Method and apparatus for positioning vibration source, and device overhaul method, storage medium and processor

Abstract

The embodiments of the present invention belong to the technical field of device overhaul. Provided are a method and apparatus for positioning a vibration source by means of a microphone array, and an industrial device overhaul method, a storage medium, a processor and a computer program product. The method for positioning a vibration source by means of a microphone array comprises: on the basis of an incurred calculation error and / or measurement error, selecting three microphones from a microphone array; acquiring a first noise signal, a second noise signal and a third noise signal that are respectively received by means of the selected three microphones; on the basis of the strengths and loss coefficients of the first noise signal, the second noise signal and the third noise signal, determining a first distance, a second distance and a third distance between the vibration source and the three microphones, respectively; and on the basis of the first distance, the second distance, the third distance and position coordinates of the selected three microphones, determining the position of a vibration source. By means of the method, the impact of interference factors can be reduced, and the accuracy of determining the specific position of a vibration source is improved.

Description

Methods, devices, storage media, and processors for locating vibration sources and overhauling equipment. Technical Field

[0001] This invention relates to the field of equipment maintenance technology, specifically to a method, apparatus, storage medium, processor, and computer program product for locating vibration sources and maintaining industrial equipment using a microphone array. Background Technology

[0002] Industrial noise refers to the noise generated during the operation of industrial equipment. Based on its noise source characteristics, it can be categorized into airflow noise, mechanical noise, and electromagnetic noise. Typically, when equipment malfunctions or is at risk of malfunction, it may generate noise sources that are not present under normal operating conditions, or noise sources present under normal operating conditions may exhibit different noise characteristics. Therefore, for large-scale industrial production areas, production areas that are inconvenient to observe closely, or production equipment that requires maintenance during continuous production, existing technologies offer methods for determining the operating status of equipment by receiving and recording industrial noise within the target area using microphone arrays.

[0003] In the prior art, as shown in Figure 1, three microphones M1, M2, and M3 arranged in a triangle define a plane. The vibration source P1 is a point outside this plane. The straight-line distances of P1 from M1, M2, and M3 are L1, L2, and L3, respectively. A three-dimensional rectangular coordinate system is established with this plane as the XOY plane and the direction of P1 relative to XOY as the positive Z-axis. Based on the intensity of the noise signal received synchronously by M1, M2, and M3 and the loss coefficient of the noise during propagation, L1, L2, and L3 can be determined. Then, the coordinates of P1 can be calculated based on the coordinates of L1, L2, L3 and M1, M2, and M3.

[0004] However, in actual calculations, various interference factors such as environmental conditions and equipment deviations cause deviations in L1, L2, and L3 calculated using existing technologies, ultimately affecting the location results of the vibration source. The inventors of this application discovered that the above-mentioned problems have not yet been effectively solved during the development of this invention. Summary of the Invention

[0005] The purpose of this invention is to provide a method for locating vibration sources, which can reduce the influence of interference factors and improve the accuracy of locating the specific location of vibration sources.

[0006] To achieve the above objectives, embodiments of the present invention provide a method for locating a vibration source using a microphone array, wherein the vibration source is a noise source emitting industrial noise within a target area, and the microphone array is a projection array of M*N microphones arranged within the target area on a horizontal plane, wherein each microphone in the microphone array is used to synchronously receive the industrial noise emitted by the vibration source, including:

[0007] Select three microphones from the microphone array;

[0008] Acquire the first noise signal, the second noise signal, and the third noise signal received through the three selected microphones, respectively;

[0009] Based on the intensity and loss coefficient of the first, second, and third noise signals, the first, second, and third distances between the vibration source and the three microphones are determined, respectively; and

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

[0011] Optionally, the three microphones to be selected may be determined based on the resulting calculation and / or measurement errors, wherein the three microphones are not on the same straight line.

[0012] Optionally, select three microphones from the microphone array, including:

[0013] Multiple times, three different microphones are randomly selected, and the area of ​​the reference triangle formed by the three selected microphones is calculated each time.

[0014] Compare the areas of the baseline triangles obtained each time, and select the three microphones corresponding to the triangles with the largest areas.

[0015] Optionally, select three microphones from the microphone array, including:

[0016] From M*N microphones, three microphones are randomly selected to construct a reference triangle, resulting in... A different reference triangle; and

[0017] Calculated The area of ​​each of the reference triangles is selected, and three microphones are constructed from the larger portion of the reference triangles.

[0018] Among them, the larger portion of the reference triangles are the top 30% of the reference triangles with the largest areas.

[0019] Optionally, a reference plane is determined based on the centroid distribution of the M*N microphones, and the position coordinates of the selected three microphones are calibrated using the determined reference plane.

[0020] Optionally, a reference plane is determined based on the centroid distribution of the M*N microphones, including:

[0021] In a three-dimensional Cartesian coordinate system, the following steps are used to construct a first microphone set from M*N microphones, and the centroid position of all microphones in the first microphone set is used as a reference point of the reference plane:

[0022] The average values ​​of the coordinates of all microphones in the M*N microphones along the X, Y, and Z axes are used as the initial values ​​of the centroids along the X, Y, and Z axes of the M*N microphones, respectively.

[0023] A second microphone set is constructed by selecting a subset of microphones whose coordinate values ​​in the X-axis direction are smaller and whose deviation from the initial value of the X-axis centroid evaluation is smaller.

[0024] A third microphone set is constructed by selecting a subset of microphones with smaller coordinate values ​​along the Y-axis and smaller deviations from the initial value of the Y-axis centroid evaluation.

[0025] A fourth microphone set is constructed by selecting a subset of microphones with smaller coordinate values ​​along the Z-axis and smaller deviations from the initial value of the Z-axis centroid evaluation; and

[0026] The first microphone set is the intersection of the second, third, and fourth microphone sets.

[0027] In a three-dimensional rectangular coordinate system, the normal vector of the reference plane is determined using the following steps:

[0028] The initial normal vector of the reference plane is constructed based on the coordinate range of all microphones in the first microphone set in the X, Y, and Z axes.

[0029] Construct a first vector from the position of each of the M*N microphones to its centroid coordinate position. Calculate the first angle and the second angle between each first vector and the initial normal vector. Then, calibrate the initial normal vector based on the average of the first angle and the average of the second angle to obtain the normal vector of the reference plane.

[0030] Optionally, the position coordinates of the selected three microphones can be calibrated using the determined reference plane, including:

[0031] 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.

[0032] The projected coordinates of the three microphones on the calibration coordinate system are used as the calibrated position coordinates.

[0033] Furthermore, the method for locating vibration sources using a microphone array also includes: calibrating the loss coefficient using test noise emitted by a first vibration source and a second vibration source pre-set in the target area, and determining the first distance, second distance, and third distance between the vibration source to be located and the three microphones based on the calibrated loss coefficient.

[0034] Optionally, the loss coefficient is calibrated using test noise emitted by a first vibration source and a second vibration source pre-set within the target area, including:

[0035] The test noise at a preset frequency is emitted by the first vibration source, and the test noise is received synchronously by the microphone array. The first position coordinates of the first vibration source are calculated according to the transmission distance equation.

[0036] The test noise at a preset frequency is emitted by the second vibration source, and the test noise is received synchronously by the microphone array. The second position coordinates of the second vibration source are calculated according to the transmission distance equation.

[0037] The transmission distance between the first vibration source and the second vibration source is calculated based on the first and second position coordinates. The loss coefficient is the ratio of the transmission distance to the spatial distance between the first and second vibration sources.

[0038] Optionally, the first position coordinates of the first vibration source are calculated according to the transmission distance equation, including:

[0039] Select three microphones arranged in an equilateral triangle from the microphone array and label them M1, M2, and M3 respectively. Establish a three-dimensional Cartesian coordinate system based on the positions of M1, M2, and M3. M1 is positioned at the origin of the three-dimensional Cartesian coordinate system, M2 is positioned at the coordinates (S, 0, 0), and M3 is positioned at the coordinates (S, 0, 0). Location;

[0040] The three-dimensional coordinates of the first vibration source, calculated according to the transmission distance equation, are as follows:

[0041] Where L1 = k × Mag1, L2 = k × Mag2, L3 = k × Mag3;

[0042] L1, L2, and L3 are the transmission distances between M1, M2, and M3 and the first vibration source, respectively.

[0043] Mag1, Mag2, and Mag3 are the signal amplitudes of the first, second, and third noise signals, respectively.

[0044] Furthermore, the method of locating vibration sources using a microphone array also includes calibrating the loss coefficient under different environmental parameters and different operating parameters of industrial equipment in the target area, and adopting the corresponding loss coefficient according to the actual environmental parameters and equipment operating parameters when locating the vibration source.

[0045] On the other hand, embodiments of this application also provide a device for locating a vibration source using a microphone array, wherein the vibration source is a noise source emitting industrial noise within a target area, the microphone array is a projection array of M*N microphones arranged within 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.

[0046] The controller is configured as follows:

[0047] Select three microphones from the microphone array;

[0048] Acquire the first noise signal, the second noise signal, and the third noise signal received through the three selected microphones, respectively;

[0049] Based on the intensity and loss coefficient of the first, second, and third noise signals, the first, second, and third distances between the vibration source and the three microphones are determined, respectively; and

[0050] The location of the vibration source is determined based on the first distance, the second distance, the third distance, and the position coordinates of the three selected microphones.

[0051] Optionally, the controller is also configured to determine the three microphones to be selected based on the resulting calculation and / or measurement errors, wherein the three microphones are not on the same straight line.

[0052] Optionally, the controller is also configured to: randomly select three different microphones multiple times, and calculate the area of ​​the reference triangle formed by the three microphones selected each time;

[0053] Compare the areas of the baseline triangles obtained each time, and select the three microphones corresponding to the triangles with the largest areas.

[0054] Optionally, select three microphones from the microphone array, including:

[0055] From M*N microphones, three microphones are randomly selected to construct a reference triangle, resulting in... A different reference triangle; and

[0056] Calculated The area of ​​each of the reference triangles is selected, and three microphones are constructed from the larger portion of the reference triangles.

[0057] Among them, the larger portion of the reference triangles are the top 30% of the reference triangles with the largest areas.

[0058] Optionally, the controller is also configured to: determine a reference plane based on the centroid distribution of the M*N microphones, and calibrate the position coordinates of the selected three microphones using the determined reference plane.

[0059] Optionally, a reference plane is determined based on the centroid distribution of the M*N microphones, including:

[0060] In a three-dimensional Cartesian coordinate system, the following steps are used to construct a first microphone set from M*N microphones, and the centroid position of all microphones in the first microphone set is used as a reference point of the reference plane:

[0061] The average values ​​of the coordinates of all microphones in the M*N microphones along the X, Y, and Z axes are used as the initial values ​​of the centroids along the X, Y, and Z axes of the M*N microphones, respectively.

[0062] A second microphone set is constructed by selecting a subset of microphones whose coordinate values ​​in the X-axis direction are smaller and whose deviation from the initial value of the X-axis centroid evaluation is smaller.

[0063] A third microphone set is constructed by selecting a subset of microphones with smaller coordinate values ​​along the Y-axis and smaller deviations from the initial value of the Y-axis centroid evaluation.

[0064] A fourth microphone set is constructed by selecting a subset of microphones with smaller coordinate values ​​along the Z-axis and smaller deviations from the initial value of the Z-axis centroid evaluation; and

[0065] The first microphone set is the intersection of the second, third, and fourth microphone sets.

[0066] In a three-dimensional rectangular coordinate system, the normal vector of the reference plane is determined using the following steps:

[0067] The initial normal vector of the reference plane is constructed based on the coordinate range of all microphones in the first microphone set in the X, Y, and Z axes.

[0068] Construct a first vector from the position of each of the M*N microphones to its centroid coordinate position. Calculate the first angle and the second angle between each first vector and the initial normal vector. Then, calibrate the initial normal vector based on the average of the first angle and the average of the second angle to obtain the normal vector of the reference plane.

[0069] Optionally, the position coordinates of the selected three microphones can be calibrated using the determined reference plane, including:

[0070] 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.

[0071] The projected coordinates of the three microphones on the calibration coordinate system are used as the calibrated position coordinates.

[0072] Optionally, the controller is also configured to: calibrate the loss coefficient using test noise emitted by a first vibration source and a second vibration source pre-set in the target area, and determine the first distance, second distance, and third distance between the vibration source to be located and the three microphones, respectively, based on the calibrated loss coefficient.

[0073] Optionally, the loss coefficient is calibrated using test noise emitted by a first vibration source and a second vibration source pre-set within the target area, including:

[0074] The test noise at a preset frequency is emitted by the first vibration source, and the test noise is received synchronously by the microphone array. The first position coordinates of the first vibration source are calculated according to the transmission distance equation.

[0075] The test noise at a preset frequency is emitted by the second vibration source, and the test noise is received synchronously by the microphone array. The second position coordinates of the second vibration source are calculated according to the transmission distance equation.

[0076] The transmission distance between the first vibration source and the second vibration source is calculated based on the first and second position coordinates. The loss coefficient is the ratio of the transmission distance to the spatial distance between the first and second vibration sources.

[0077] Furthermore, the controller is also configured to calibrate the loss coefficient under different environmental parameters and different operating parameters of industrial equipment in the target area, and to adopt the corresponding loss coefficient according to the actual environmental parameters and equipment operating parameters when the vibration source is to be located.

[0078] On the other hand, embodiments of the present invention provide a method for the maintenance of industrial equipment.

[0079] The method of locating vibration sources using a microphone array described in this 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 at which the industrial noise occurs and the actual operating parameters of the industrial equipment at that time point.

[0080] By comparing the expected operating parameters of industrial equipment with the actual operating parameters at different time points, it can be determined whether there are any abnormalities in the industrial equipment.

[0081] Furthermore, the maintenance methods for industrial equipment also include: if an abnormality is determined, determining the severity of the abnormality and the maintenance plan based on the location of the vibration source emitting the industrial noise and the changes in vibration intensity.

[0082] On the other hand, embodiments of the present invention provide a processor configured to: execute the method of locating a vibration source by a microphone array as described in this application, or execute the maintenance method of industrial equipment as described in this application.

[0083] On the other hand, embodiments of the present invention provide a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to: perform the method of locating a vibration source by a microphone array as described in this application, or perform the maintenance method of industrial equipment as described in this application.

[0084] On the other hand, embodiments of the present invention provide a computer program product, including a computer program, which, when executed by a processor, implements the method of locating a vibration source by a microphone array as described in this application, or implements the maintenance method of industrial equipment as described in this application.

[0085] The above technical solution first selects three microphones from the microphone array to synchronously receive industrial noise emitted by the vibration source. Then, a reference plane is constructed, and the coordinate values ​​of the three selected microphones are calibrated based on this reference plane to reduce the calculation error when locating the vibration source due to the production error of the microphone array. Then, the distance difference between the vibration source and the three microphones can be determined according to the intensity of the three signals received by the three microphones respectively. The actual distance between the vibration source and the three microphones can be further determined according to the loss coefficient of the noise signal in the target area. Then, the specific location of the vibration source can be located according to the actual distance and the coordinate position of the three microphones. By calibrating the loss coefficient with the test noise emitted by the first and second vibration sources in the target area, the influence of environmental factors on the loss coefficient can be eliminated, thereby improving the accuracy of locating the specific location of the vibration source.

[0086] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0087] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0088] Figure 1 is a schematic diagram of a model in the prior art for locating the vibration source based on the noise signals received by three microphones selected in a microphone array.

[0089] Figure 2 is a schematic diagram of the microphone array arrangement.

[0090] Figure 3 is a schematic diagram showing how microphone installation errors in a microphone array can lead to calculation errors.

[0091] Figure 4 is a comparison diagram of schemes for selecting three microphones according to the method of this application.

[0092] Figure 5 is a schematic diagram of the model used in this application to calibrate the loss coefficient using two pre-set test vibration sources. Detailed Implementation

[0093] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0094] This invention provides a method for locating vibration sources using a microphone array, used to accurately pinpoint the location of vibration sources emitting industrial noise within a target area. In this embodiment, the target area contains high-voltage electrical equipment, and the emitted industrial noise is primarily electromagnetic noise from electrical components. However, this invention is not limited to this; this embodiment can also be used to locate the positions of airflow noise, mechanical noise, and electromagnetic noise generated within a template area, thereby identifying equipment or components that are abnormal or at risk of operational abnormalities, and subsequently developing a maintenance plan based on the equipment's operating parameters.

[0095] In this embodiment, the method for locating a vibration source using a microphone array includes the following steps:

[0096] Step 1: Based on the resulting measurement error, select three microphones from the microphone array, wherein the three microphones are not on the same straight line;

[0097] Step 2: Acquire the first noise signal, the second noise signal, and the third noise signal received through the three selected microphones respectively;

[0098] Step 3: Based on the intensity and loss coefficient of the first, second, and third noise signals, determine the first, second, and third distances between the vibration source and the three microphones, respectively; and

[0099] Step 4: Determine the location of the vibration source based on the first distance, the second distance, the third distance, and the position coordinates of the three selected microphones.

[0100] According to this embodiment, when the noise emitted by the vibration source is received synchronously by the three selected microphones, the noise signals received by the three microphones are not the same because they are located at different positions relative to the vibration source. Therefore, the controller can synchronously and continuously record the noise signals received by the three microphones selected in step 1. Since the noise emitted by the same vibration source attenuates differently after being transmitted over different distances, the time it takes to reach the microphone receiver is also different. Therefore, the intensity of the different noise signals used in step 3 should be the intensity of the noise signal at the same moment. That is, the three noise signals obtained in step 2 should be processed synchronously, and the distance between the vibration source and the corresponding microphone is calculated by selecting the noise signal intensity at the same moment in step 3. In step 3, a geometric model of the three microphones and the vibration source as shown in Figure 1 is established, and the coordinates of the vibration source P in the model are solved based on the lengths of L1, L2, and L3 and the coordinates of M1, M2, and M3 in the geometric model.

[0101] The key difference in this embodiment compared to existing technologies lies in how to select three microphones from the microphone array. The following, with reference to Figures 1 to 3, describes the analysis conducted by the inventors of this application to address errors in locating the vibration source due to manufacturing errors in the microphone array.

[0102] In the prior art, the model for locating the vibration source by using noise signals received from three microphones selected from a microphone array is shown in Figure 1, and the arrangement structure of the microphone array is shown in Figure 2. As shown in Figure 1, the three microphones M1, M2, and M3 arranged in a triangle define a plane. The vibration source P1 is a point outside this plane, and the straight-line distances between P1 and M1, M2, and M3 are L1, L2, and L3, respectively. A three-dimensional rectangular coordinate system is established with this plane as the XOY plane and the direction of P1 relative to XOY as the positive Z-axis. Based on the intensity of the noise signals received synchronously by M1, M2, and M3 and the noise loss coefficient during propagation, L1, L2, and L3 can be determined. Then, the coordinates of P1 can be calculated based on the coordinates of L1, L2, L3 and M1, M2, and M3. However, installation errors may occur during microphone manufacturing, causing some microphones to deviate from their intended positions. As shown in Figure 3, microphone M1 deviates from its expected position of M1(x1,y1,z1) to M1'(x1,y1,z1+e). Therefore, the plane actually defined by the three selected microphones M1, M2, and M3 is plane A' in Figure 3, with a normal vector v'. Because this installation error in microphone M1 is not known, the coordinates of P1 are calculated based on the expected plane A defined by M1, M2, and M3 and the coordinates (x1,y1,z1) of M1, resulting in an error in the final calculated position of P1. The further the vibration source is from the reference plane defined by M1, M2, and M3, the greater the deviation, potentially even leading to misjudgments of faulty components due to incorrect vibration source positioning.

[0103] However, microphone installation position errors are difficult to predict and completely avoid during production. The inventors sought to propose a method to reduce the impact of these errors. As shown in Figure 4, three microphones, P(1,1), P(1,n), and P(m,1), can form a reference plane with an area defined as S1; three microphones, P(m-1,n-2), P(m,n-2), and P(m,n-1), can form another reference plane with an area defined as S2. Therefore, this array contains many reference planes. The microphone array has a total of m*n microphones. By arbitrarily selecting three microphones to construct a reference plane, the maximum number of possible values ​​is... Permutations and combinations, i.e. Different microphone selection methods are used. Taking Figure 3 as an example, microphones M1, M2, and M3 construct the expected reference plane A, with the unit normal vector v representing plane A, which is perpendicular to the XOY plane and in the same direction as the Z coordinate. However, in reality, the Z coordinate of microphone M1 has an error e, causing microphone M1 to shift to microphone M1'. The actual reference plane A' is constructed using microphones M1', M2, and M3. The normal vector of the actual reference plane A' is v', which is an angular difference from the expected normal vector v. The error between the normal vector v' and the normal vector v can be characterized by the angles alfa and beta. Angle alfa is the angle between the line segment formed by microphones M1' and M2 and the X coordinate axis; beta is the angle between the line segment L3' formed by microphones M1' and M3 and the line segment L3 formed by microphones M1 and M3. The calculation formulas are as follows:

[0104] When the area of ​​the reference triangle is small, the offset of the reference plane normal vector for the same microphone coordinate error is also small. Conversely, the larger the area of ​​the reference triangle, the greater the offset of the reference plane normal vector for the same microphone coordinate error. Therefore, to reduce the final calculation or measurement errors, the area of ​​the reference triangle formed by the three selected microphones should be large.

[0105] In some implementations, three different microphones are randomly selected multiple times, and the area of ​​the reference triangle formed by the three microphones selected each time is calculated; the areas of the reference triangles obtained each time are compared, and the three microphones corresponding to the largest area are selected.

[0106] In some implementations, three microphones are randomly selected from M*N microphones to construct a reference triangle, resulting in... A number of different reference triangles; calculated The area of ​​each of the reference triangles is considered, and the three microphones of one of these triangles are selected from the larger subset of reference triangles. Preferably, the larger subset of reference triangles consists of the top 30% of the largest reference triangles.

[0107] In the above embodiments, by reasonably selecting three microphones from the microphone array, the proportion of the impact of error on the final calculation result is reduced; however, it cannot completely eliminate the error. The inventors attempt to propose a method to calibrate the coordinates of the selected three microphones to match the actual coordinates as closely as possible, thereby reducing the calculation error in locating the vibration source due to manufacturing errors in the microphone array. The implementation idea is as follows: based on the centroid distribution of M*N microphones, a reference plane for correcting the microphone coordinates is determined. This reference plane is used as the XOY plane to construct a correction coordinate system. The projected coordinates of the selected three microphones in this correction coordinate system are calculated as the corrected coordinates. The implementation path for constructing the above reference plane can be: first, determine the centroid of the microphone array as the reference point of the reference plane; then, evaluate the rationality of the centroid; finally, calculate the normal vector of the reference plane and perform calibration; finally, construct the correction coordinate system, with the above reference point as the origin, the obtained reference plane as the XOY plane, and the normal vector of the reference plane as the positive Z-axis direction.

[0108] In some implementations, the step of constructing the aforementioned reference plane includes:

[0109] Step S1: Construct a first microphone set from M*N microphones, and use the centroid position of all microphones in the first microphone set as a reference point of the reference plane to be constructed;

[0110] Step S2: Determine the normal vector of the reference plane based on the positional relationship between each of the M*N microphones and the reference point obtained in step S1.

[0111] Specifically, constructing a first microphone set from M*N microphones, and using the centroid position of all microphones in the first microphone set as a reference point of the reference plane, can be achieved according to the following steps:

[0112] Step S101: Take the average value of the coordinates of all microphones in the M*N microphones in the X, Y and Z axes as the initial value of the centroid of the M*N microphones in the X, Y and Z axes respectively.

[0113] Step S102: Select a subset of microphones with smaller coordinate values ​​in the X-axis direction and smaller deviations from the initial value of the X-axis centroid evaluation to construct a second microphone set;

[0114] Step S103: Select a subset of microphones with smaller coordinate values ​​in the Y-axis direction and smaller deviations from the initial value of the Y-axis centroid evaluation to construct a third microphone set;

[0115] Step S104: Select a subset of microphones with smaller coordinate values ​​in the Z-axis direction and smaller deviations from the initial value of the Z-axis centroid evaluation to construct the fourth microphone set;

[0116] Step S105: Take the intersection of the second microphone set, the third microphone set, and the fourth microphone set as the first microphone set; and

[0117] Step S106: Calculate the centroid position of all microphones in the first microphone set as the reference point.

[0118] The normal vector of the reference plane can be determined based on the positional relationship between each of the M*N microphones and the reference point, which can be achieved by following these steps:

[0119] Step S201: In a three-dimensional rectangular coordinate system, construct the initial normal vector of the reference plane based on the coordinate range of all microphones in the first microphone set in the X, Y, and Z axes;

[0120] Step S202: Construct a first vector from the position of each of the M*N microphones to the coordinate position of the centroid. Calculate the first angle and the second angle between each first vector and the initial normal vector. Based on the average value of the first angle and the average value of the second angle, calibrate the initial normal vector to obtain the normal vector of the reference plane.

[0121] The following section uses the Z-coordinate of the centroid as an example to illustrate the calculation process of the centroid coordinate value.

[0122] 1. Extract the Z-coordinate label value of each microphone in the microphone array to form a set containing M*N Z-coordinates, and calculate its average value z_mean1 as the initial value of the Z-axis centroid.

[0123] 2. Calculate the absolute distances between the M*N Z-coordinate labels and z_mean1, resulting in a set of M*N centroid distances, arranged in ascending order. Select the first 80% of the centroid distance values, discarding the remaining 20%, forming a new set Dz_new, and record its maximum value Dz_max and minimum value Dz_min. The set Z_new records the original Z-coordinate labels. The purpose is to eliminate severely deviated microphone data, retaining 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 inaccuracies, requiring the extraction of data with significant deviations.

[0124] 3. For the Z-coordinate labels in the set Z_new, recalculate their average value z_mean2, which will be used as the optimized Z-axis centroid value.

[0125] For the X and Y coordinates of the centroid, x_mean2 and y_mean2 are obtained in a similar way, and finally the centroid coordinates (x_mean2, y_mean2, z_mean2) are obtained, which are used as the reference point of the reference surface and also the origin of the calibration coordinate system to be constructed.

[0126] The following describes the calculation process of the normal vector of the reference plane.

[0127] 1. Based on the maximum value Dz_max and minimum value Dz_min of the Z coordinate annotation values ​​in the set Dz_new during the above calculation of the Z coordinate of the centroid, the effective range of the Z coordinate annotation values ​​can be obtained as Dz_new = Dz_max - Dz_min;

[0128] 2. Similarly, the effective ranges of the X-coordinate annotation values ​​and the Y-coordinate annotation values ​​can be obtained as follows: Dx_new = Dx_max - Dx_min, Dy_new = Dy_max - Dy_min;

[0129] 3. Use (Dx_new, Dy_new, Dz_new) as the initial value v0 of the normal vector of the reference plane;

[0130] 4. Select the position coordinates P(x1,y1,z1) of each microphone from the M*N microphones and form a vector v1 with the above 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.

[0131] 5. Calculate the average value of all alfa1 and beta1. This average value is the angle between the initial values ​​of the normal vectors to be calibrated. Based on this, the normal vector v0_new of the reference plane after vector v0 calibration can be obtained.

[0132] At this point, a reference point for the reference plane, namely the aforementioned centroid coordinates (x_mean2, y_mean2, z_mean2), and the normal vector v0_new of the reference plane are obtained. A calibration coordinate system is constructed with the reference point as the origin and the normal vector of the reference plane as the positive Z-axis. The projected coordinates of the three microphones on the calibration coordinate system are used as the calibrated position coordinates to reduce calculation errors in locating the vibration source due to manufacturing errors of the microphone array, thereby improving the accuracy of locating the specific position of the vibration source.

[0133] Considering that the propagation loss coefficient of noise may vary due to environmental changes, this application also proposes a preferred embodiment based on the above embodiments, wherein in step 2, the distance between the vibration source and the microphone receiving the noise signal is determined according to the calibrated loss coefficient.

[0134] Specifically, the loss coefficient is calibrated by testing the noise emitted by the first and second vibration sources pre-set in the target area, and the distance between the vibration source and the microphone receiving the noise signal is calculated based on the calibrated loss coefficient.

[0135] More specifically, the distance L between the vibration source and the microphone is calculated using the following formula:

[0136] L = k * Mag, where k is the calibrated loss coefficient and Mag is the intensity of the noise signal.

[0137] The process of correcting the loss coefficient k can be as follows:

[0138] 1. As shown in Figure 5, two vibration sources P1 and P2 are set with a straight-line distance of D;

[0139] 2. First, make the vibration source P1 emit noise at a fixed frequency. The microphone array collects the noise and solves the corresponding coordinates of the vibration source P1 (x1, y1, z1) according to the transmission distance equation.

[0140] 3. Then, make the vibration source P2 emit noise of the same fixed frequency, the microphone array collects the noise, and solves the corresponding coordinates of the vibration source P2 (x2, y2, z2) according to the transmission distance equation;

[0141] 4. Calculate the transmission distance d between P1 and P2 based on the coordinates (x1, y1, z1) obtained in step S2 and the coordinates (x2, y2, z2) obtained in step S3.

[0142] 5. According to the formula k=D / d, where D is the spatial distance between P1 and P2.

[0143] The derivation process of the transmission distance equations used in steps S2 and S3 is as follows:

[0144] Select three microphones arranged in an equilateral triangle from the microphone array and label them M1, M2, and M3 respectively. Establish a three-dimensional rectangular coordinate system as shown in Figure 5 based on the positions of M1, M2, and M3. M1 is positioned at the origin of the three-dimensional rectangular coordinate system, M2 is positioned at the coordinates (S, 0, 0), and M3 is positioned at the coordinates (S, 0, 0). Location. In this three-dimensional Cartesian coordinate system, assuming the coordinates of the vibration source P are (x, y, z), the distance equation between M1 and P is established as follows: The distance equation between M2 and P is established as follows: The distance equation between M3 and P is established as follows: Combining the above distance equations, solving for (x, y, z) yields the following formula:

[0145] In some implementations, considering that the attenuation coefficient of electromagnetic noise is closely related to the frequency, the noise loss coefficient at different frequencies is also calibrated.

[0146] In some implementations, taking into account the influence of different environmental parameters such as humidity and temperature, as well as different operating parameters of industrial equipment in the target area on the loss coefficient, the loss coefficient is calibrated separately under different environmental parameters and different operating parameters of industrial equipment in the target area, and the corresponding loss coefficient is adopted according to the actual environmental parameters and equipment operating parameters when the vibration source is to be located.

[0147] Compared with the prior art, the technical advantages of this embodiment are as follows:

[0148] 1. By using two vibration source calibration devices with a fixed distance between them, the loss coefficient is calibrated, effectively eliminating the influence of environmental factors on the transmission loss of noise signals.

[0149] Two vibration sources spaced D apart sequentially generate noise at a fixed frequency. Microphones in a microphone array synchronously collect this fixed-frequency noise, and the loss coefficient between the two vibration sources is calculated, eliminating the influence of altitude, temperature, humidity, and ambient environment. The calculated loss coefficient can be used to accurately locate other noise sources of similar frequencies within the target area.

[0150] 2. The loss coefficient is calibrated separately for different influencing factors, which can be used to accurately locate noise sources in various environments.

[0151] 3. When the occurrence time of calibration noise and positioning noise is close, it is more effective in avoiding changes in the loss coefficient and making the location of the positioning noise source more accurate.

[0152] This invention provides a device for locating a vibration source using a microphone array. The vibration source is a noise source emitting industrial noise within a target area. The microphone array is a projection array of M*N microphones arranged within 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. The device includes a controller configured to: select three microphones from the microphone array based on the resulting measurement error, wherein the three microphones are not on the same straight line; acquire a first noise signal, a second noise signal, and a third noise signal received by the three selected microphones respectively; determine a first distance, a second distance, and a third distance between the vibration source and the three microphones respectively based on the intensity and loss coefficient of the first noise signal, the second noise signal, and the third noise signal; and determine the position of the vibration source based on the first distance, the second distance, the third distance, and the position coordinates of the three selected microphones.

[0153] In some implementations, three microphones are selected from the microphone array, including:

[0154] Multiple times, three different microphones are randomly selected, and the area of ​​the reference triangle formed by the three selected microphones is calculated each time.

[0155] Compare the areas of the baseline triangles obtained each time, and select the three microphones corresponding to the triangles with the largest areas.

[0156] In some implementations, three microphones are selected from the microphone array, including:

[0157] From M*N microphones, three microphones are randomly selected to construct a reference triangle, resulting in... A different reference triangle;

[0158] Calculated The area of ​​each of the reference triangles is selected, and three microphones are constructed from the larger portion of the reference triangles.

[0159] In some implementations, the controller is further configured to: determine a reference plane based on the center-of-gravity distribution of the M*N microphones before calculating the position of the vibration source based on the position coordinates of the selected microphones, and calibrate the position coordinates of the three selected microphones using the determined reference plane to reduce calculation errors caused by microphone installation deviations.

[0160] Based on the centroid distribution of M*N microphones, a reference plane is determined, including:

[0161] Construct a first microphone set from M*N microphones, and use the centroid position of all microphones in the first microphone set as a reference point of the reference plane;

[0162] The normal vector of the reference plane is determined based on the positional relationship between each of the M*N microphones and the reference point.

[0163] In some implementations, calibrating the position coordinates of the selected three microphones using the determined reference plane includes:

[0164] 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.

[0165] The projected coordinates of the three microphones on the calibration coordinate system are used as the calibrated position coordinates.

[0166] In some implementations, the controller is also configured to calibrate the loss coefficient by using test noise emitted by a first and a second vibration source pre-set within the target area before calculating the location of the vibration source based on the loss coefficient, in order to overcome the influence of environmental factors on the calculation results.

[0167] The test noise emitted by the first and second vibration sources is used to calibrate the loss coefficient, including:

[0168] The test noise at a preset frequency is emitted by the first vibration source, and the test noise is received synchronously by the microphone array. The first position coordinates of the first vibration source are calculated according to the transmission distance equation.

[0169] The test noise at a preset frequency is emitted by the second vibration source, and the test noise is received synchronously by the microphone array. The second position coordinates of the second vibration source are calculated according to the transmission distance equation.

[0170] The transmission distance between the first vibration source and the second vibration source is calculated based on the first and second position coordinates. The loss coefficient is the ratio of the transmission distance to the spatial distance between the first and second vibration sources.

[0171] In some implementations, the controller is also configured to calibrate the loss coefficient under different environmental parameters and different operating parameters of industrial equipment in the target area, and to adopt the corresponding loss coefficient based on the actual environmental parameters and equipment operating parameters when the vibration source is to be located.

[0172] This invention provides a device for locating vibration sources using a microphone array, comprising 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 achieve the corresponding function.

[0173] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured; adjusting kernel parameters can be used to locate the vibration source or determine if there are any abnormalities in industrial equipment.

[0174] The memory may include non-permanent memory in computer-readable media, such as 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.

[0175] This invention provides a method for overhauling industrial equipment, comprising the following steps:

[0176] First, the location of industrial noise emitted from the surface of industrial equipment is tracked and located using the method of locating vibration sources via microphone array as described in this application, and the time point at which the industrial noise occurs and the actual operating parameters of the industrial equipment at that time point are recorded.

[0177] Then, the expected operating parameters of the industrial equipment at each time point are compared with the actual operating parameters to determine whether there are any abnormalities in the industrial equipment.

[0178] In some embodiments, the maintenance method for the industrial equipment further includes: if an abnormality is determined, 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 the vibration intensity.

[0179] This invention provides a processor configured to: execute the method of locating a vibration source using a microphone array as described in this application, or execute the maintenance method for industrial equipment as described in this application.

[0180] This invention provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to: perform the method of locating a vibration source using a microphone array as described in this application, or perform the maintenance method for industrial equipment as described in this application.

[0181] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the method steps for locating a vibration source using a microphone array as described in this application, or it implements the maintenance method steps for industrial equipment as described in this application. The device described herein can be a server, PC, PAD, mobile phone, etc.

[0182] This application also provides a computer program product that, when executed on a data processing device, is suitable for executing a program that initializes the method steps of locating a vibration source via a microphone array or the maintenance method steps of industrial equipment as described in this application.

[0183] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0184] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0185] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0186] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0187] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0188] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0189] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0190] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0191] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method of locating a source of vibration by an array of microphones, wherein, The vibration source is a noise source emitting industrial noise within the target area, and the microphone array is a projection array of M*N microphones arranged within 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. The feature is that it includes: Based on the resulting calculation and / or measurement errors, three microphones are selected from the microphone array, wherein the three microphones are not on the same straight line; Acquire the first noise signal, the second noise signal, and the third noise signal received through the three selected microphones, respectively; Based on the intensity and loss coefficient of the first noise signal, the second noise signal, and the third noise signal, determine the first distance, the second distance, and the third distance between the vibration source and the three microphones, respectively; and The location of the vibration source is determined based on the first distance, the second distance, the third distance, and the position coordinates of the three selected microphones.

2. The method of locating a source of vibrations by an array of microphones according to claim 1, wherein, The step of selecting three microphones from the microphone array includes: Multiple times, three different microphones are randomly selected, and the area of ​​the reference triangle formed by the three selected microphones is calculated each time. Compare the areas of the baseline triangles obtained each time, and select the three microphones corresponding to the triangles with the largest areas.

3. The method of localizing a source of vibration by an array of microphones of claim 2, wherein, The step of selecting three microphones from the microphone array includes: Randomly select three microphones from the M*N microphones to form the reference triangle, and a total of A different reference triangle; and calculated The area of ​​each of the reference triangles is selected, and three microphones are constructed from the larger portion of the reference triangles. Preferably, the larger portion of the reference triangles is the top 30% of the reference triangles with the largest areas.

4. The method of locating a source of vibration by an array of microphones of claim 1, wherein, Based on the centroid distribution of the M*N microphones, a reference plane is determined, and the position coordinates of the selected three microphones are calibrated using the determined reference plane.

5. The method of localizing a source of vibration by an array of microphones of claim 4, wherein, The step of determining a reference plane based on the centroid distribution of the M*N microphones includes: In a three-dimensional Cartesian coordinate system, the following steps are used to construct a first microphone set from the M*N microphones, and the centroid position of all microphones in the first microphone set is used as a reference point of the reference plane: The average values ​​of the coordinates of all microphones in the M*N microphones in the X, Y, and Z axes are respectively used as the initial values ​​of the X-axis centroid, Y-axis centroid, and Z-axis centroid of the M*N microphones. A second microphone set is constructed by selecting a subset of microphones whose coordinate values ​​in the X-axis direction are smaller and whose deviations from the initial value of the X-axis centroid evaluation are smaller. A third microphone set is constructed by selecting a subset of microphones whose coordinate values ​​in the Y-axis direction are smaller and whose deviations from the initial value of the Y-axis centroid evaluation are smaller. A fourth microphone set is constructed by selecting a subset of microphones with smaller coordinate values ​​along the Z-axis and smaller deviations from the initial value of the Z-axis centroid evaluation; and The intersection of the second microphone set, the third microphone set, and the fourth microphone set is taken as the first microphone set. In a three-dimensional rectangular coordinate system, the normal vector of the reference plane is determined using the following steps: The initial normal vector of the reference plane is constructed based on the coordinate range of all microphones in the first microphone set in the X, Y, and Z axes. Construct a first vector from the position of each of the M*N microphones to the coordinate position of the centroid. Calculate the first angle and the second angle between each first vector and the initial normal vector. Then, calibrate the initial normal vector based on the average value of the first angle and the average value of the second angle to obtain the normal vector of the reference plane.

6. The method of localizing a source of vibration by an array of microphones of claim 5, wherein, The calibration of the position coordinates of the selected three microphones using the determined reference plane includes: 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 projected coordinates of the positions of the three microphones on the calibration coordinate system are used as the calibrated position coordinates.

7. The method of locating a source of vibrations by an array of microphones of claim 1, wherein, Also includes: The loss coefficient is calibrated using test noise emitted by a first and second vibration source pre-set within the target area, and the first, second, and third distances between the vibration source to be located and the three microphones are determined based on the calibrated loss coefficient; and / or The loss coefficients are calibrated under different environmental parameters and different operating parameters of industrial equipment in the target area, and the corresponding loss coefficients are adopted according to the actual environmental parameters and equipment operating parameters when the vibration source is to be located.

8. The method of localizing a source of vibration by an array of microphones of claim 7, wherein, The calibration of the loss coefficient using test noise emitted by a first vibration source and a second vibration source pre-set within the target area includes: The first vibration source emits test noise at a preset frequency, the microphone array synchronously receives the test noise, and the first position coordinates of the first vibration source are calculated based on the intensity of the received noise signal. The second vibration source emits test noise at a preset frequency, the microphone array synchronously receives the test noise, and the second position coordinates of the second vibration source are calculated based on the intensity of the received noise signal. The transmission distance between the first vibration source and the second vibration source is calculated based on the first and second position coordinates. The loss coefficient is the ratio of the transmission distance to the spatial distance between the first and second vibration sources. Preferably, calculating the first position coordinates of the first vibration source according to the transmission distance equation includes: Three microphones arranged in an equilateral triangle are selected from the microphone array and labeled M1, M2, and M3 respectively. A three-dimensional rectangular coordinate system is set up according to the positions of M1, M2, and M3. M1 is set at the origin of the three-dimensional rectangular coordinate system, M2 is set at the coordinates (S, 0, 0) of the three-dimensional rectangular coordinate system, and M3 is set at the coordinates (S, 0, 0) of the three-dimensional rectangular coordinate system. Location; calculating a three-dimensional coordinate representation of the first vibration source according to the transmission distance equation is expressed as: Where L1 = k × Mag1, L2 = k × Mag2, L3 = k × Mag3; L1, L2, and L3 are the transmission distances between M1, M2, and M3 and the first vibration source, respectively. Mag1, Mag2, and Mag3 are the signal amplitudes of the first noise signal, the second noise signal, and the third noise signal, respectively.

9. An apparatus for locating a source of vibration by an array of microphones, wherein, The vibration source is a noise source emitting industrial noise within the target area. The microphone array is a projection array of M*N microphones arranged within 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. The feature is that it includes a controller. The controller is configured as follows: Based on the resulting calculation and / or measurement errors, three microphones are selected from the microphone array, wherein the three microphones are not on the same straight line; Acquire the first noise signal, the second noise signal, and the third noise signal received through the three selected microphones, respectively; Based on the intensity and loss coefficient of the first noise signal, the second noise signal, and the third noise signal, determine the first distance, the second distance, and the third distance between the vibration source and the three microphones, respectively; and The location of the vibration source is determined based on the first distance, the second distance, the third distance, and the position coordinates of the three selected microphones.

10. The apparatus for locating a source of vibration by an array of microphones of claim 9, wherein, The controller is also configured to: Based on the centroid distribution of the M*N microphones, a reference plane is determined, and the position coordinates of the selected three microphones are calibrated using the determined reference plane. Preferably, the loss coefficient is calibrated by test noise emitted by the first and second vibration sources pre-set in the target area, and the first, second, and third distances between the vibration source to be located and the three microphones are determined according to the calibrated loss coefficient.

11. The apparatus for locating a source of vibration by an array of microphones of claim 9, wherein, The step of selecting three microphones from the microphone array includes: Multiple times, three different microphones are randomly selected, and the area of ​​the reference triangle formed by the three selected microphones is calculated each time. Compare the areas of the baseline triangles obtained each time, and select the three microphones corresponding to the triangles with the largest areas.

12. The apparatus for locating a source of vibration by an array of microphones of claim 11, wherein, The step of selecting three microphones from the microphone array includes: Randomly select three microphones from the M*N microphones to form the reference triangle, and a total of A different reference triangle; and calculated The area of ​​each of the reference triangles is selected, and three microphones are constructed from the larger portion of the reference triangles. Preferably, the larger portion of the reference triangles is the top 30% of the reference triangles with the largest areas.

13. The apparatus for locating a source of vibration by an array of microphones of claim 10, wherein, The step of determining a reference plane based on the centroid distribution of the M*N microphones includes: In a three-dimensional Cartesian coordinate system, the following steps are used to construct a first microphone set from the M*N microphones, and the centroid position of all microphones in the first microphone set is used as a reference point of the reference plane: The average values ​​of the coordinates of all microphones in the M*N microphones in the X, Y, and Z axes are respectively used as the initial values ​​of the X-axis centroid, Y-axis centroid, and Z-axis centroid of the M*N microphones. A second microphone set is constructed by selecting a subset of microphones whose coordinate values ​​in the X-axis direction are smaller and whose deviations from the initial value of the X-axis centroid evaluation are smaller. A third microphone set is constructed by selecting a subset of microphones whose coordinate values ​​in the Y-axis direction are smaller and whose deviations from the initial value of the Y-axis centroid evaluation are smaller. A fourth microphone set is constructed by selecting a subset of microphones with smaller coordinate values ​​along the Z-axis and smaller deviations from the initial value of the Z-axis centroid evaluation; and The intersection of the second microphone set, the third microphone set, and the fourth microphone set is taken as the first microphone set. In a three-dimensional rectangular coordinate system, the normal vector of the reference plane is determined using the following steps: The initial normal vector of the reference plane is constructed based on the coordinate range of all microphones in the first microphone set in the X, Y, and Z axes. Construct a first vector from the position of each of the M*N microphones to the coordinate position of the centroid. Calculate the first angle and the second angle between each first vector and the initial normal vector. Then, calibrate the initial normal vector based on the average value of the first angle and the average value of the second angle to obtain the normal vector of the reference plane.

14. The apparatus for locating a source of vibration by an array of microphones of claim 13, wherein, The calibration of the position coordinates of the selected three microphones using the determined reference plane includes: 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 projected coordinates of the positions of the three microphones on the calibration coordinate system are used as the calibrated position coordinates.

15. The apparatus for locating a source of vibration by an array of microphones of claim 10, wherein, The calibration of the loss coefficient using test noise emitted by a first vibration source and a second vibration source pre-set within the target area includes: The test noise at a preset frequency is emitted by the first vibration source, the test noise is received synchronously by the microphone array, and the first position coordinates of the first vibration source are calculated according to the transmission distance equation. The second vibration source emits test noise at a preset frequency, which is synchronously received by the microphone array, and the second position coordinates of the second vibration source are calculated according to the transmission distance equation. The transmission distance between the first vibration source and the second vibration source is calculated based on the first and second position coordinates. The loss coefficient is the ratio of the transmission distance to the spatial distance between the first vibration source and the second vibration source.

16. The apparatus for locating a source of vibration by an array of microphones of claim 15, wherein, The controller is also configured to calibrate the loss coefficient under different environmental parameters and different operating parameters of industrial equipment in the target area, and to adopt the corresponding loss coefficient according to the actual environmental parameters and equipment operating parameters when the vibration source is to be located.

17. A method for overhauling industrial equipment, characterized in that, The method of locating vibration sources by microphone array as described in any one of claims 1-8 is used to track and locate the location of industrial noise emitted from the surface of the industrial equipment, and to record the time point at which the industrial noise occurs and the actual operating parameters of the industrial equipment at the time point. By comparing the expected operating parameters of the industrial equipment with the actual operating parameters at the specified time point, it can be determined whether the industrial equipment exhibits any abnormalities. Preferably, the maintenance method for the industrial equipment further includes: if an abnormality is determined, determining the severity of the abnormality and a maintenance plan based on the location of the vibration source emitting the industrial noise and the change in vibration intensity.

18. A processor, comprising: It is configured to: perform the method of locating a vibration source by means of a microphone array as described in any one of claims 1 to 8, or perform the maintenance method of industrial equipment as described in claim 17.

19. A machine-readable storage medium having stored thereon instructions, the instructions being executable by a machine to cause the machine to: When executed by the processor, the instruction causes the processor to be configured to: perform the method of locating a vibration source by means of a microphone array as described in any one of claims 1 to 8, or perform the maintenance method of industrial equipment as described in claim 17.

20. A computer program product comprising a computer program, characterized in that, The computer program, when executed by a processor, implements the method of locating a vibration source by a microphone array according to any one of claims 1 to 8, or implements the method of overhauling an industrial device according to claim 17.

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