 2 The flowchart of the application for determining the device state of a monitoring range according to the key monitoring device proportion and the inspection reference value;

[0044] Fig. 3 The flowchart of the application for determining whether the combination of the inspection devices is adjusted according to the monitoring frequency coefficient;

[0045] Fig. 4 The flowchart of the application for determining whether the signal acquisition parameter of the key inspection device is adjusted according to the signal quality parameter. DETAILED DESCRIPTION

[0046] In order to make the objects, technical schemes and advantages of the present application clearer, the following further describes the present application with reference to the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0047] The preferred embodiments of the present application are described below with reference to the drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the protection scope of the present application.

[0048] It should be noted that, in the description of the present application, the terms "upper", "lower", "left", "right", "inner", "outer" and the like indicating the direction or positional relationship terms are based on the direction or positional relationship shown in the drawings, which is only for the convenience of description and does not indicate or imply that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0049] In addition, it should also be noted that, in the description of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. Those skilled in the art can understand the specific meaning of the above terms in the present application according to the specific circumstances.

[0050] Please refer to Figs. 1 to 4 As shown in the drawings, the present application provides a low-frequency fault source positioning method combining a small acoustic array and an asynchronous measurement, comprising:

[0051] Acquiring the monitoring range of the equipment, determining the range category of the equipment monitoring range according to the number of target monitoring equipment contained in each equipment monitoring range;

[0052] Determining the equipment state of a type of monitoring range according to the key monitoring equipment proportion and the inspection reference value, optimizing the inspection route for a type of monitoring range in the first preset equipment state, and determining whether to adjust the inspection equipment combination according to the monitoring frequency coefficient;

[0053] In response to the signal abnormal condition, determining whether to adjust the signal acquisition parameter of the key inspection equipment of the abnormal monitoring equipment according to the signal quality parameter, and adjusting the preset adjustment parameter according to the signal quality parameter difference value;

[0054] Determining whether to adjust the array operating parameter of the key inspection equipment according to the frequency matching coefficient, and determining the array adjustment mode according to the sound source signal frequency of the key inspection equipment, the array adjustment mode being adjusting the array aperture or the array density.

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

[0056] Wherein, the target monitoring area is a site that needs to be monitored for equipment failure, and the target monitoring equipment is a rotating mechanical equipment that needs to be monitored for failure. In the present application, there are several mobile inspection devices, each of which is provided with an inspection task, including the need for failure monitoring of the target monitoring equipment and the inspection route to be traveled during the inspection process. The mobile inspection device is equipped with a microphone array, and can adjust the signal collection parameters according to the actual situation. The sound signal obtained by the microphone array for a target monitoring equipment is recorded as the equipment sound source signal.

[0057] In the present application, there are several device inspection records, each of which records the interval distance between the target monitoring devices in the abnormal monitoring process of the target monitoring area, the number of target monitoring devices contained in each device detection range, the inspection reference value, the key monitoring device proportion, the interference coefficient, the monitoring frequency coefficient, the interval distance between each related monitoring range and its corresponding monitoring range, the abnormal coefficient, the signal quality parameter difference value, the frequency matching coefficient and the signal quality parameter. Each device inspection record corresponds to a qualified mark, which records whether the user's requirement for the effectiveness of the fault determination result meets the user's demand.

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

[0059] The device monitoring range containing more target monitoring devices than the preset target monitoring device number is recorded as a first type of monitoring range.

[0060] The device monitoring range containing less or equal target monitoring devices than the preset target monitoring device number is recorded as a second type of monitoring range.

[0061] If a device monitoring range contains only 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 contains two or more target monitoring devices, the interval distance between any two target monitoring devices in the device monitoring range is less than or equal to the preset interval distance. The interval distance between any two target monitoring devices is the straight-line distance between the positions of the two target monitoring devices. The user can determine the value of the preset interval distance according to the actual working scene. For example, the user can set it according to the device inspection record. A method for determining the value of the preset interval distance is provided. The maximum interval distance between the target monitoring devices in each device monitoring range in the device inspection record that meets the user's requirement for the effectiveness of the fault determination result is recorded as the preset interval distance.

[0062] The user can determine the value of the preset target monitoring device quantity according to the actual working scene. For example, the user can set it according to the device inspection record. The higher the user's requirement for the effectiveness of the fault determination result, the smaller the value of the preset target monitoring device quantity. A method for determining the value of the preset target monitoring device quantity is provided. The device inspection record that is not optimized by the inspection process is recorded as the scheduling reference record. The maximum number of target monitoring devices contained in each device detection range in the scheduling reference record that meets the user's requirement for the effectiveness of the fault determination result is recorded as the preset target monitoring device quantity. A value of the preset target monitoring device quantity is provided. The value of the preset target monitoring device quantity is 2.

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

[0064] Specifically, for a single one-type monitoring range, if the one-type monitoring range is in a first preset device state where the proportion of key monitoring devices is greater than a preset proportion of key monitoring devices or the inspection reference value is greater than a 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.

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

[0066] The device state includes a first preset device state and a second preset device state, for a single one-type monitoring range, if the key monitoring device proportion of the one-type monitoring range is greater than a preset key monitoring device proportion or the inspection reference value is greater than a preset inspection reference value, it is determined that the one-type monitoring range is in the first preset device state, if the key monitoring device proportion of the one-type monitoring range is less than or equal to the preset key monitoring device proportion and the inspection reference value is less than or equal to the preset inspection reference value, it is determined that the one-type monitoring range is in the second preset device state;

[0067] For a single one-type monitoring range, the key monitoring device proportion is equal to the number of key monitoring devices in the one-type monitoring range / the number of target monitoring devices in the one-type monitoring range, the inspection reference value is the average value of the lengths of each inspection route in the one-type monitoring range, the preset key monitoring device proportion and the preset inspection reference value can be determined by the user according to the actual working scene, for example, the user can set according to the device inspection record, the higher the user's requirement for the effectiveness of the fault determination result, the smaller the preset key monitoring device proportion, the smaller the preset inspection reference value, a method for determining the value of the preset key monitoring device proportion is provided, the device inspection record for route optimization is recorded as a state reference record, the minimum value of the key monitoring device proportion of each one-type monitoring range in the state reference record that meets the user's requirement for the effectiveness of the fault determination result is recorded as the preset key monitoring device proportion, a value of the preset key monitoring device proportion is provided, the value of the preset key monitoring device proportion 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 one-type monitoring range in the state reference record that meets the user's requirement for the effectiveness of the fault determination result is recorded as the preset inspection reference value;

[0068] The key monitoring device is a target monitoring device with an interference coefficient greater than a preset interference coefficient. For a single target monitoring device, the interference coefficient is the number of interference devices in a preset analysis range of the target monitoring device. The preset analysis range is a circular region 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 preset interference coefficient value method can be determined by the user according to the actual working scene. For example, the user can set it according to the device inspection record. The higher the user's requirement for the effectiveness of the fault determination result, the smaller the preset interference coefficient value. A method for determining the preset interference coefficient is provided. The minimum value of the interference coefficient of each key monitoring device in the device inspection record that meets the user's requirement for the effectiveness of the fault determination result is recorded as the preset interference coefficient. If the mobile inspection device does not pass through other target monitoring devices from the location of a target monitoring device to the location of another target monitoring device, the route of the mobile inspection device is recorded as the inspection route between the two target monitoring devices.

[0069] For a monitoring range of a type below a preset device state, the inspection priority coefficient of any inspection route = 1 / (point influence coefficient + route execution coefficient). The larger the inspection priority coefficient, the more preferred the inspection route becomes the route selected by the mobile inspection device for each target monitoring device in the monitoring range of the type to perform an inspection task. The point influence coefficient is the average time length of each mobile inspection device completing an inspection task in the inspection route. The route execution coefficient is the average value of the device monitoring frequency of each related monitoring device of the inspection route. The related monitoring device is a target monitoring device that can obtain a device sound source signal when the mobile inspection device performs an inspection task on the inspection route.

[0070] Specifically, under the condition that the route optimization is completed, periodically detect the reference device monitoring frequency and the device monitoring frequency difference value of each monitoring range of the type in the first preset device state, and determine whether to adjust the inspection device combination corresponding to the monitoring range of the type 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 monitoring range of the type in the first preset device state completes the inspection route optimization.

[0073] Wherein, a cycle of inspection scheduling period is applied in the application, the length of the inspection scheduling period can be determined by the user, the higher the user's requirement for the effectiveness of the fault determination result, the shorter the length of the inspection scheduling period, and a length of the inspection scheduling period is provided, the inspection scheduling period is 30 min, at the end of each inspection scheduling period, 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 type of monitoring range in the first preset device state, the monitoring frequency coefficient = l n (reference device monitoring frequency / device monitoring frequency difference value), the reference device monitoring frequency is the average value of the sound signal monitoring frequency of each target monitoring device in the type of monitoring range, and the device monitoring frequency difference value n is the number of each target monitoring device in the type of monitoring range, Pi is the sound signal monitoring frequency of the i-th target monitoring device, P0 is the reference device monitoring frequency, for a single target monitoring device, the sound signal monitoring frequency is the sum of the number of times of sound source signal collection of each mobile inspection device for the target monitoring device in an inspection scheduling period.

[0075] Specifically, 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 device combination of the type of monitoring range is adjusted, the type of monitoring range is recorded as a key monitoring range, and the number of scheduled inspection devices of the key monitoring range is determined according to the reference device monitoring frequency;

[0076] The scheduled inspection device is determined according to the task execution parameter and the task execution period of each related inspection device;

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

[0078] The preset monitoring frequency coefficient value can be determined by the user according to the actual working scene, for example, the user can set it according to the device inspection record, and the higher the user's requirement for the effectiveness of the fault determination result, the smaller the preset monitoring frequency coefficient value. A method for determining 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 device inspection record that meets the user's requirement for the effectiveness of the fault determination result is recorded as the preset monitoring frequency coefficient. Since different mobile inspection devices are equipped with different numbers of array elements and different aperture sizes of microphone arrays, different mobile inspection devices have different frequency working ranges for sound signal processing, so adjusting the inspection device combination can adapt to the monitoring frequency coefficient of different target monitoring devices.

[0079] For any key monitoring range, a plurality of related inspection devices are selected to collect device sound source signals of the target monitoring devices in the key monitoring range, and the selected plurality of related inspection devices are recorded as scheduled inspection devices. The number of scheduled inspection devices is in a negative correlation with the reference device monitoring frequency of the key monitoring range. For any related inspection device, a scheduling priority coefficient of the related inspection device is determined according to a task execution parameter and a task execution period. The scheduling priority coefficient = 1 / (task execution parameter + task execution period). The task execution parameter is the number of target monitoring devices that need to collect device sound source signals by the related inspection device. The task execution period is the time required for the related inspection device to complete the current inspection task. The unit of the task execution period is hour. The larger the scheduling priority coefficient of the related inspection device, the more priority it has to become a scheduled inspection device.

[0080] The interval distance between two device monitoring ranges is the distance between the two closest points on the corresponding two edge lines. The user can determine the value of the preset range interval distance according to the actual working scene, for example, the user can set it according to the device inspection record. The higher the user's requirement for the effectiveness of the fault determination result, the smaller the preset range interval distance value. A method for determining the value of the preset range interval distance is provided, and the average value of the interval distance between each related monitoring range and its corresponding monitoring range in the device inspection record that meets the user's requirement for the effectiveness of the fault determination result is recorded as the preset range interval distance.

[0081] Specifically, in response to the signal abnormal condition, the signal quality parameter of the abnormal monitoring device at the current time is detected, and whether the signal acquisition parameter of the key inspection device of the abnormal monitoring device is adjusted is determined according to the signal quality parameter.

[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 equipment of the abnormal monitoring equipment at the current time is recorded as the optimal acquisition parameter;

[0084] The signal abnormal condition is that a target monitoring equipment is determined as an abnormal monitoring equipment, the abnormal monitoring equipment is a target monitoring equipment with an abnormal coefficient of a device sound source signal greater than a preset abnormal coefficient, and a mobile inspection equipment of the device sound source signal with the abnormal coefficient greater than the preset abnormal coefficient is recorded as a key inspection equipment.

[0085] 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 is a signal energy reference value of the currently collected device sound source signal minus a preset signal energy value, and the signal-to-noise ratio difference value is a signal-to-noise ratio reference value of the currently collected device sound source signal minus a preset signal-to-noise ratio value. A value of the weight coefficient corresponding to the signal energy difference value is 0.5, and a value of the weight coefficient corresponding to the effective sound pressure difference value is 0.5. At the same time of obtaining the device sound source signal, the root mean square value and the signal-to-noise ratio of the obtained device sound source signal are detected, 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 device signal used for detecting the root mean square value and the signal-to-noise ratio of the device sound source signal is not set in the application, and the user can select 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 the actual situation. 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 easy to understand for those skilled in the art, and will not be described here.

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

[0087] For a single abnormal monitoring device, the signal quality parameter is determined according to the effective signal power and the noise signal power of the device sound source signal of the abnormal monitoring device, the signal quality parameter = natural logarithm of effective signal power / (1 + noise signal power), how to detect the effective signal power and the noise signal power of the device sound source signal is easy to understand for those skilled in the art, and will not be repeated here, the value of the reference signal quality parameter can be determined by the user according to the actual working scene, for example, the user can set it according to the device inspection record, the higher the user's requirement for the effectiveness of the fault determination result, the greater the value of the reference signal quality parameter, and a method for determining the value of the reference signal quality parameter is provided, which can obtain the average value of the signal quality parameter of each device sound source signal under the best acquisition parameter in the device inspection record that meets the user's requirement for the effectiveness of the fault determination result.

[0088] Specifically, for a single abnormal monitoring device, if the signal acquisition parameter of the key inspection device thereof is adjusted, the signal acquisition parameter is iteratively updated, the signal quality parameter under each signal acquisition parameter is detected, the preset adjustment parameter is adjusted by reducing according to the signal quality parameter difference value, and the best acquisition parameter is 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 time is recorded as the best acquisition parameter.

[0090] The decreasing value of the preset adjustment parameter is in a positive correlation with the signal quality parameter difference value.

[0091] In the present application, the categories of signal acquisition parameters include distance parameters, height parameters and angle parameters of the sound source acquisition array, the distance parameter is the distance between the position of the key inspection device to which the sound source acquisition array belongs and the position of the corresponding abnormal monitoring device, the height parameter is the shortest distance between the sound source acquisition array and the ground in the driving area of the key inspection device, and the angle parameter is the included angle between the current plane of the sound source acquisition array and the initial array plane, the initial array plane is the plane of the sound source acquisition array when the angle is not changed, and each category of signal acquisition parameter is respectively provided with a corresponding preset adjustment parameter, which can be adjusted by reducing according to the signal quality parameter difference value in the subsequent adjustment process, a preset adjustment parameter value of each category of signal acquisition parameter before adjustment is provided, the preset adjustment parameter value corresponding to the distance parameter is 0.25 m, the preset adjustment parameter value corresponding to the height parameter is 0.125 m, and the preset adjustment parameter value corresponding to the angle parameter is 30°.

[0092] In the single-time adjustment of the signal acquisition parameter, only a single category of signal acquisition parameter is adjusted, the change of the signal acquisition parameter is based on the preset adjustment parameter of the category of signal acquisition parameter, the signal quality parameter before and after the adjustment of the signal acquisition parameter is detected, the signal quality parameter difference value is the signal quality parameter detected after the adjustment of the signal acquisition parameter minus the signal quality parameter detected before the adjustment of the signal acquisition parameter, 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 parameter is stopped, and the signal acquisition parameter of the key inspection equipment of the abnormal monitoring device at the current time is recorded as the best acquisition parameter, if the signal quality parameter difference value is greater than the preset signal quality parameter difference value, the adjustment of the signal acquisition parameter is continued, and the preset adjustment parameter of the category of signal acquisition quality is reduced according to the signal quality parameter difference value.

[0093] The preset signal quality parameter difference value can be determined by the user according to the actual working scene, for example, the user can set it according to the device inspection record, the higher the user's requirement for the effectiveness of the fault determination result, the smaller the preset signal quality parameter difference value, and a method for determining the value of the preset signal quality parameter difference value is provided, the average value of the signal quality parameter difference value detected when stopping the iterative update of the signal acquisition parameter each time 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 detected.

[0095] If the frequency matching coefficient of an abnormal monitoring device and its key inspection equipment is less than the preset frequency matching coefficient, the array working parameter of the key inspection equipment is adjusted.

[0096] The array working parameter includes the array density and the 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 the fault characteristic frequency thereof, how to obtain the frequency band range of the fault characteristic frequency of different devices is easy to understand for those skilled in the art, the present application provides a detection method for the frequency band range of the fault characteristic frequency of the motor bearing, the fault frequencies of the outer ring of the motor bearing, the inner ring of the motor bearing and the rolling body of the motor bearing under different operating parameters are detected, the maximum and minimum values of the obtained fault frequencies 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 body of the motor bearing under different operating parameters is easy to understand for those skilled in the art, and will not be described here.

[0098] For a single key inspection device, the working frequency band of its microphone array is detected, and the frequency matching coefficient of the key inspection device and its corresponding abnormal monitoring device = the overlapping frequency band range / the 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 device 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 scene, for example, the user can set it according to the device inspection record, the higher the user's requirement for the effectiveness of the fault determination result, the greater the value of the preset frequency matching coefficient, and a method for providing a value of a preset frequency matching coefficient will meet the requirements of the user for the effectiveness of the fault determination result. The maximum value of the frequency matching coefficient of the key inspection device for each time adjustment of the array working parameter in the device inspection record that meets the user's requirement for the effectiveness of the fault determination result is recorded as the preset frequency matching coefficient.

[0099] Specifically, if the array working parameter of a key inspection device is adjusted, the array adjustment mode 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 adjusted for enlargement;

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

[0102] Wherein, the sound source signal frequency is equal to the preset sound source signal frequency, and the array working parameter is not adjusted.

[0103] Specifically, under the array adjustment completion condition, the adjusted array working parameter is sequentially moved to different positions to collect sound source signals to determine the to-be-analyzed sound source cross-spectrum matrix;

[0104] The to-be-analyzed sound source cross-spectrum matrix is processed and positioned based on the beamforming positioning algorithm to obtain the fault position information of the abnormal monitoring device;

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

[0106] Wherein, the sound source signal frequency is the maximum frequency of the frequency of the device sound source signal obtained by the key inspection device under the best acquisition parameter, 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 device has poor low-frequency positioning capability for the fault of the abnormal monitoring device. By sequentially moving the plane where the microphone array is located under the optimal collection parameters, and collecting the device sound source signal for several times, non-synchronous measurement is completed to expand the array aperture of the current microphone array. The several device sound source signals obtained are converted into sub-cross-spectral matrices, and each sub-cross-spectral matrix is generated into a cross-spectral matrix of the microphone array for the current abnormal monitoring device by a matrix completion method, which is denoted as a to-be-analyzed sound source cross-spectral matrix. Based on the to-be-analyzed sound source cross-spectral matrix obtained at present, the fault position is positioned, which can effectively improve the processing capability of the microphone array for low-frequency signals.

[0108] If the sound source signal frequency is greater than the preset sound source signal frequency, the plane where the microphone array of the key inspection device is located under the optimal collection parameters is sequentially and slightly moved to expand the density of the entire microphone array to further improve the high-frequency capability. The completed cross-spectral matrix obtained after adjusting the array working parameters is denoted as a to-be-analyzed sound source cross-spectral matrix. The fault is positioned by a beam forming algorithm for the device sound source signal to obtain the fault position of the abnormal monitoring device. How to obtain the sub-cross-spectral matrix, how to complete the matrix, and how to use the beam forming algorithm to position the fault are easy to understand for those skilled in the art, and will not be described here.

[0109] So far, the technical solutions of the present application have been described in combination with the preferred embodiments shown in the drawings, but those skilled in the art can easily understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to related technical features without departing from the principles of the present application, and the technical solutions after the changes or replacements will fall within the protection scope of the present application.

[0110] The above description is only the preferred embodiments of the present application and is not used to limit the present application; for those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A low frequency fault source location method fusing small acoustic array and non-synchronous measurement, characterized in that, The method comprises the following steps: acquiring a device monitoring range, determining the range category of the device monitoring range according to the number of target monitoring devices contained in each device monitoring range; determining the device state of a first monitoring range according to the key monitoring device proportion and the inspection reference value, optimizing the inspection route for the first monitoring range in the first preset device state, and determining whether to adjust the inspection device combination according to the monitoring frequency coefficient; in response to the signal abnormal condition, determining whether to adjust the signal acquisition parameter of the key inspection device of the abnormal monitoring device according to the signal quality parameter, and adjusting the preset adjustment parameter according to the signal quality parameter difference value; determining whether to adjust the array working parameter of the key inspection device according to the frequency matching coefficient, and determining the array adjustment mode according to the sound source signal frequency of the key inspection device, the array adjustment mode being adjustment of the array aperture or array density; under the array adjustment completion condition, acquiring a to-be-analyzed sound source cross-spectrum matrix, and determining the fault position information of the abnormal monitoring device based on the to-be-analyzed cross-spectrum sound source matrix; dividing the target monitoring area into a plurality of device monitoring ranges according to the interval distance between the target monitoring devices, determining the range category of each device monitoring range according to the number of target monitoring devices contained in each device monitoring range, device monitoring ranges containing a number of target monitoring devices greater than a preset number of target monitoring devices are recorded as a first monitoring range; device monitoring ranges containing a number of target monitoring devices less than or equal to a preset number of target monitoring devices are recorded as a second monitoring range.

2. The method of claim 1, wherein, For a single first monitoring range, if the first monitoring range is in a first preset device state where the key monitoring device proportion is greater than a preset key monitoring device proportion or the inspection reference value is greater than a preset inspection reference value, set the inspection priority coefficient of each inspection route according to the point influence coefficient and the route execution coefficient; The inspection priority coefficient has a positive correlation with the point influence coefficient and the route execution coefficient.

3. The method of claim 2, wherein the low frequency fault source location method is characterized by, Under the route optimization completion condition, periodically detect the reference device monitoring frequency and the device monitoring frequency difference value of each first monitoring range in the first preset device state, and determine whether to adjust the inspection device combination of the corresponding first 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 first monitoring range in the first preset device state completes the inspection route optimization.

4. The method of claim 3, wherein the low frequency fault source location method is characterized by, For a single first monitoring range in the first preset device state, if the monitoring frequency coefficient is less than a preset monitoring frequency coefficient, adjust the inspection device combination of the first monitoring range, record the first monitoring range as a key monitoring range, and determine the number of scheduled inspection devices of the key monitoring range according to the reference device monitoring frequency; determine the scheduled inspection device according to the task execution parameter and the task execution period of each related inspection device; The related patrol device is a mobile patrol device of a neighboring monitoring range of the monitoring range, and the neighboring monitoring range is a monitoring range in a second preset device state and having an interval distance less than a preset range interval distance from the monitoring range.

5. The method of claim 4, wherein the low frequency fault source location method is characterized by, In response to the signal abnormality condition, the signal quality parameter of the abnormal monitoring device at the current time is detected, and whether the signal acquisition parameter of the key patrol device of the abnormal monitoring device is adjusted is determined according to the signal quality parameter; If the signal quality parameter is less than or equal to the reference signal quality parameter, the signal acquisition parameter of the key patrol 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 patrol device of the abnormal monitoring device at the current time is recorded as the optimal acquisition parameter; The signal abnormality condition is that a target monitoring device is determined to be an abnormal monitoring device, and the abnormal monitoring device is a target monitoring device having an abnormality coefficient of a device sound source signal greater than a preset abnormality coefficient. A mobile patrol device obtaining a device sound source signal having an abnormality coefficient greater than a preset abnormality coefficient is recorded as a key patrol device.

6. The method of claim 5, wherein the low frequency fault source location method is characterized by, For a single abnormal monitoring device, if the signal acquisition parameter of the key patrol device thereof is adjusted, the signal acquisition parameter is iteratively updated, the signal quality parameter under each signal acquisition parameter is detected, the preset adjustment parameter is adjusted according to the signal quality parameter difference value, and the optimal acquisition parameter is determined; If the signal quality parameter difference value is less than or equal to a preset signal quality parameter difference value, the signal acquisition parameter of the key patrol device of the abnormal monitoring device at the current time is recorded as the optimal acquisition parameter; The decrease value of the preset adjustment parameter and the signal quality parameter difference value have a positive correlation.

7. The method of claim 6, wherein the low frequency fault source location method is characterized by, The frequency matching coefficient of each abnormal monitoring device and its key patrol device is detected; If the frequency matching coefficient of an abnormal monitoring device and its key patrol device is less than a preset frequency matching coefficient, the array operating parameter of the key patrol device is adjusted; The array operating parameter includes array density and array aperture.

8. The method of claim 7, wherein the low frequency fault source location method is characterized by, If the array operating parameter of a key patrol device is adjusted, the array adjustment mode 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 a preset sound source signal frequency, the array aperture is adjusted to increase; If the sound source signal frequency is greater than a preset sound source signal frequency, the array density is adjusted to increase.

9. The method of claim 8, wherein, Under the array adjustment completion condition, the adjusted array operating parameter is sequentially moved to different positions to collect sound source signals, so as to determine the to-be-analyzed sound source cross-spectrum matrix; The to-be-analyzed sound source cross-spectrum matrix is processed and positioned based on a beamforming positioning algorithm to obtain fault position information of the abnormal monitoring device; The array adjustment completion condition is that a key patrol device completes adjustment of the array operating parameter.

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