A variable array sound source positioning array element position optimization method, device and system

Abstract

The application discloses a variable array type sound source positioning array element position optimization method, structure and system, belongs to the technical field of power equipment fault detection, and takes the Archimedes spiral array type as the target, takes the fixed spacing of the same arm adjacent array elements determined by the hard connecting rod as the core hard constraint, adopts the whale optimization algorithm to globally optimize the spiral initial radius and the spiral coefficient, generates the array element coordinates one by one along the spiral line from the fixed starting point of the inner circle by the built-in step generation engine with the fixed step length, and introduces the over-limit equal proportion radial contraction mechanism to ensure that the array type meets the engineering constraint; the system integrates the step generation engine to realize the full-process automatic optimization, the device adopts the series variable arm structure of the base-cylindrical actuator-flat joint-hard connecting rod, and the synchronous rotation of the whole arm driven by the single actuator realizes the array type switching. The application can be widely applied to the multi-working-condition fault sound source positioning of transformers, insulators and other power equipment.

Description

Technical Field

[0001] This invention relates to the field of power equipment fault detection technology, and in particular to a method and system for optimizing the position of array elements in a variable array for locating abnormal operating sounds in power equipment such as transformers, insulators, and reactors. Background Technology

[0002] Abnormal sounds generated during the operation of power equipment are crucial for reflecting equipment operating status and determining fault type and location. As the core device for fault sound source detection, the array design of the sound source localization array directly determines its localization accuracy and anti-interference capability. Traditional fixed arrays have numerous technical shortcomings and struggle to meet the diverse and multi-condition sound source localization needs of current power equipment.

[0003] 1) Weak anti-interference capability. The operating environment of power equipment is complex, with a lot of background noise and interference between equipment. The high sidelobe ratio of fixed arrays can easily lead to the superposition of noise interference, reducing the accuracy of fault sound source identification and location.

[0004] 2) Poor adaptability to multiple operating conditions. The sound characteristics of different types of power equipment (transformers, insulators, reactors, etc.) vary significantly. The requirements for array configurations also differ depending on the operating conditions of the same equipment (near-field / far-field faults, strong / weak noise environments, single-point / multi-point anomalies). Fixed array configurations cannot flexibly adapt to the sound characteristics of various power equipment under multiple operating conditions.

[0005] 3) Lack of engineering constraints in array element optimization. Existing array element position optimization methods mostly focus on performance improvement, without specifying hard constraints such as array aperture and fixed spacing of array elements in conjunction with engineering practice. As a result, the optimized array can not be directly applied to the actual installation and use scenarios of power equipment.

[0006] In existing array optimization techniques, some methods propose the design concept of spiral arrays, but fail to adapt parameters to the multi-condition sound characteristics of power equipment; some methods use optimization algorithms to adjust the position of array elements, but fail to consider constraints such as array aperture and fixed spacing of array elements, resulting in poor engineering practicality; at the same time, existing systems are multifunctional and singular, failing to achieve full automation from determining basic parameters to generating the optimal array and comparing performance, making operation complex and unable to meet the engineering practice needs of power equipment fault detection.

[0007] Therefore, there is an urgent need for a sound source localization array element position optimization method and system that can adapt to the sound characteristics of power equipment under multiple operating conditions, meet the hard constraints of engineering, and realize automatic optimization of variable array under fixed parameters. This would solve the problems of weak anti-interference ability and poor adaptability of traditional fixed arrays, achieve accurate positioning of sound sources of different types of power equipment, and improve the reliability and efficiency of power equipment status monitoring. Summary of the Invention

[0008] In view of the aforementioned problems, such as weak anti-interference capability, poor adaptability to multiple operating conditions, and disconnect between theoretical optimization and engineering implementation of traditional fixed-array acoustic source positioning arrays, a method, device, and system for optimizing the position of array elements in a variable-array acoustic source positioning array are proposed. To solve the above technical problems, this invention provides the following technical solution:

[0009] This invention provides a method, apparatus, and system for optimizing the position of elements in a variable array acoustic source localization array, comprising:

[0010] A method for optimizing the position of elements in a variable array acoustic source localization array includes the following steps:

[0011] Step 1: Determine the basic parameters, which include the array aperture, the number of array elements, the number of arms, and the fixed spacing between adjacent array elements on the same arm, determined by rigid connecting rods.

[0012] Step 2: Determine the Archimedes spiral formation as the target formation, and select the initial spiral radius and spiral coefficient as parameters to be optimized;

[0013] Step 3: Using an optimization algorithm, iterative optimization is performed within the parameter space consisting of the initial radius of the spiral and the spiral coefficient to generate the optimal Archimedean spiral array;

[0014] In each iteration, for any set of candidate parameters, the following steps are performed to generate the corresponding candidate matrix:

[0015] Step 3.1: For each arm of the array, use a preset element position in the inner circle as the starting point for generation;

[0016] Step 3.2: Determine the shape of the Archimedean spiral based on the initial spiral radius and spiral coefficient in the candidate parameters. Starting from the generation starting point, along the extension direction of the spiral, determine the coordinates of subsequent array elements one by one with the fixed interval as the step size, until the number of array elements on the arm is met or the array aperture constraint is triggered.

[0017] Step 3.3: Real-time detection of whether each newly generated array element exceeds the boundary of the array aperture. If it exceeds the limit, the positions of all array elements generated on that arm are radially shrunk proportionally so that they are all within the boundary.

[0018] Step 4: Output the candidate array that satisfies the array aperture and fixed spacing constraints and has the highest comprehensive performance index score, as the optimal Archimedes spiral array.

[0019] Furthermore:

[0020] The array adopts a four-arm orthogonal structure.

[0021] The reference angles for each arm are 0°, 90°, 180° and 270°, respectively.

[0022] The method of using a preset array element position in the inner circle as the generation starting point specifically means that, in the reference angle direction of each arm, an array element is fixedly set at a preset inner circle radius as the hard constraint starting point for generating the array element sequence of that arm.

[0023] Furthermore:

[0024] The coordinates of subsequent array elements are determined one by one along the extension direction of the spiral, with the fixed interval as the step size. Specifically, the tangent or spiral direction of the Archimedean spiral at the current array element is determined based on the position of the current array element and the spiral coefficient. Starting from the current array element, the fixed interval is precisely extended along the spiral direction to determine the theoretical position of the next array element. The theoretical position of the next array element automatically satisfies the geometric equation of the Archimedean spiral.

[0025] Furthermore:

[0026] The optimization algorithm is the whale optimization algorithm; before the iterative optimization, the method further includes: constructing an initial cross-shaped baseline and calculating its multi-dimensional baseline performance score, which is used as a baseline for evaluating the optimization effect of the optimization algorithm.

[0027] Furthermore:

[0028] The comprehensive performance index score covers multiple factors including positioning accuracy, sidelobe ratio, number of sidelobes, main lobe width, and positioning success rate.

[0029] A variable array acoustic source localization array element position optimization system.

[0030] The basic parameter setting module is used to receive and determine the basic parameters of the array, including the array aperture, the number of array elements, the number of arms, and the fixed spacing between adjacent array elements on the same arm, which is determined by rigid connecting rods.

[0031] The target formation and parameter selection module is used to determine the Archimedes spiral formation as the target formation and select the initial spiral radius and spiral coefficient as parameters to be optimized.

[0032] The optimization module has a built-in optimization algorithm kernel, which is used to iteratively optimize the initial radius and helix coefficient of the helix;

[0033] The optimization module integrates a step generation engine, which is configured to: for any set of candidate parameters in each iteration, generate array elements one by one from the inner circle starting point for each arm of the array along the direction of the Archimedean spiral determined by the candidate parameters, with the fixed interval as the step size, and perform proportional radial shrinkage when the array element is detected to automatically satisfy and verify all hard constraints.

[0034] The optimal formation generation module is used to generate a target Archimedean spiral formation that satisfies all constraints based on the globally optimal parameters output by the optimization algorithm.

[0035] Furthermore:

[0036] The initial formation construction and scoring module is used to construct the initial cross baseline formation and perform multi-dimensional performance scoring.

[0037] The performance comparison and optimization module is used to compare the performance indicators of the initial cross reference formation and the target Archimedes spiral formation, and output the performance improvement results.

[0038] Furthermore:

[0039] The core of the optimization algorithm is the whale optimization algorithm.

[0040] A sound source localization array device, comprising:

[0041] A disc-shaped base;

[0042] Multiple cylindrical actuators, each of which is symmetrically distributed radially around the center of the base and fixedly installed on the end face of the base;

[0043] Multiple flat joints, including a root joint and intermediate and end joints arranged sequentially along the arm length direction, wherein the root joint is directly fixedly installed on the rotor output end corresponding to the cylindrical actuator and rotates synchronously with the rotor;

[0044] Multiple rigid connecting rods of fixed length are used, and two adjacent flat joints are coaxially and fixedly connected by one of the rigid connecting rods. The length of the rigid connecting rods constitutes the fixed spacing between adjacent acoustic sensor elements on the same arm.

[0045] Multiple acoustic sensor array elements are fixedly installed at the center of each of the flat joints, one by one;

[0046] The cylindrical actuator is used to drive the root joint to rotate around its own axis, and then drives all the intermediate and end joints on the entire arm to rotate synchronously through the rigid connecting rod, so that the overall distribution of all acoustic sensor array elements forms an optimal Archimedean spiral array determined by the initial spiral radius and spiral coefficient.

[0047] The cylindrical actuators are four in number and are orthogonally distributed and fixed to the end face of the base, so that the reference angles of the four arms formed by the connection of flat joints and rigid connecting rods are 0°, 90°, 180° and 270° respectively.

[0048] The acoustic sensor array elements installed on each of the root joints are located at the same pre-defined inner radius.

[0049] The beneficial effects of this invention are as follows:

[0050] This invention addresses industry pain points in existing sound source localization arrays, such as the disconnect between theoretical optimization and engineering implementation, structural complexity, and insufficient array flexibility. It systematically innovates in both optimization methods and mechanical structure, achieving a globally optimal variable array design under hard constraints. For the first time, this invention incorporates the "fixed spacing between adjacent array elements on the same arm" as a core hard constraint into the Archimedes spiral array optimization process. Through a built-in stepping generation engine, array element coordinates are generated one by one along the spiral from a fixed starting point on the inner circle with a fixed step size. Furthermore, it innovatively introduces an over-limit proportional radial contraction mechanism, ensuring that all optimized candidate arrays can be directly implemented through rigid linkage structure engineering, completely resolving the disconnect between theoretical optimization and actual manufacturing. Simultaneously, the whale optimization algorithm is used to globally optimize the initial spiral radius and spiral coefficient, and the multi-dimensional performance score of the initial cross-shaped baseline array is used as a benchmark to ensure the objectivity and superiority of the optimization results.

[0051] In terms of mechanical structure design, this invention adopts a series-type variable arm structure of "cylindrical actuator + flat joint + fixed-length rigid connecting rod". The array can be continuously adjusted by driving the entire arm to rotate synchronously through a single actuator. Compared with existing variable arrays where each element is independently driven, the structural complexity is reduced by more than 70%, and the control difficulty and failure rate are significantly reduced. The fixed length of the rigid connecting rod naturally ensures high precision in the spacing between adjacent elements, with the error controllable within 0.01mm, avoiding the positioning accuracy attenuation caused by element position drift in traditional adjustable arrays. The orthogonal and symmetrical overall layout of the four arms achieves 360° omnidirectional sound source positioning without blind spots, and acoustic sensor elements are installed at the center of all joints, achieving 100% space utilization and obtaining superior spatial sampling characteristics with the same number of elements and array aperture.

[0052] The optimized Archimedes spiral array offers a comprehensive performance improvement over traditional cross and circular arrays, with a 30%-40% narrower main lobe width, a reduction of over 15dB in maximum sidelobe ratio, and a reduction of over 50% in the number of sidelobes. This significantly enhances the angular resolution of sound source localization and its resistance to multipath interference. The variable array design provides the system with strong multi-scenario adaptability, allowing for real-time switching of optimal parameters based on different application scenarios: a small initial radius spiral array is used for near-field sound sources to improve near-field localization accuracy; a large initial radius spiral array is used for far-field sound sources to extend the effective detection range; and a low sidelobe coefficient spiral array is used for multi-source scenarios to suppress false targets, resulting in an overall localization success rate improvement of over 25%.

[0053] This invention boasts low engineering difficulty, high reliability, and controllable cost. All core components are standardized and modularly designed, allowing for mass production, with manufacturing costs only 1 / 3 to 1 / 5 of those of phased arrays with similar performance. The system eliminates the need for complex element position detection sensors; the real-time coordinates of all elements are accurately calculated solely through the actuator's rotation angle, resulting in a simple and reliable control system. The modular structure facilitates rapid disassembly and maintenance; damaged individual components can be directly replaced, eliminating the need for complete system scrapping and significantly reducing overall lifecycle costs. Furthermore, the optimization method is decoupled from the mechanical structure, allowing for flexible adjustment of array aperture, element count, and arm count to accommodate different needs, expanding to larger arrays such as 8-arm or 16-arm configurations. The optimized system incorporates a multi-dimensional performance evaluation module that automatically outputs array performance comparison reports, enabling users to select the optimal solution based on their specific requirements. This invention can be widely applied in various fields, including acoustic detection of industrial equipment faults, abnormal sound source localization in security monitoring, automotive NVH testing, and aerospace engine noise source identification, demonstrating high practical value and promising market prospects. Attached Figure Description

[0054] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0055] Figure 1 This is a schematic diagram of the overall process of the method in an embodiment of the present invention.

[0056] Figure 2 This is a schematic diagram of the initial cross-shaped array structure in an embodiment of the present invention.

[0057] Figure 3 This is the initial cross-shaped sound source localization result in an embodiment of the present invention.

[0058] Figure 4 This is a schematic diagram of the optimized array structure according to an embodiment of the present invention;

[0059] Figure 5 This is the optimized array sound source localization result of the embodiment of the present invention;

[0060] Figure 6 This is a schematic diagram of the module structure of the system according to an embodiment of the present invention;

[0061] Figure 7 is a three-dimensional structural schematic diagram of the sound source localization array device according to an embodiment of the present invention.

[0062] Figure label:

[0063] 1-Base, 2-Actuator, 3-Joint, 4-Link. Detailed Implementation

[0064] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0065] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0066] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0067] Example 1

[0068] like Figure 1 As shown, the implementation steps of the variable array acoustic source localization array element position optimization method in this embodiment include:

[0069] Step 1: Determine the basic parameters of the array, including the array aperture, the number of array elements, the number of arms, and the fixed spacing between adjacent array elements on the same arm, which is determined by rigid connecting rods.

[0070] Step 2: Determine the Archimedes spiral formation as the target formation, and select the initial spiral radius and spiral coefficient as parameters to be optimized;

[0071] Step 3: Employ an optimization algorithm to iteratively optimize within the parameter space defined by the initial spiral radius and the spiral coefficient;

[0072] In each iteration, for any set of candidate parameters, the following sub-steps are performed to generate the corresponding candidate matrix:

[0073] Step 3.1: For each arm of the array, use a preset element position in the inner circle as the starting point for generation;

[0074] Step 3.2: Determine the shape of the Archimedean spiral based on the initial spiral radius and spiral coefficient in the candidate parameters. Starting from the generation starting point, along the extension direction of the spiral, determine the coordinates of subsequent array elements one by one with the fixed interval as the step size, until the number of array elements on the arm is met or the array aperture constraint is triggered.

[0075] Step 3.3: Real-time detection of whether each newly generated array element exceeds the boundary of the array aperture. If it exceeds the limit, the positions of all array elements generated on that arm are radially shrunk proportionally so that they are all within the boundary.

[0076] Step 4: Output the candidate array that satisfies the array aperture and fixed spacing constraints and has the highest comprehensive performance score, as the optimal Archimedean spiral array.

[0077] In this embodiment, the specific implementation steps are as follows:

[0078] Step 1: Determine the basic parameters such as array aperture, number of array elements, number of arms, and fixed spacing between adjacent array elements on the same arm determined by rigid connecting rods;

[0079] Step 2: Construct the initial cross-shaped baseline formation and complete multi-dimensional performance scoring;

[0080] Step 3: Determine the Archimedes spiral formation as the target formation, select only the initial spiral radius a and the spiral coefficient b as the two parameters to be optimized, and set the parameter value range to match the basic parameters;

[0081] Step 4: The Whale Optimization Algorithm (WOA) is used for multiple rounds of iterative optimization. The built-in step generation engine generates candidate arrays one by one and verifies the constraints to generate the optimal Archimedean spiral variable array that satisfies the constraints of aperture and element spacing.

[0082] Step 5: Compare the performance metrics of the initial and optimized formations to optimize the positions of the formation elements.

[0083] The basic array parameters of this embodiment are as follows: maximum array aperture 1.2m, total number of array elements 20, adopting a 4-arm orthogonal symmetrical structure, with reference angles of 0°, 90°, 180° and 270° for each arm respectively, 5 array elements per arm, inner circle radius 0.1m, and the fixed spacing between array elements is determined to be 0.125m based on the standard length of the rigid connecting rod in the device. Based on the determined basic parameters, an initial cross-shaped reference array is constructed, as follows. Figure 2As shown. This array configuration serves as the baseline template for subsequent variable array optimization. During the construction process, it is ensured that the distribution of the outer array elements strictly matches the array aperture constraints.

[0084] The specific process for generating candidate formations in step 4 is as follows:

[0085] For each arm of the array, the generation starting point is the element position at a preset inner circle radius of 0.1m. The geometric equation of the Archimedean spiral, r=a+bθ, is determined based on the candidate parameters (a, b) of the current iteration. Starting from the generation starting point, the tangent direction of the spiral at the current element position is calculated as the forward direction. The spiral is precisely extended along this direction at a fixed interval of 0.125m to determine the theoretical coordinates of the next element. These coordinates automatically satisfy the Archimedean spiral equation. The above process is repeated until 5 elements are generated for each arm. In real time, it is detected whether each newly generated element exceeds the array aperture boundary (radius 0.6m). If any element in a certain arm exceeds the limit, the radial coordinates of all generated elements in that arm are proportionally shrunk until the outermost element is exactly within the aperture boundary.

[0086] In this embodiment, there are a total of 3 sound sources. Each of the 3 sound sources is 10m away from the array, and their (x,y,z) coordinates in Cartesian coordinate space are (1.5,1.5,10), (-1.5,-1.5,10), and (1,-1,10), respectively. The frequencies of the 3 sound sources are 2kHz, 8kHz, and 7kHz, respectively. The MVDR algorithm is used for sound source localization, and the sound source localization results are as follows: Figure 3 As shown in the figure, in addition to the three sound sources, there are many side lobes, which can easily lead to misjudgment.

[0087] The initial crosshair reference array was subjected to multi-dimensional performance evaluation. The evaluation system was designed based on the core requirements of sound source localization in power equipment. The evaluation dimensions included localization accuracy, intensity, sidelobe ratio, number of sidelobes, main lobe width, and localization success rate. The parameters of each indicator are defined as follows:

[0088] Positioning accuracy: refers to the degree of deviation between the faulty sound source coordinates calculated by the sound source positioning array and the actual coordinates of the sound source. It is quantitatively characterized by positioning error (the spatial Euclidean distance between the actual coordinates and the calculated coordinates, in meters). The smaller the positioning error, the higher the positioning accuracy; when the positioning error is 0, the positioning accuracy reaches its optimal level.

[0089] Intensity: refers to the ratio of the peak signal intensity of the main lobe output by the sound source localization array after receiving the sound wave signal from the faulty sound source to the theoretical ideal peak signal intensity. It is quantified by the peak intensity ratio (dimensionless, with a value of 0~1). The closer the peak intensity ratio is to 1, the higher the intensity of the sound source signal received and identified by the array, and the stronger the resistance to signal attenuation.

[0090] Sidelobe ratio: refers to the ratio of the maximum peak signal intensity of the sidelobe to the peak signal intensity of the main lobe after the beam of the sound source localization array is formed (dimensionless, value from 0 to 1). The lower the sidelobe ratio, the stronger the array's ability to suppress background noise and interfering sound waves, and the better its anti-interference performance.

[0091] Sidelobe number: refers to the total number of sidelobes whose signal strength is higher than a preset threshold (5% of the main lobe peak strength) within the preset effective detection angle range (0~360° omnidirectional detection in this invention) after the sound source localization array beam is formed. The fewer the sidelobes, the more concentrated the beam directivity of the array, and the fewer the dimensions of the interference signal.

[0092] Main lobe width: refers to the angular difference (unit: °) between two directions when the signal intensity on the main lobe drops to 50% of the peak intensity of the main lobe after the beam of the sound source localization array is formed. It is also known as half-power beamwidth. The narrower the main lobe width, the stronger the array's ability to resolve the location of the sound source and the more accurate the directionality of the localization.

[0093] Positioning success rate: Under set test conditions (in this invention, multiple operating scenarios of power equipment with different noise intensities and different sound source distances), the percentage (%) of the total number of tests in which the positioning error meets the preset accuracy requirements out of the array's multiple sound source positioning tests is completed. The higher the positioning success rate, the stronger the array's positioning stability and adaptability under multiple operating conditions.

[0094] According to the above indicator definitions, the array is subjected to full-dimensional performance testing and scoring. The scoring rules are as follows: positioning accuracy, strength, and positioning success rate are scored out of 1.0; sidelobe ratio, sidelobe number, and main lobe width are normalized according to the principle of "the better the indicator, the higher the score", with a maximum score of 1.0; the comprehensive score is the sum of the scores of each item.

[0095] In this embodiment, the core performance indicators and scoring results are as follows:

[0096] Positioning accuracy: Positioning error 0.0m, score 1.0;

[0097] Intensity: Peak intensity ratio 1.0, score 1.0;

[0098] Side lobe ratio: 0.114, score: 0.4301;

[0099] Number of side lobes: 12, score: 0.3125;

[0100] Main lobe width: 22°, score 0.5217;

[0101] Location success rate: 95.2%, score: 0.9520;

[0102] Overall score: 11.15.

[0103] The array has a sidelobe ratio of 0.114 > 0.08, a sidelobe count of 12 > 8, a main lobe width of 22° > 15°, and a positioning success rate of 95.2% < 99%, which does not meet the requirements for anti-interference and positioning stability in near-field strong noise scenarios.

[0104] In step 3, the Archimedes spiral formation is determined as the target formation, and the initial spiral radius a, spiral coefficient b, and angle increment θ are selected as optimization parameters. The parameter value range is set to match the basic parameters.

[0105] With 15 whales and 20 iterations, the whale optimization algorithm was used to find the best solution. During the iteration process, the step generation engine automatically generated candidate formations and verified constraints, eliminating invalid solutions. After 14 iterations, the algorithm converged, and the global optimal score stabilized at 11.8015.

[0106] Extract the globally optimal parameters: a=0.1m, b=0.05m / rad, θ=0.39rad (22.5°), and generate the optimal Archimedean spiral variable formation, such as... Figure 4 As shown. The array configuration was constrained and verified. The element spacing was 0.125m, the standard deviation was 0, and the outer radius was 0.515m ≤ 0.6m, satisfying all engineering constraints.

[0107] According to the six performance indicators of this invention, the optimal Archimedes spiral variable formation was subjected to a full-dimensional performance test and compared with the initial cross baseline formation. The core performance indicators and scoring results are shown in the table below:

[0108]

[0109] like Figure 5 As shown, all performance indicators of the optimal Archimedes spiral variable array meet the preset requirements of the near-field strong noise scenario in this embodiment. Under the premise of maintaining the optimal positioning accuracy and intensity, the anti-interference and resolution indicators such as sidelobe ratio, sidelobe number, and main lobe width are greatly optimized, and the positioning success rate is increased to 99.8%. It can simultaneously realize the accurate positioning of near-field strong noise fault sources of transformers and switchgear, and complete the optimal optimization of array element positions.

[0110] Example 2

[0111] like Figure 6 As shown, this embodiment also provides a variable array sound source localization array element position optimization system, including a basic parameter setting module, an initial array construction and scoring module, a target array and parameter selection module, a WOA optimization module, an optimal array generation module, and a performance comparison and optimization module, which are connected in sequence. It also includes a data storage module that is connected in communication with each module. The modules work together to achieve automatic optimization of the variable array element positions under fixed parameters.

[0112] Basic parameter setting module: It is used to receive parameters such as array aperture, number of array elements, and number of arms input by the user, automatically determine the fixed spacing of array elements by the standard length of the rigid connecting rod in the associating device, store and send basic parameter data to subsequent modules;

[0113] Initial Formation Construction and Scoring Module: Used to construct an initial cross-shaped baseline formation based on basic parameters, complete multi-dimensional performance scoring and core performance indicator extraction, and store baseline data in the data storage module;

[0114] Target formation and parameter selection module: This module is used to determine the Archimedes spiral formation as the target formation. It selects only two parameters to be optimized: the initial radius of the spiral and the spiral coefficient. It sets the range of parameter values ​​and sends them to the WOA optimization module.

[0115] WOA optimization module: Built-in whale optimization algorithm kernel, used to perform multi-round iterative optimization of optimization parameters, complete the real-time verification of array aperture and fixed spacing of array elements, and filter and store the optimal parameters of each round and the global optimal parameters;

[0116] Optimal Array Generation Module: Used to generate the optimal Archimedean spiral variable array that satisfies all constraints based on the global optimal parameters, and output the rotation angle parameters of each arm, which are then sent directly to the actuator of the sound source positioning array device.

[0117] Performance comparison and optimization module: Used to compare the performance indicators of the initial cross base formation and the optimal Archimedes spiral variable formation, complete the performance improvement analysis, output the optimization results, and realize the optimization of the array element positions;

[0118] Data storage module: Used to store all basic parameters, formation data, scoring results, optimization parameters, constraint verification records and optimization results, and supports data querying, retrieval and updating.

[0119] In this embodiment, the system hardware configuration is as follows: CPU i7-12700K, 32GB memory, 1TB solid-state drive, and Windows 10 64-bit operating system. The system has a built-in automatic calculation module and scoring algorithm for the above six performance indicators. The running steps and results are as follows:

[0120] 1) The user inputs the maximum array aperture of 1.2m, the total number of array elements of 20, the four-arm structure, and the inner circle radius of 0.1m through the basic parameter setting module. The module automatically calls the spacing calculation algorithm, and the standard length of the rigid connecting rod in the associated device of 0.125m is used as the fixed spacing. After the user confirms, it is stored as the core constraint parameter.

[0121] 2) The initial formation construction and scoring module automatically calls the cross formation generation algorithm to construct the initial formation, and simultaneously starts the automatic performance calculation module. According to the indicator definition, it completes the detection and scoring of 6 core indicators, generates a benchmark performance report, and prompts on the interface that "4 indicators such as sidelobe ratio and sidelobe number do not meet the scenario requirements".

[0122] 3) The target formation and parameter selection module automatically determines the Archimedes spiral formation as the target formation, selects the initial spiral radius, spiral coefficient, and angle increment as optimization parameters, automatically sets a reasonable value range based on the basic parameters, and sends it to the WOA optimization module;

[0123] 4) The WOA optimization module starts the Whale Optimization Algorithm kernel and calls the built-in step generation engine to generate candidate arrays one by one. The constraint verification submodule completes the dual verification of aperture and spacing in real time. A total of 12 invalid solutions are eliminated throughout the process, reducing meaningless calculations and improving the optimization efficiency by 35% compared with unconstrained verification. When the algorithm converges after 14 iterations, the module automatically locks and stores the global optimal parameters.

[0124] 5) The optimal formation generation module calls the Archimedes spiral formation generation algorithm based on the global optimal parameters. After generating the optimal formation, it restarts the constraint verification. After confirming that all constraints meet the standards, it calculates the rotation angles corresponding to the four arms as 22.5°, 112.5°, 202.5°, and 292.5°, respectively, and sends the formation structure and coordinate data to the performance comparison and optimization module.

[0125] 6) The performance comparison and optimization module starts the automatic performance calculation module, completes the detection of 6 indicators of the optimal array according to the indicator definition, automatically generates a performance comparison table and a performance improvement analysis report, clearly marks "all indicators meet the requirements for near-field strong noise localization of transformers / switchgear", and outputs all optimization results such as optimal parameters, array diagram, performance data, and analysis report to the user through a visual interface;

[0126] 7) The data storage module synchronously stores all data from the entire system operation process, including basic parameters, constraint verification records, iteration data, raw test data of 6 performance indicators, scoring results, optimization reports, etc., and supports users to query, download and reuse the data.

[0127] The system operates fully automatically without human intervention, with a total running time of 10 minutes. The optimization results are consistent with those of Example 1, demonstrating the system's stability, accuracy, and efficiency.

[0128] Example 3

[0129] This embodiment provides a sound source localization array device optimized using the method described in Embodiment 1, the structure of which is as follows: Figure 7 As shown;

[0130] Includes: a disc-shaped base 1, made of aluminum alloy, with four actuator mounting holes evenly distributed on the end face;

[0131] Four cylindrical actuators 2 are orthogonally distributed and fixedly installed on the end face of the base 1 with the center of the base 1 as the center, and their output shafts are perpendicular to the end face of the base.

[0132] Multiple flat joints 3, including 4 root joints, 12 intermediate joints and 4 end joints, each joint is a disc-shaped structure with a diameter of 50mm and a thickness of 10mm, with an acoustic sensor mounting hole in the center and connecting flanges on both sides;

[0133] The root joint is directly fixedly installed on the rotor output end of the corresponding cylindrical actuator 2, and can rotate synchronously with the rotor;

[0134] Multiple rigid connecting rods 4 of fixed length are made of carbon fiber and have connection structures at both ends that match the joint flanges; two adjacent flat joints 3 are coaxially fixedly connected by a rigid connecting rod 4, and the length of the rigid connecting rod 4 constitutes the fixed spacing between adjacent acoustic sensor elements on the same arm.

[0135] Multiple acoustic sensor elements are fixedly installed at the center of each flat joint 3, one by one.

[0136] The working principle of this device is as follows: After generating the optimal Archimedes spiral array according to the method described in Example 1, the system sends the corresponding rotation angle command to the four cylindrical actuators 2.

[0137] Each actuator drives the root joint at its output end to rotate around its own axis by a specified angle. The root joint drives all the intermediate and end joints on the entire arm to rotate synchronously through the rigid connecting rod 4, so that the overall distribution of all acoustic sensor array elements forms an optimal Archimedean spiral array determined by the initial spiral radius and spiral coefficient.

[0138] Since the length of the rigid link 4 is fixed, the spacing between adjacent array elements on the same arm remains constant at 125mm, which fully meets the hard constraint requirements in the method.

[0139] In this embodiment, the reference angles of the four arms formed by the joints 3 and rigid connecting rods 4 connected in series are 0°, 90°, 180° and 270° respectively. The acoustic sensor array elements installed on each root joint are all located at an inner radius of 0.1m, which corresponds completely to the basic parameters in Embodiment 1. When the actuator receives the command to rotate the angle by 22.5°, the four arms rotate to positions of 22.5°, 112.5°, 202.5° and 292.5° respectively. At this time, the coordinates of all array elements are completely consistent with the optimal Archimedean spiral array coordinates generated in Embodiment 1, achieving a perfect match between the theoretical optimization results and the actual engineering device.

[0140] In the description of this invention, it should be noted that the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0141] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0142] In the several embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0143] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0144] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0145] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0146] Furthermore, although the operations of the method of the present invention are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

Claims

1. A method for optimizing the position of array elements in a variable-array acoustic source localization array. Its features are, Including the following steps: Step 1: Determine the basic parameters, which include the array aperture, the number of array elements, the number of arms, and the fixed spacing between adjacent array elements on the same arm, determined by rigid connecting rods. Step 2: Determine the Archimedes spiral formation as the target formation, and select the initial spiral radius and spiral coefficient as parameters to be optimized; Step 3: Using an optimization algorithm, iterative optimization is performed within the parameter space consisting of the initial radius of the spiral and the spiral coefficient to generate the optimal Archimedean spiral array; In each iteration, for any set of candidate parameters, the following steps are performed to generate the corresponding candidate matrix: Step 3.1: For each arm of the array, use a preset element position in the inner circle as the starting point for generation; Step 3.2: Determine the shape of the Archimedean spiral based on the initial spiral radius and spiral coefficient in the candidate parameters. Starting from the generation starting point, along the extension direction of the spiral, determine the coordinates of subsequent array elements one by one with the fixed interval as the step size, until the number of array elements on the arm is met or the array aperture constraint is triggered. Step 3.3: Real-time detection of whether each newly generated array element exceeds the boundary of the array aperture. If it exceeds the limit, the positions of all array elements generated on that arm are radially shrunk proportionally so that they are all within the boundary. Step 4: Output the candidate array that satisfies the array aperture and fixed spacing constraints and has the highest comprehensive performance index score, as the optimal Archimedes spiral array.

2. The method for optimizing the position of array elements of a variable array sound source localization array according to claim 1, Its features are, The array adopts a four-arm orthogonal structure. The reference angles for each arm are 0°, 90°, 180° and 270°, respectively. The method of using a preset array element position in the inner circle as the generation starting point specifically means that, in the reference angle direction of each arm, an array element is fixedly set at a preset inner circle radius as the hard constraint starting point for generating the array element sequence of that arm.

3. The method for optimizing the position of elements in a variable array acoustic source localization array according to claim 1. Its features are, The coordinates of subsequent array elements are determined one by one along the extension direction of the spiral, with the fixed interval as the step size. Specifically, the tangent or spiral direction of the Archimedean spiral at the current array element is determined based on the position of the current array element and the spiral coefficient. Starting from the current array element, the fixed interval is precisely extended along the spiral direction to determine the theoretical position of the next array element. The theoretical position of the next array element automatically satisfies the geometric equation of the Archimedean spiral.

4. The method for optimizing the position of array elements of a variable array sound source localization array according to claim 1. Its features are, The optimization algorithm is the whale optimization algorithm; Before the iterative optimization, the method further includes: constructing an initial cross-shaped baseline and calculating its multi-dimensional baseline performance score, which is used as a baseline for evaluating the optimization effect of the optimization algorithm.

5. The method for optimizing the position of elements in a variable array acoustic source localization array according to claim 1. Its features are, The comprehensive performance index score covers multiple factors including positioning accuracy, sidelobe ratio, number of sidelobes, main lobe width, and positioning success rate.

6. A variable array acoustic source localization array element position optimization system, The variable array acoustic source localization array element position optimization method as described in any one of claims 1 to 5 is adopted. Its features are, include: The basic parameter setting module is used to receive and determine the basic parameters of the array, including the array aperture, the number of array elements, the number of arms, and the fixed spacing between adjacent array elements on the same arm, which is determined by rigid connecting rods. The target formation and parameter selection module is used to determine the Archimedes spiral formation as the target formation and select the initial spiral radius and spiral coefficient as parameters to be optimized. The optimization module has a built-in optimization algorithm kernel, which is used to iteratively optimize the initial radius and helix coefficient of the helix; The optimization module integrates a step generation engine, which is configured to: for any set of candidate parameters in each iteration, generate array elements one by one from the inner circle starting point for each arm of the array along the direction of the Archimedean spiral determined by the candidate parameters, with the fixed interval as the step size, and perform proportional radial shrinkage when the array element is detected to automatically satisfy and verify all hard constraints. The optimal formation generation module is used to generate a target Archimedean spiral formation that satisfies all constraints based on the globally optimal parameters output by the optimization algorithm.

7. The variable array acoustic source positioning array element position optimization system according to claim 6, characterized in that, Also includes: The initial formation construction and scoring module is used to construct the initial cross baseline formation and perform multi-dimensional performance scoring. The performance comparison and optimization module is used to compare the performance indicators of the initial cross reference formation and the target Archimedes spiral formation, and output the performance improvement results.

8. The variable array acoustic source positioning array element position optimization system according to claim 6, Its features are, The core of the optimization algorithm is the whale optimization algorithm.

9. A sound source localization array device, The array element positions are optimized and the system is optimized using the method described in any one of claims 1 to 8. Its features are, include: A disc-shaped base (1); Multiple cylindrical actuators (2), each of the cylindrical actuators (2) is symmetrically distributed radially with the center of the base (1) as the center and is fixedly installed on the end face of the base (1); Multiple flat joints (3), including a root joint and intermediate and end joints arranged sequentially along the arm length direction, wherein the root joint is directly fixedly installed at the rotor output end corresponding to the cylindrical actuator (2) and rotates synchronously with the rotor; Multiple rigid connecting rods (4) of fixed length are used. Two adjacent flat joints (3) are coaxially fixedly connected by one rigid connecting rod (4). The length of the rigid connecting rod (4) constitutes the fixed spacing between adjacent acoustic sensor elements on the same arm. Multiple acoustic sensor array elements are fixedly installed at the center of each of the flat joints (3); The cylindrical actuator (2) is used to drive the root joint to rotate around its own axis, and then drive all the intermediate and end joints on the entire arm to rotate synchronously through the rigid connecting rod (4), so that the overall distribution of all acoustic sensor array elements forms the optimal Archimedean spiral array determined by the initial spiral radius and spiral coefficient.

10. The sound source localization array device according to claim 9, Its features are, The cylindrical actuators (2) are four in number and are orthogonally distributed and fixed to the end face of the base (1), so that the reference angles of the four arms formed by the flat joints (3) and rigid connecting rods (4) are 0°, 90°, 180° and 270° respectively. The acoustic sensor array elements installed on each of the root joints are located at the same pre-defined inner radius.

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