Vibration source positioning and equipment maintenance method and device, storage medium and processor

Abstract

The embodiment of the invention provides a method and device for positioning a vibration source through a microphone array and overhauling industrial equipment, a storage medium, a processor and a computer program product, and belongs to the technical field of equipment overhauling. The method for positioning the vibration source through the microphone array comprises the following steps: selecting three microphones from the microphone array, and acquiring a first noise signal, a second noise signal and a third noise signal which are respectively received through the selected three microphones; determining a reference plane according to the gravity center distribution of the M * N microphones, and calibrating the position coordinates of the selected three microphones by using the determined reference plane; determining a first distance, a second distance and a third distance between the vibration source and the three microphones according to the intensities and the loss coefficients of the first noise signal, the second noise signal and the third noise signal; and determining the position of the vibration source according to the first distance, the second distance, the third distance and the position coordinates of the selected three microphones. According to the method, the calculation error caused by the production error of the microphone array when the position of the vibration source is positioned can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment maintenance, and in particular to a method, device, storage medium, processor and computer program product for locating a vibration source and maintaining industrial equipment through a microphone array. Background Art

[0002] Industrial noise refers to the noise generated when industrial equipment is in operation. According to the characteristics of the noise source, it can be divided into: airflow noise, mechanical noise and electromagnetic noise. Generally, when the equipment is operating abnormally or at risk of operating abnormally, noise sources that do not exist under normal conditions may be generated, or noise sources that exist under normal conditions may produce different noise characteristics. Therefore, for large-scale industrial areas, production areas that are inconvenient to observe closely, or production equipment that needs to be overhauled during continuous production, the prior art has a method of judging the operating status of the equipment by receiving and recording industrial noise in the target area through a microphone array.

[0003] In the prior art, three microphones M1, M2, and M3 are selected from a microphone array to determine a plane. A vibration source P1 is a point outside the plane. The straight-line distances between P1 and M1, M2, and M3 are L1, L2, and L3, respectively. Figure 1 The calculation model shown can calculate the coordinates of P1 through the lengths of L1, L2, L3 and the coordinates of M1, M2, M3 in the model, that is, the position of the vibration source P1 is located.

[0004] However, in the actual implementation process, unpredictable deviations will always occur. The inventors of the present application found in the process of implementing the present invention that the error problem in locating the vibration source due to the production error of the microphone array has not been effectively solved. Summary of the invention

[0005] An object of an embodiment of the present invention is to provide a method for locating a vibration source by using a microphone array, which can reduce the calculation error when locating the vibration source position caused by the production error of the microphone array.

[0006] In order to achieve the above object, an embodiment of the present invention provides a method for locating a vibration source by using a microphone array, wherein the vibration source is a noise source that emits industrial noise in a target area, the microphone array is a projection array of M*N microphones arranged in the target area on a horizontal plane, and each microphone in the microphone array is used to synchronously receive the industrial noise emitted by the vibration source, including:

[0007] Selecting three microphones from the microphone array, and acquiring a first noise signal, a second noise signal, and a third noise signal respectively received by the selected three microphones;

[0008] Determine a reference plane according to the distribution of the centers of gravity of the M*N microphones, and use the determined reference plane to calibrate the position coordinates of the three selected microphones;

[0009] Determine, according to the strength and loss coefficient of the first noise signal, the second noise signal, and the third noise signal, a first distance, a second distance, and a third distance between the vibration source and the three microphones, respectively; and

[0010] The position of the vibration source is determined according to the first distance, the second distance, the third distance and the position coordinates of the three selected microphones.

[0011] Optionally, a reference plane is determined according to the distribution of the centers of gravity of the M*N microphones, including:

[0012] Constructing a first microphone set from M*N microphones, and using the centroid positions of all microphones in the first microphone set as a reference point of a reference plane;

[0013] The normal vector of the reference plane is determined according to the positional relationship between each of the M*N microphones and the reference point.

[0014] Optionally, constructing a first microphone set from M*N microphones, and using the centroid positions of all microphones in the first microphone set as a reference point of the reference plane, includes:

[0015] The average values ​​of the coordinate values ​​of all the microphones in the X-axis, Y-axis, and Z-axis directions are used as the initial values ​​of the X-axis center of gravity, the initial values ​​of the Y-axis center of gravity, and the initial values ​​of the Z-axis center of gravity of the M*N microphones respectively;

[0016] Selecting a portion of microphones with smaller coordinate values ​​in the X-axis direction and smaller deviations from the initial value of the X-axis center of gravity evaluation to construct a second microphone set;

[0017] Selecting a portion of microphones having smaller coordinate values ​​in the Y-axis direction and smaller deviations from the initial value of the Y-axis center of gravity evaluation to construct a third microphone set;

[0018] Selecting a portion of microphones having smaller coordinate values ​​in the Z-axis direction and smaller deviations from the initial value of the Z-axis center of gravity evaluation to construct a fourth microphone set;

[0019] Taking the intersection of the second microphone set, the third microphone set, and the fourth microphone set as the first microphone set; and

[0020] The centroid positions of all microphones in the first microphone set are obtained as reference points.

[0021] Optionally, determining a normal vector of the reference plane according to a positional relationship between each of the M*N microphones and the reference point includes:

[0022] In a three-dimensional rectangular coordinate system, constructing an initial normal vector of the reference plane according to the coordinate ranges of all microphones in the first microphone set in the X, Y, and Z axis directions;

[0023] Construct a first vector from the position of each of the M*N microphones to the coordinate position of the center of gravity, calculate the first angle and the second angle between each first vector and the initial normal vector, and calibrate the initial normal vector according to the average value of the first angle and the average value of the second angle to obtain the normal vector of the reference plane.

[0024] Optionally, calibrating the position coordinates of the selected three microphones using the determined reference plane includes:

[0025] The calibration coordinate system is constructed with the reference point as the origin and the normal vector of the reference plane as the positive direction of the Z axis;

[0026] The projection coordinates of the positions of the three microphones on the calibration coordinate system are used as the calibrated position coordinates.

[0027] On the other hand, an embodiment of the present invention provides a device for locating a vibration source by using a microphone array, wherein the vibration source is a noise source that emits industrial noise in a target area, the microphone array is a projection array of M*N microphones arranged in the target area on a horizontal plane, each microphone in the microphone array is used to synchronously receive the industrial noise emitted by the vibration source, and includes a controller,

[0028] The controller is configured as follows:

[0029] Selecting three microphones from the microphone array, and acquiring a first noise signal, a second noise signal, and a third noise signal respectively received by the selected three microphones;

[0030] Determine a reference plane according to the distribution of the centers of gravity of the M*N microphones, and use the determined reference plane to calibrate the position coordinates of the three selected microphones;

[0031] Determine, according to the strength and loss coefficient of the first noise signal, the second noise signal, and the third noise signal, a first distance, a second distance, and a third distance between the vibration source and the three microphones, respectively; and

[0032] The position of the vibration source is determined according to the first distance, the second distance, the third distance and the position coordinates of the three selected microphones.

[0033] Optionally, a reference plane is determined according to the distribution of the centers of gravity of the M*N microphones, including:

[0034] Constructing a first microphone set from M*N microphones, and using the centroid positions of all microphones in the first microphone set as a reference point of a reference plane;

[0035] The normal vector of the reference plane is determined according to the positional relationship between each of the M*N microphones and the reference point.

[0036] Optionally, calibrating the position coordinates of the selected three microphones using the determined reference plane includes:

[0037] The calibration coordinate system is constructed with the reference point as the origin and the normal vector of the reference plane as the positive direction of the Z axis;

[0038] The projection coordinates of the positions of the three microphones on the calibration coordinate system are used as the calibrated position coordinates.

[0039] On the other hand, an embodiment of the present invention provides a maintenance method for industrial equipment.

[0040] The method of locating the vibration source through a microphone array of the present application is used to track and locate the location of industrial noise emitted from the surface of industrial equipment, and to record the time point when the industrial noise occurs and the actual operating parameters of the industrial equipment at that time point;

[0041] Compare the expected operating parameters of industrial equipment at a point in time with the actual operating parameters to determine whether there are any abnormalities in the industrial equipment.

[0042] Furthermore, the maintenance method for industrial equipment also includes: if it is determined that an abnormality exists, determining the severity of the abnormality and a maintenance plan based on the location of the vibration source that emits the industrial noise and the change in vibration intensity.

[0043] On the other hand, an embodiment of the present invention provides a processor configured to: execute the method of locating a vibration source through a microphone array of the present application, or execute the method of repairing industrial equipment of the present application.

[0044] On the other hand, an embodiment of the present invention provides a machine-readable storage medium, which stores instructions, and when the instructions are executed by a processor, the processor is configured to: execute the method of locating a vibration source through a microphone array of the present application, or execute the maintenance method of industrial equipment of the present application.

[0045] On the other hand, an embodiment of the present invention provides a computer program product, including a computer program, which, when executed by a processor, implements the method of locating a vibration source through a microphone array of the present application, or implements the method of repairing industrial equipment of the present application.

[0046] Through the above technical solution, three microphones are first selected from the microphone array for synchronously receiving the industrial noise emitted by the vibration source, and then the reference plane proposed in this application is constructed, and the coordinate values ​​of the three selected microphones are calibrated based on the reference plane to reduce the calculation error caused by the production error of the microphone array when locating the vibration source position, and then the distance difference between the vibration source and the three microphones is determined according to the intensity of the three signals received by the three microphones respectively, and the actual distance between the vibration source and the three microphones is further determined according to the loss coefficient of the noise signal in the target area, and then the specific position of the vibration source can be located according to the actual distance and the coordinate position of the three microphones. In the present invention, a new reference plane is constructed to reduce the influence of the installation deviation of the microphone on the positioning result, and improve the accuracy of locating the specific position of the vibration source.

[0047] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0049] Figure 1 It is a schematic diagram of a model for locating the position of a vibration source according to noise signals received by three microphones selected from a microphone array in the prior art.

[0050] Figure 2 This is a schematic diagram of the microphone array arrangement.

[0051] Figure 3 Schematic diagram of calculation error caused by microphone installation error in microphone array. DETAILED DESCRIPTION

[0052] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0053] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of national laws and regulations. In the embodiments of this application, some existing solutions in the industry such as certain software, components, and models may be mentioned, which should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.

[0054] The embodiment of the present invention provides a method for locating a vibration source by using a microphone array, which is used to accurately locate the position of the vibration source that emits industrial noise in a target area. In this embodiment, the target area is high-voltage electrical equipment, and the industrial noise emitted is mainly electromagnetic noise emitted by electrical components. However, the present invention is not limited to this. This embodiment can be used to locate the position of airflow noise, mechanical noise, and electromagnetic noise generated in the template area, and then determine the equipment or components that are abnormal or have the risk of abnormal operation, and then formulate a maintenance plan based on the operating parameters of the equipment.

[0055] In this embodiment, the vibration source is a noise source that emits industrial noise in the target area, and the microphone array is a projection array of M*N microphones arranged in the target area on a horizontal plane, and each microphone in the microphone array is used to synchronously receive the industrial noise emitted by the vibration source. The method for locating the vibration source by using the microphone array includes the following steps:

[0056] Step 1: Select three microphones from the microphone array, and obtain a first noise signal, a second noise signal, and a third noise signal respectively received by the selected three microphones;

[0057] Step 2: Determine a reference plane according to the distribution of the centers of gravity of the M*N microphones, and use the determined reference plane to calibrate the position coordinates of the selected three microphones;

[0058] Step 3: Determine the first distance, the second distance, and the third distance between the vibration source and the three microphones, respectively, according to the strength and loss coefficient of the first noise signal, the second noise signal, and the third noise signal;

[0059] Step 4: Determine the position of the vibration source according to the first distance, the second distance, the third distance and the position coordinates of the three selected microphones.

[0060] According to this embodiment, when the noise emitted by the vibration source is synchronously received by the three selected microphones, since the three microphones are at different positions relative to the vibration source, the received noise signals are not the same. Therefore, the noise signals respectively received by the three microphones selected in step 1 can be synchronously and continuously recorded by the controller. Since the noise emitted by the same vibration source has different attenuation after being transmitted over different distances, and the time it takes to reach the microphone receiving end is also different, the strength of the different noise signals used in step 3 should be the noise signal strength at the same moment. That is, the three noise signals obtained in step 1 should be processed synchronously, and the noise signal strength at the same moment is selected in step 3 to calculate the distance between the vibration source and the corresponding microphone. In step 4, establish Figure 1 The geometric model of the three microphones and the vibration source is shown, and the coordinates of the vibration source P in the model are solved according to the lengths of L1, L2, L3 and the coordinates of M1, M2, M3 in the geometric model.

[0061] Compared with the prior art, the key difference of this embodiment is how to calibrate the coordinates of the selected three microphones so that they are as consistent as possible with the actual coordinates. Figures 1 to 3 The following describes an analysis made by the inventor of the present application in solving the problem of the error in locating the position of the vibration source caused by the production error of the microphone array.

[0062] In the prior art, three microphones are selected from a microphone array, and a model for locating the vibration source position through the noise signals received by the three microphones is as follows: Figure 1 As shown, the layout structure of the microphone array is as follows Figure 2 As shown. Figure 1 , three microphones M1, M2, and M3 arranged in a triangle determine a plane, the vibration source P1 is a point outside the plane, and the straight-line distances between P1 and M1, M2, and M3 are L1, L2, and L3, respectively. The plane is the XOY plane, and the direction of P1 relative to XOY is the positive direction of the Z axis to establish a three-dimensional rectangular coordinate system. According to the intensity of the noise signal received synchronously by M1, M2, and M3 and the loss coefficient of the noise in propagation, L1, L2, and L3 can be determined, and then the coordinates of P1 can be calculated according to the coordinates of L1, L2, L3 and M1, M2, and M3. However, installation errors may occur during the production of microphones, causing some of the microphones to deviate from the preset positions, such as Figure 3 The figure shows that the microphone M1 deviates from the expected position M1 (x1, y1, z1) to the position M1' (x1, y1, z1+e). Therefore, the plane determined by the three microphones M1, M2, and M3 is actually selected. Figure 3 The A' plane in the figure has a normal vector of v'. However, since it is not clear that microphone M1 has this installation error, when calculating the coordinates of P1, the coordinates of P1 are calculated based on the plane A determined by M1, M2, and M3 and the coordinates of M1 (x1, y1, z1), which results in an error in the final calculated position of P1. As the vibration source is farther away from the reference plane determined by M1, M2, and M3, the deviation becomes greater, and even the faulty component may be misjudged due to the wrong positioning of the vibration source.

[0063] However, the installation position error in production is difficult to predict and difficult to avoid completely. The inventors have tried to propose a method for calibrating the coordinates of the three selected microphones to make them as consistent as possible with the actual coordinates, thereby reducing the calculation error when locating the vibration source position due to the production error of the microphone array. The implementation idea is: according to the distribution of the center of gravity of M*N microphones, determine the reference plane for correcting the microphone coordinates, use the reference plane as the XOY plane to construct the correction coordinate system, and calculate the projection coordinates of the three selected microphones in the correction coordinate system as the corrected coordinates. The implementation path for constructing the above-mentioned reference plane can be: first determine the center of gravity of the microphone array as the reference point of the reference plane, then evaluate the rationality of the center of gravity, and finally calculate the normal vector of the reference plane and calibrate it, and finally construct the correction coordinate system, with the above-mentioned reference point as the coordinate origin, the obtained reference plane as the XOY plane, and the normal vector of the reference plane as the positive direction of the Z axis.

[0064] In some embodiments, the step of constructing the reference plane includes:

[0065] Step S1: constructing a first microphone set from M*N microphones, and taking the centroid positions of all microphones in the first microphone set as a reference point of a reference plane to be constructed;

[0066] Step S2: Determine the normal vector of the reference plane according to the positional relationship between each of the M*N microphones and the reference point obtained in step S1.

[0067] Specifically, constructing a first microphone set from M*N microphones and using the center of gravity of all microphones in the first microphone set as a reference point of the reference plane can be achieved according to the following steps:

[0068] Step S101: taking the average values ​​of the coordinate values ​​of all microphones in the X-axis, Y-axis and Z-axis directions as the initial values ​​of the X-axis center of gravity, the Y-axis center of gravity and the Z-axis center of gravity of the M*N microphones respectively;

[0069] Step S102: Select a portion of microphones whose coordinate values ​​in the X-axis direction are smaller and whose deviation from the initial value of the X-axis center of gravity evaluation is smaller to construct a second microphone set;

[0070] Step S103: Select a portion of microphones whose coordinate values ​​in the Y-axis direction are smaller and whose deviation from the initial value of the Y-axis center of gravity evaluation is smaller to construct a third microphone set;

[0071] Step S104: Select a portion of microphones whose coordinate values ​​in the Z-axis direction are smaller and whose deviation from the initial value of the Z-axis center of gravity evaluation is smaller to construct a fourth microphone set;

[0072] Step S105: taking the intersection of the second microphone set, the third microphone set, and the fourth microphone set as the first microphone set; and

[0073] Step S106: Obtain the centroid positions of all microphones in the first microphone set as reference points.

[0074] Determining the normal vector of the reference plane according to the positional relationship between each of the M*N microphones and the reference point can be achieved by following the steps below:

[0075] Step S201: in a three-dimensional rectangular coordinate system, constructing an initial normal vector of a reference plane according to the coordinate ranges of all microphones in a first microphone set in the X, Y, and Z axis directions;

[0076] Step S202: construct a first vector from the position of each of the M*N microphones to the coordinate position of the center of gravity, calculate the first angle and the second angle between each first vector and the initial normal vector, and calibrate the initial normal vector according to the average value of the first angle and the average value of the second angle to obtain the normal vector of the reference plane.

[0077] The following uses the Z coordinate of the center of gravity as an example to introduce the calculation process of the center of gravity coordinate value.

[0078] 1. Extract the Z coordinate annotation value of each microphone in the microphone array to form a set of M*N Z coordinates, and calculate its average value z_mean1 as the initial value of the Z-axis center of gravity.

[0079] 2. Calculate the absolute value of the distance between the M*N Z coordinate annotation values ​​and z_mean1, obtain a set of M*N center of gravity distances, and arrange them from small to large. Select the first 80% of the center of gravity distance values, discard the remaining 20%, form a new set Dz_new, and record its maximum value Dz_max and minimum value Dz_min. Among them, the set Z_new records the original Z coordinate annotation value. The purpose is to eliminate severely deviated microphone data and retain only valid data to construct the optimal reference plane. In particular, deviations in the Z-axis direction are usually caused by measurement errors or installation accuracy, and some data with larger deviations need to be proposed.

[0080] 3. For the Z coordinate annotation values ​​in the set Z_new, recalculate its average value z_mean2,

[0081] As the optimized Z-axis center of gravity value.

[0082] For the X and Y coordinate values ​​of the center of gravity, a similar method is used to obtain x_mean2 and y_mean2, and finally the center of gravity coordinates (x_mean2, y_mean2, z_mean2) are obtained and used as the reference point of the reference surface, which is also the origin of the calibration coordinate system to be constructed.

[0083] The following describes the calculation process of the normal vector of the reference surface.

[0084] 1. According to the maximum value Dz_max and the minimum value Dz_min of the Z coordinate annotation value in the set Dz_new in the above process of calculating the Z coordinate of the center of gravity, it can be obtained that the effective range of the Z coordinate annotation value is Dz_new = Dz_max-Dz_min;

[0085] 2. Similarly, the valid range of the X coordinate value and the valid range of the Y coordinate value can be obtained

[0086] Dx_new=Dx_max-Dx_min, Dy_new=Dy_max-Dy_min;

[0087] 3. Take (Dx_new, Dy_new, Dz_new) as the initial value v0 of the normal vector of the reference plane;

[0088] 4. Select the position coordinate point P (x1, y1, z1) of each microphone from the M*N microphones one by one and form a vector v1 with the above-mentioned centroid coordinates (x_mean2, y_mean2, z_mean2), calculate the vector angles alfa1 and beta1 between v1 and v0, and obtain M*N alfa1 and beta1;

[0089] 5. Obtain the average value of all alfa1 and beta1. This average value is the angle at which the initial value of the normal vector is to be calibrated. Based on this, the normal vector v0_new of the reference plane after the vector v0 is calibrated can be obtained.

[0090] At this point, a reference point of the reference plane is obtained, that is, the above-mentioned centroid coordinates (x_mean2, y_mean2, z_mean2), and the normal vector v0_new of the reference plane is also obtained. The calibration coordinate system is constructed with the reference point as the origin and the normal vector of the reference plane as the positive direction of the Z axis. The projection coordinates of the positions of the three microphones on the calibration coordinate system are used as the calibrated position coordinates to reduce the calculation error when locating the vibration source position due to the production error of the microphone array, thereby improving the accuracy of locating the specific position of the vibration source.

[0091] An embodiment of the present invention provides a device for locating a vibration source by using a microphone array, wherein the vibration source is a noise source that emits industrial noise in a target area, the microphone array is a projection array of M*N microphones arranged in the target area on a horizontal plane, each microphone in the microphone array is used to synchronously receive the industrial noise emitted by the vibration source, and includes a controller, wherein the controller is configured to:

[0092] Selecting three microphones from the microphone array, and acquiring a first noise signal, a second noise signal, and a third noise signal respectively received by the selected three microphones;

[0093] Determine a reference plane according to the distribution of the centers of gravity of the M*N microphones, and use the determined reference plane to calibrate the position coordinates of the three selected microphones;

[0094] Determine, according to the strength and loss coefficient of the first noise signal, the second noise signal, and the third noise signal, a first distance, a second distance, and a third distance between the vibration source and the three microphones, respectively; and

[0095] The position of the vibration source is determined according to the first distance, the second distance, the third distance and the position coordinates of the three selected microphones.

[0096] In some implementations, determining a reference plane according to the distribution of the centers of gravity of M*N microphones includes:

[0097] Constructing a first microphone set from M*N microphones, and using the centroid positions of all microphones in the first microphone set as a reference point of a reference plane;

[0098] The normal vector of the reference plane is determined according to the positional relationship between each of the M*N microphones and the reference point.

[0099] In some implementations, calibrating the position coordinates of the selected three microphones using the determined reference plane includes:

[0100] The calibration coordinate system is constructed with the reference point as the origin and the normal vector of the reference plane as the positive direction of the Z axis;

[0101] The projection coordinates of the positions of the three microphones on the calibration coordinate system are used as the calibrated position coordinates.

[0102] An embodiment of the present invention provides a device for locating a vibration source through a microphone array, including a processor and a memory. The controller is stored in the memory as a program unit, and the processor executes the program unit stored in the memory to implement corresponding functions.

[0103] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the position of the vibration source or whether the industrial equipment is abnormal can be determined by adjusting the kernel parameters.

[0104] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0105] An embodiment of the present invention provides a maintenance method for industrial equipment, comprising the following steps:

[0106] First, the location of industrial noise emitted from the surface of industrial equipment is tracked and located by the method of locating the vibration source by microphone array of the present application, and the time point when the industrial noise occurs and the actual operating parameters of the industrial equipment at that time point are recorded;

[0107] Then compare the expected operating parameters of the industrial equipment at that point in time with the actual operating parameters to determine whether there are any abnormalities in the industrial equipment.

[0108] In some embodiments, the maintenance method for industrial equipment further includes: if it is determined that an abnormality exists, determining the severity of the abnormality and a maintenance plan based on the location of the vibration source emitting the industrial noise and changes in vibration intensity.

[0109] An embodiment of the present invention provides a processor configured to: execute the method of locating a vibration source through a microphone array of the present application, or execute the method of repairing industrial equipment of the present application.

[0110] An embodiment of the present invention provides a machine-readable storage medium, on which instructions are stored. When the instructions are executed by a processor, the processor is configured to: execute the method of locating a vibration source through a microphone array of the present application, or execute the maintenance method of industrial equipment of the present application.

[0111] The embodiment of the present invention provides a device, the device includes a processor, a memory, and a program stored in the memory and executable on the processor, and the processor implements the method steps of locating a vibration source by a microphone array of the present application when executing the program, or implements the method steps of repairing industrial equipment of the present application when executing the program. The device in this article can be a server, a PC, a PAD, a mobile phone, etc.

[0112] An embodiment of the present invention provides a computer program product, including a computer program. When the computer program is executed by a processor, it implements the method of locating a vibration source through a microphone array of the present application, or executes the maintenance method of industrial equipment of the present application.

[0113] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program that initializes the method steps of locating a vibration source through a microphone array or the method steps of servicing industrial equipment of the present application.

[0114] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0115] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0116] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0117] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0118] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0119] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0120] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0121] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0122] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for locating a vibration source by means of a microphone array, wherein: The vibration source is a noise source that emits industrial noise in the target area, the microphone array is a projection array of M*N microphones arranged in the target area on a horizontal plane, and each microphone in the microphone array is used to synchronously receive the industrial noise emitted by the vibration source, and is characterized by comprising: Selecting three microphones from the microphone array, and acquiring a first noise signal, a second noise signal, and a third noise signal respectively received by the selected three microphones; Determine a reference plane according to the distribution of the centers of gravity of the M*N microphones, and use the determined reference plane to calibrate the position coordinates of the selected three microphones; Determine, according to the strength and loss coefficient of the first noise signal, the second noise signal, and the third noise signal, a first distance, a second distance, and a third distance between the vibration source and the three microphones, respectively; and The position of the vibration source is determined according to the first distance, the second distance, the third distance and the position coordinates of the three selected microphones.

2. The method for locating a vibration source by using a microphone array according to claim 1, characterized in that: Determining a reference plane according to the distribution of the centers of gravity of the M*N microphones includes: Constructing a first microphone set from the M*N microphones, and using the centroid positions of all microphones in the first microphone set as a reference point of the reference plane; A normal vector of the reference plane is determined according to a positional relationship between each of the M*N microphones and the reference point.

3. The method for locating a vibration source by using a microphone array according to claim 2, characterized in that: The step of constructing a first microphone set from the M*N microphones and using the center of gravity positions of all microphones in the first microphone set as a reference point of the reference plane includes: The average values ​​of the coordinate values ​​of all the microphones in the M*N microphones in the X-axis, Y-axis, and Z-axis directions are respectively used as the initial value of the X-axis center of gravity, the initial value of the Y-axis center of gravity, and the initial value of the Z-axis center of gravity of the M*N microphones; Selecting a portion of microphones having smaller coordinate values ​​in the X-axis direction and smaller deviations from the initial value of the X-axis center of gravity evaluation to construct a second microphone set; Selecting a portion of microphones having smaller coordinate values ​​in the Y-axis direction and smaller deviations from the initial value of the Y-axis center of gravity evaluation to construct a third microphone set; Selecting a portion of microphones having smaller coordinate values ​​in the Z-axis direction and smaller deviations from the initial value of the Z-axis center of gravity evaluation to construct a fourth microphone set; taking the intersection of the second microphone set, the third microphone set, and the fourth microphone set as the first microphone set; and The centroid positions of all microphones in the first microphone set are obtained as the reference points.

4. The method for locating a vibration source by using a microphone array according to claim 2, characterized in that: The step of determining the normal vector of the reference plane according to the positional relationship between each of the M*N microphones and the reference point comprises: In a three-dimensional rectangular coordinate system, constructing an initial normal vector of the reference plane according to the coordinate ranges of all microphones in the first microphone set in the X, Y, and Z axis directions; Construct a first vector from the position of each of the M*N microphones to the coordinate position of the center of gravity, calculate a first angle and a second angle between each first vector and the initial normal vector, and calibrate the initial normal vector according to an average value of the first angle and an average value of the second angle to obtain a normal vector of the reference plane.

5. The method for locating a vibration source by using a microphone array according to any one of claims 1 to 4, characterized in that: The method of calibrating the position coordinates of the three selected microphones using the determined reference plane comprises: A calibration coordinate system is constructed with the reference point as the origin and the normal vector of the reference plane as the positive direction of the Z axis; The projection coordinates of the positions of the three microphones on the calibration coordinate system are used as the calibrated position coordinates.

6. A device for locating a vibration source by means of a microphone array, wherein: The vibration source is a noise source that emits industrial noise in the target area, the microphone array is a projection array of M*N microphones arranged in the target area on a horizontal plane, and each microphone in the microphone array is used to synchronously receive the industrial noise emitted by the vibration source, and is characterized in that it includes a controller, Wherein, the controller is configured as: Selecting three microphones from the microphone array, and acquiring a first noise signal, a second noise signal, and a third noise signal respectively received by the selected three microphones; Determine a reference plane according to the distribution of the centers of gravity of the M*N microphones, and use the determined reference plane to calibrate the position coordinates of the selected three microphones; Determine, according to the strength and loss coefficient of the first noise signal, the second noise signal, and the third noise signal, a first distance, a second distance, and a third distance between the vibration source and the three microphones, respectively; and The position of the vibration source is determined according to the first distance, the second distance, the third distance and the position coordinates of the three selected microphones.

7. The device for locating a vibration source by using a microphone array according to claim 6, characterized in that: Determining a reference plane according to the distribution of the centers of gravity of the M*N microphones includes: Constructing a first microphone set from the M*N microphones, and using the centroid positions of all microphones in the first microphone set as a reference point of the reference plane; A normal vector of the reference plane is determined according to a positional relationship between each of the M*N microphones and the reference point.

8. The device for locating a vibration source by using a microphone array according to claim 7, characterized in that: The method of calibrating the position coordinates of the three selected microphones using the determined reference plane comprises: A calibration coordinate system is constructed with the reference point as the origin and the normal vector of the reference plane as the positive direction of the Z axis; The projection coordinates of the positions of the three microphones on the calibration coordinate system are used as the calibrated position coordinates.

9. A method for repairing industrial equipment, characterized in that: Tracking and locating the position of the industrial noise emitted from the surface of the industrial equipment by the method for locating the vibration source by a microphone array as described in any one of claims 1 to 5, and recording the time point when the industrial noise occurs and the actual operating parameters of the industrial equipment at the time point; Compare the expected operating parameters of the industrial equipment at the time point with the actual operating parameters to determine whether the industrial equipment is abnormal.

10. The method for repairing industrial equipment according to claim 9, characterized in that: Also includes: If an abnormality is determined, the severity of the abnormality and the maintenance plan will be determined based on the location of the vibration source emitting the industrial noise and changes in vibration intensity.

11. A processor, characterized in that: The method is configured to: execute the method for locating a vibration source by using a microphone array according to any one of claims 1 to 5, or execute the method for repairing industrial equipment according to claim 9 or 10.

12. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor is configured to: execute the method for locating a vibration source by using a microphone array according to any one of claims 1 to 5, or execute the method for repairing industrial equipment according to claim 9 or 10.

13. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the computer program implements the method for locating a vibration source by using a microphone array according to any one of claims 1 to 5, or implements the method for repairing industrial equipment according to claim 9 or 10.

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