215 results about "Acoustic array" patented technology

The invention relates to the field of civil engineering structure health monitoring, in particular to a subsea tunnel damage intelligent monitoring and identification method based on acousto-optic collaborative perception. The method sequentially comprises the steps of deploying a three-dimensional acousto-optic sensing network, actively detecting sound waves, reconstructing a local sound velocity distribution cloud picture, identifying a sound velocity abnormal region, performing optical fiber response focusing sampling and establishing an intelligent damage diagnosis model. According to the method, the three-dimensional acoustic array and the distributed optical fiber grid are simultaneously deployed in the subsea tunnel structure, functional complementation is realized between the three-dimensional acoustic array and the distributed optical fiber grid, seamless cooperative sensing of crack coarse positioning and strain fine positioning is further realized, acoustic active detection, trigger type optical fiber high-frequency sampling and a temperature-strain decoupling algorithm are adopted, and the positioning precision of the subsea tunnel structure is improved. Seawater noise and thermal expansion interference are effectively eliminated, 'dry cracks' and'water seepage cracks' are accurately distinguished, real-time monitoring is carried out on a subsea tunnel structure, whole-process identification of micro-damage-expansion-failure is achieved, and an active early warning mechanism is established.

The invention provides an acoustic array adaptive calibration correction system applied to an underwater moving target, which relates to the technical field of marine equipment and comprises a multi-source excitation and environment perception module, an intelligent array perception and diagnosis module, an adaptive position inversion and uncertainty quantification module and a closed-loop calibration execution and self-learning optimization module. The multi-source excitation and environment perception module is responsible for providing reference signals required by calibration and establishing a correlation model of environment and formation distortion, and the intelligent array perception and diagnosis module realizes multi-modal data acquisition, array element health state monitoring and formation geometry self-perception. The adaptive position inversion and uncertainty quantization module completes signal processing, position estimation and error quantization propagation, and the closed-loop calibration execution and self-learning optimization module executes a compensation strategy, verifies a calibration effect and continuously optimizes system performance through online learning; the system solves the problem that a traditional method cannot process environment time varying, multi-sensor conflicts and uncertainty quantization.

The invention relates to the technical field of cast-in-place pile detection, and discloses a cast-in-place pile integrity detection system based on a multi-mode ultrasonic array, and the system comprises a deformable multi-mode ultrasonic probe which is used for adaptively adjusting the posture through an intelligent material driver; the intelligent coupling injection module is used for automatically cleaning the inner wall of an internal channel of the cast-in-place pile; the multi-source data processing module is used for receiving the original ultrasonic waveform data and the real-time position information of the ultrasonic probe; the deep learning recognition module is used for generating a recognition result including defect categories and preliminary features; the defect positioning and evaluating module is used for constructing a defect model comprising defect space coordinates, geometric dimensions and severity parameters; and the diagnosis decision module is used for providing targeted repair suggestions. The ultrasonic signals are transmitted and received through the integrated longitudinal wave transducer, the transverse wave transducer and the Rayleigh wave transducer, the internal structure information of the pile body is obtained, in this way, the ultrasonic beam coverage range is expanded, and the detection blind area of the area between the sounding pipes in a traditional method is effectively made up.

The invention provides an ultrasonic array full-focusing detection scheme design method and device, and belongs to the field of zirconium alloy welding seam detection. The method comprises the steps that zirconium alloy welding seam microscopic data are obtained, and the correlation between the microscopic data and the anisotropy of the zirconium alloy welding seam is obtained; establishing an ultrasonic propagation simulation model in the zirconium alloy welding seam; establishing a zirconium alloy welding seam simulation test block; determining an ultrasonic detection range; calculating a first incident angle range and configuration parameters of the ultrasonic array; simulating the sound velocity change of the ultrasonic waves of which the incidence angles are distributed in the incidence angle range in the zirconium alloy welding seam simulation test block, and outputting an optimal sound velocity value; calculating the optimal incidence angle of the ultrasonic array in the incidence angle range; constructing an ultrasonic array based on the configuration parameters, and performing full-focusing imaging on the constructed ultrasonic array according to the optimal incident angle; and detecting defects in the zirconium alloy weld joint based on a full-focusing imaging result. The defect type identification precision and the defect position positioning precision can be improved.

The invention relates to the technical field of bag type dust collector filter bag abrasion detection, in particular to a filter bag damage non-contact detection method and system based on acoustic array positioning. The method comprises the following steps: arranging an acoustic sensor array in an air purification chamber of the dust remover, and collecting acoustic signals in real time; after band-pass filtering is carried out on the signals, feature vectors of the signals are extracted and matched with a pre-established acoustic fingerprint database, so that a filter bag damage event is recognized; after identification, based on the time difference of arrival of the signal to at least three sensors in the array, combining the coordinates of the sensors and the sound velocity, and utilizing a TDOA positioning algorithm to calculate the space coordinates of the damaged sound source; and finally, matching the coordinates with a pre-stored filter bag coordinate mapping table, determining the number of a specific damaged filter bag, and performing visual highlight marking on a pattern board plane layout of an application layer terminal. The online, real-time, automatic and accurate positioning of the damaged filter bag is realized, the problem that the prior art can only give an alarm but cannot position is solved, and the operation and maintenance efficiency and safety are improved.

The invention provides a karst cave group detection method and device in shield construction, and the method achieves the comprehensive detection of karst caves through a transient electromagnetic and sound wave array composite wave field detection mode, and improves the detection accuracy and detection efficiency of the karst cave group. And feature extraction is performed on the composite wave field detection data through a cross-physical coupling model, a karst cave probability model is established, and quantitative evaluation of a karst cave detection result is realized. When the karst cave possibly exists in the construction direction of the shield tunneling machine, the distribution prediction direction of the karst cave is further determined, and the shield tunneling machine is prevented from entering the karst cave area blindly in the tunneling process. Through the multi-source sensing array carried on the shield tunneling machine, equipment parameters during operation of the shield tunneling machine are collected in real time, potential construction anomalies can be found easily, and the accuracy and timeliness of karst cave detection are improved. Combined analysis is carried out on the composite wave field detection data and the operation parameters of the shield tunneling machine through the risk assessment model, a karst cave risk prediction value is determined, and the accuracy of karst cave risk assessment is improved.

A directed energy firefighting device is disclosed to extinguish fires with light, comprising a structured light generator and a directed energy controller for detecting and extinguishing fires remotely and at the speed of light. The device employs structured directed light energy capable of inducing atmospheric avalanche breakdown, generating at least one of sound waves and shockwaves, and dynamically forming space-time acoustic arrays for precise fire suppression. The system may integrate one or more energy sources, including gyrotrons, traveling wave tubes, klystrons, free electron lasers, and others, to produce diffraction-resistant and dynamically structured beams that penetrate through the atmospheric and non-metalic solid physical obstructions. Key features also may include safety mechanisms and artificial intelligence for real-time optimization. Other applications include power beaming, environmental monitoring, medicine, disaster response, and orbital debris clearing are also discussed. A key feature is the ability for arbitrary manipulation of light over large areas.

The invention discloses an automatic charging processing method and device for a charging robot, and relates to the technical field of robot energy management, and the method comprises the following steps: constructing an acoustic array, collecting high-frequency background sound wave signals in a working area of the charging robot in real time, and extracting sound spectrum energy distribution; and identifying an interference frequency band coinciding with the working frequency of the ultrasonic sensor, and calculating the intensity level of the interference frequency band according to the sound spectrum energy intensity and the duration time in the interference frequency band. According to the method, a closed-loop system of interference perception-risk assessment-control response is constructed, and dynamic adjustment of perception confidence and output of blindness risk indexes are realized through multi-modal identification consistency analysis and historical deviation tracking. Once the threshold value is exceeded, the system executes frequency hopping and strategy optimization, frequency band shielding is effectively avoided, the sensing stability, path accuracy and operation safety of the charging robot in the sound interference environment are improved, and good application prospects are achieved.

The invention relates to the field of underwater sound signal processing, in particular to an underwater DOA (direction of arrival) estimation method based on graph nerves and a convolutional neural network, which comprises the following steps: 1, establishing a linear array, and enabling narrow-band signals to simultaneously reach an underwater sound array; 2, performing signal preprocessing to obtain a signal covariance matrix, and performing normalization processing; 3, extracting correlation between array elements and spatial features of array signals, and performing data supplementation on sparse linear array information; 4, forming a double-branch structure, enhancing the information aggregation capability, and extracting features from a space path and a time domain path; and 5, constructing an adjacent matrix, filling node features of damaged array elements, adopting a double-branch structure, extracting spatial features and time domain features, carrying out feature integration, and outputting a DOA estimation result. The spatial correlation between array elements is extracted and the array sparsity problem is processed by using the graph neural network, and the time domain features of the signals are extracted in combination with the convolutional neural network, so that more accurate and more robust DOA estimation can be realized under the conditions of low signal-to-noise ratio and array sparsity.

The invention relates to the technical field of intelligent control of double-drum washing machines, and discloses an intelligent control system of an energy-saving double-drum washing machine, which comprises a hardware execution unit used for providing multi-mode sensing, accurate liquid management, mechanical execution and energy recovery functions; the control processing unit is used for processing the received data, operating an algorithm and coordinating the operation of each component of the system; the cooperative control software module runs on the main control board and comprises an acoustic fingerprint identification and fault diagnosis module and an intelligent fluid precise counterweight and cooling module; an AI-driven collaborative decision and adaptive optimization module; the invention discloses a micro heat pump energy recovery and precise temperature control linkage module. By means of the high-sensitivity acoustic array sensor and the acoustic fingerprint recognition and fault diagnosis module, clothes imbalance is recognized, point-to-point liquid balance weight is achieved by means of the micro-fluidic spraying valve array, the optimal dehydration cooperative scheduling strategy is generated, water and electricity resources are greatly saved, and the dehydration efficiency is improved.

The invention provides a boiler heating surface pipe wall leakage detection method, and belongs to the technical field of industrial intelligent detection based on machine learning. According to the method, a heterogeneous sensing architecture combining adaptive signal decomposition optimized by an improved sparrow search algorithm and acoustic array positioning corrected by a physical field is adopted, and complementary features are extracted from time domain statistical features and a frequency domain energy spectrum through a specially designed double-flow space-time attention fusion neural network; therefore, the weak leakage signals in the strong noise environment can be captured and identified. Based on an identification result, a hearth three-dimensional temperature field distribution model is used for carrying out gridding correction on a sound wave propagation path, a nonlinear positioning equation set is constructed, and three-dimensional space sub-m-level accurate positioning of a leakage sound source is realized without manual intervention; the problems of false alarm and missing alarm caused by background noise interference and positioning deviation caused by temperature gradient in traditional acoustic monitoring are thoroughly solved.

Disclosed in the present invention are a wide-angle scanning imaging device, method and system. The device comprises a sonar probe and a device body. The sonar probe comprises an acoustic array and a transceiving processing module. The acoustic array comprises a transmitting array and a receiving array. The transmitting array comprises a group of transmitting transducers. Maximum response axes of the transmitting transducers are distributed in the vertical direction according to preset tilt angles, and a plurality of transmitted beams of the transmitting transducers form wide-angle coverage in the vertical direction. The receiving array performs resolution in the horizontal direction by means of beamforming, and vertical orientations of echoes are estimated by means of double-array output phase differences. The acoustic array performs rotational motion along the central axis of the device body. The transmitting array transmits broadband orthogonal pulses according to a preset period, the receiving array receives echo signals, and the transceiving processing module processes the echo signals according to the central frequency of the transmitted pulses of the transmitting array to obtain an underwater target imaging result. The present invention reduces the impact of underwater multipath interference and the like on phase estimation and improves the 3D imaging quality.

The invention discloses an audio-visual fusion unmanned aerial vehicle detection and positioning method, and belongs to the technical field of unmanned aerial vehicle detection and positioning, and the method comprises the steps: collecting sound signals of a detection region through a sound array, obtaining the local strongest direction of the sound signals, and forming an unmanned aerial vehicle candidate direction set; signals of candidate orientations of all unmanned aerial vehicles are directionally received, whether the unmanned aerial vehicles exist in the candidate orientations or not is judged through the unmanned aerial vehicle sound signal anomaly detector based on deep learning and the unmanned aerial vehicle image target detector based on deep learning, and an unmanned aerial vehicle orientation set is obtained; acquiring an image of a detection area through a binocular camera to obtain a depth image of a reference camera visual angle; uniquely corresponding the orientation of the unmanned aerial vehicle to the determined position of the depth image, and taking the depth value of the position as the distance of the unmanned aerial vehicle; and combining the unmanned aerial vehicle azimuth and the unmanned aerial vehicle distance to obtain three-dimensional coordinates of the unmanned aerial vehicle. The unmanned aerial vehicle can be identified and positioned by adopting an audio-visual fusion method.

The invention discloses a phase shift migration-based ultrasonic array imaging method for defects in a steel ingot, which comprises the following steps of: performing two-dimensional Fourier transform on full-matrix time domain data obtained by ultrasonic array detection of the steel ingot to obtain a two-dimensional frequency spectrum of the full-matrix data, and establishing a relationship between a transmitting sound field and a receiving sound field; and gradually extrapolating the sound field through a phase shift factor in the depth direction, recovering a time domain sound field signal through two-dimensional inverse Fourier transform, and obtaining a focusing imaging result in the steel ingot according to the correlation between the transmitted sound field and the received sound field. The method has the characteristics that the image resolution is improved, the method adapts to sound velocity change in a complex medium, complex calculation is not needed, and the calculation efficiency is high.

The invention belongs to the technical field of geophysical logging, and relates to a dipole shear wave velocity extraction method and system, and the method comprises the steps: processing obtained sound wave array waveform data of a target well section, and obtaining a frequency dispersion energy spectrum; frequency dispersion points in the frequency dispersion energy spectrum are extracted, clustered and screened to obtain a frequency dispersion point set; extracting an area of which the energy value is greater than a set energy threshold value in the frequency dispersion energy spectrum and processing the area into a frequency dispersion spectrum weight matrix; inputting the determined stratum and well hole parameters to be inverted into a pre-constructed frequency dispersion curve forward model to obtain a theoretical frequency dispersion curve; for each depth point, a joint error function is calculated based on the frequency dispersion point set, the frequency dispersion spectrum weight matrix and the theoretical frequency dispersion curve, and the shear wave speed contained in the stratum with the minimum joint error function and the well hole parameters serves as the shear wave speed of the current depth point; and arranging the shear wave velocity corresponding to each depth point of the target logging well section according to the depth to obtain a continuous stratum shear wave velocity profile. According to the invention, the dipole shear wave velocity can be rapidly and accurately obtained.

The invention relates to the technical field of ocean engineering monitoring and underwater acoustic sensing, in particular to an underwater engineering structure anomaly detection and positioning method based on a subsurface buoy acoustic array. Comprising the following steps: establishing an equivalent coupling sound propagation model; a subsurface buoy system is arranged in a water body area above an underwater engineering structure, an acoustic receiving array is fixedly arranged on the subsurface buoy system, and time synchronization, array element space position calibration and channel gain calibration are carried out on the acoustic receiving array; when an abnormal acoustic event with a spatial consistent propagation characteristic is detected, the acoustic receiving array enters an enhanced working mode and outputs a multi-channel enhanced acoustic signal; and in the enhanced working mode, outputting a judgment result of whether an abnormal acoustic event occurs or not, and solving to obtain a position estimation value of the abnormal event in the axial direction of the structure and a corresponding positioning confidence interval. The method is suitable for online anomaly monitoring and accurate positioning of an underwater linear engineering structure with a known space trend in a complex marine environment.

The invention discloses a small surveying and mapping blind area double-frequency synthetic aperture underwater acoustic imaging system and method, and the system comprises a double-frequency acoustic array, a multi-channel transmitting and receiving machine, a double-frequency synthetic aperture imaging signal processing module, a double-frequency image fusion imaging module, and a high-frequency acoustic array and a low-frequency acoustic array for synchronous transmission. The high-frequency acoustic array transmits and receives high-frequency chirp signals to detect a short-range to medium-range area of a target area, the low-frequency acoustic array transmits and receives low-frequency chirp signals to detect a medium-range to remote area of the target area, and the beam opening angle of the high-frequency acoustic array is larger than that of the low-frequency acoustic array; and an overlapping region exists between the detection regions of the high-frequency acoustic array and the low-frequency acoustic array. According to the invention, the dual-frequency wave beams emitted by the dual-frequency acoustic array are used for cooperative detection to cover a larger surveying and mapping range, and the structural parameter optimization of the acoustic array is combined, so that the blind area is controlled within the minimum range acceptable by engineering on the premise of ensuring the remote high resolution, and the balance between the detection efficiency and the technical feasibility is realized.

An underwater tightly-coupled navigation method for SINS / DVL / USBL based on centralized filtering, the method comprising the following steps: (1) Select the state variables of the SINS / DVL / USBL navigation algorithm and construct the state equation of centralized filtering; (2) Convert and calculate the original beam frequency shift information in the DVL coordinate system according to the carrier velocity information output by the SINS, and convert and calculate the angle measurement information and slant range information in the USBL acoustic array coordinate system according to the carrier position information and the position information of the transponder; (3) Construct the SINS / DVL tightly-coupled measurement equation based on frequency shift measurement and the SINS / USBL tightly-coupled measurement equation based on relative measurement information; (4) Design the DVL and USBL fault detection and processing mechanisms, and design to isolate the DVL and USBL fault data. The present invention provides an underwater navigation algorithm for SINS / DVL / USBL based on centralized filtering, which can effectively solve the accuracy loss caused by the failure of DVL or USBL data during the navigation and positioning process, and improve the underwater positioning accuracy.

The invention discloses a mural hollowing area intelligent detection method based on a sound wave array. The method comprises the following steps that the sound wave array is arranged to emit set sound waves, and signals are collected, calibrated and preprocessed; inputting a multi-branch convolution unit of the improved ConvTransform, and executing multi-scale convolution extraction and feature fusion; inputting a residual error convolution unit, and executing convolution transformation, residual error connection and channel weighting processing; inputting a time sequence perception self-attention module, and executing multi-head time sequence attention modeling under causal constraints; inputting the data into a multi-layer nonlinear mapping module, and executing full-connection operation, nonlinear mapping and normalization processing; calculating a classification probability, and determining a category index; and generating a spatial distribution diagram and outputting the spatial distribution diagram to a detection terminal by combining an array layout information mapping judgment result. The mural hollowing detection is realized by using the sound wave array and the improved ConvTransform, and the mural hollowing detection method has the advantages of high precision, accurate positioning and visual result.

An attachable endoscope assembly is disclosed herein. The attachable endoscope assembly can include an attachment component, an ultrasound assembly housing configured to selectively couple an ultrasound array to the attachable endoscope assembly, and a neck coupling the attachment component to the ultrasound assembly housing. The neck can include a guide configured to receive an instrument as it traverses out of an lumen of the endoscope and direct the instrument into a field-of-view of the ultrasound array when coupled to the ultrasound assembly housing, and a first pivot point including a first modulus of elasticity configured to move the ultrasound assembly housing between a relaxed position and a stressed position in response to a resultant force applied by the instrument when the instrument is received by the guide.

The invention relates to the technical field of ultrasound, in particular to an ultrasonic phased array sparse arraying method. Comprising the following steps: firstly, constructing a planar rectangular ultrasonic array model and determining basic parameters; setting a fitness function by taking a minimum maximum sidelobe level (MSLL) as an optimization criterion; secondly, introducing a tent chaotic mapping-good point set mixing method to obtain a classical solution population; a quantum bit coding strategy is introduced in the coding stage, individuals in the population are expressed as quantum bits, a standard NOA strategy is executed on the classical solution population to update the population, then the update quantity is synchronized to the quantum bits, and finally a new generation of classical solution population is generated through quantum rotation and collapse operation and the fitness is evaluated; integrating a covariance matrix adaptive evolution strategy (CMA-ES) in the optimization iteration process, and dynamically adjusting the shape, direction and step length of search distribution; and finally updating the global optimum. According to the method, the array element distribution of the sparse array is optimized through the multi-strategy fusion ENOA algorithm, the peak side lobe level of the array can be remarkably reduced, the anti-interference capability and precision of target detection are improved, and meanwhile, the hardware cost of the array is reduced.

The invention proposes a novel steam pipeline leakage detection method based on the fusion of an acoustic array and a temperature measurement camera, and the method comprises the following steps: synchronously collecting an acoustic signal, a temperature image and a visible light image, carrying out the preprocessing and wave beam forming of the acoustic signal, obtaining an acoustic energy diagram, carrying out the thermal anomaly detection of the temperature image, and obtaining a detection result. Geometric registration is carried out on the acoustic energy diagram and the temperature image; beam forming is restrained by using the thermal anomaly mask; a sidelobe-restrained acoustic energy diagram is generated; multi-source evidence fusion is carried out on the sidelobe-restrained acoustic energy diagram and the thermal anomaly mask to obtain a leakage probability diagram; and finally, displaying a superposition result and receiving user interaction. According to the invention, through fusion of multiple devices such as the acoustic array and the temperature measurement camera, accurate detection and stable tracking of steam pipeline leakage are realized, and the method has important application prospects and technical significance.

The invention discloses a weak fault sound source monitoring and early warning method based on deep learning and an acoustic array, and belongs to the technical field of equipment state monitoring and fault diagnosis. In order to solve the problem of early fault detection caused by easy submergence of weak fault voiceprint signals, incomplete feature extraction and scarcity of fault samples in a strong noise environment, the method comprises the following steps: collecting multichannel signals through an acoustic array, establishing a dynamic noise baseline by adopting a Gaussian mixture model, and performing noise suppression in combination with a spectral subtraction method; extracting a composite feature vector containing time domain, frequency domain and time-frequency domain features; and carrying out fault identification by using the pre-trained and fine-tuned transfer learning model, and finally outputting an early warning according to an identification result. The method is suitable for online monitoring and early warning of early weak faults of industrial equipment.

The invention discloses a self-adaptive directional sound control method and system based on a multi-loudspeaker array. The method comprises the following steps: constructing an acoustic array by utilizing a plurality of loudspeakers distributed in different directions in the mobile terminal, performing single side band up-conversion processing on an audio signal, performing digital beam forming according to a target direction, and generating a plurality of paths of driving signals with phase difference and time delay difference, thereby forming a high-directivity sound field in a space. The system collects sound field feedback signals through a built-in microphone, and adopts a minimum mean square algorithm to adjust beam parameters in real time so as to compensate for terminal attitude, shielding and environmental noise changes and realize stable directional output of a sound field. The system further comprises a parameter library and sensor fusion module which supports adaptive calibration and multi-beam output of different devices. According to the invention, programmable directional sound transmission is realized without hardware modification, and the method has high privacy, low power consumption and strong robustness, and is suitable for private communication of an intelligent terminal and a multi-user audio partition playing scene.

The invention relates to a multi-source intelligent combined pose measurement method for a floating hydrophone array, and the method comprises the following steps: 1, obtaining the pose information of each node of the hydrophone array through a multi-source sensing module, and synchronously receiving sound signals and extracting the TDOA information of each node under the condition that the sound source position is known; step 2, constructing a measurement equation based on TDOA information, and performing inverse solution on the position of each node of the hydrophone array in combination with a hyperbolic positioning principle and a sound velocity model; according to the method, an inverse solution positioning mode of'known sound source position and inverse solution of receiving array node position 'is adopted, a flexible underwater acoustic array dynamic measurement scene under the traction of a floating platform is specially aimed at, the technical limitation that traditional TDOA and USBL positioning depends on a fixed geometric structure is broken through, the method does not need to arrange a plurality of reference receiver arrays, and the positioning accuracy is improved. And a high-precision synchronous clock system is not needed, and high-precision acoustic positioning can be realized only by depending on a single sound source and the distributed nodes, so that the system complexity and the field deployment cost are remarkably reduced.

The utility model discloses an acoustic array underwater automatic rotation device, which relates to the technical field of acoustic testing, and comprises an N-shaped support, a connecting plate, an electric control box, an operation panel and a transverse rolling force module, the N-shaped support is provided with a transverse rolling support, the connecting plate is provided with a stainless steel bearing, and the transverse rolling force module is provided with a transverse rolling force module. The connecting plate is rotatably connected with the transverse rolling support through a stainless steel bearing, an XY translation mechanism is arranged at the top of the N-shaped support, the XY translation mechanism is composed of two electric push rods arranged in the XY direction, and mounting plates are arranged at the extending ends of the two electric push rods. When the automatic rotation device is used, a product to be tested is only required to be clamped once, rotation actions of all angles to be tested of the acoustic array can be completed under the control of a system, the labor intensity of workers is reduced, the loading and unloading time of the product to be tested is saved, the test efficiency is improved, and the automatic rotation device is high in applicability, universal for various types of products and high in overall practicability.

The invention relates to a mobile dipole sound source positioning device and method of a minimum aperture array, the device comprises a vector sound transmission array and a processor, the vector sound transmission array comprises at least three array elements, the distance between the array elements is 1 / 6 lambda, lambda is the wavelength, the vector sound transmission array is used for measuring sound pressure signals, the processor is used for processing the sound pressure signals, and the processor is used for processing the sound pressure signals. And a positioning result of the dipole source is solved through a nonlinear optimization algorithm. The method comprises the following steps: measuring a sound pressure signal within a preset time by using a vector sound transmission array, and converting a measured time domain sound pressure signal into a frequency domain sound pressure signal; calculating a vibration velocity signal according to the frequency domain sound pressure signal, and establishing a dipole sound source propagation model; and performing nonlinear optimization solution on the dipole sound source propagation model to obtain a positioning result of the dipole source. Compared with the prior art, high-precision and real-time positioning of the moving dipole source can be realized.

The invention discloses a quasi-zero stiffness sound array vibration isolation device for an unmanned aerial vehicle. The quasi-zero stiffness sound array vibration isolation device comprises a positive stiffness component and a negative stiffness component. The positive stiffness component is a steel spring, the upper end is connected with the unmanned aerial vehicle connecting piece, and the lower end is connected with the negative stiffness component; the negative stiffness component comprises a cylindrical permanent magnet and an annular permanent magnet, the cylindrical permanent magnet is located in an annular space of the annular permanent magnet after the acoustic array is mounted, and the cylindrical permanent magnet and the annular permanent magnet are in a mutual exclusion state; the steel spring, the cylindrical permanent magnet and the annular permanent magnet jointly form a quasi-zero-stiffness structure, and the quasi-zero-stiffness structure is located at a static balance position under the gravity effect of the sound array and stores elastic potential energy. When the unmanned aerial vehicle is disturbed by vibration transmitted by the unmanned aerial vehicle, the negative stiffness component releases elastic potential energy and generates acting force opposite to the disturbance direction so as to counteract vibration transmission. The device has the advantages of simple structure, suppression of vibration of the unmanned aerial vehicle and transmission of aerodynamic noise to a sound array, and the like.

The invention discloses a monitoring and positioning method and system for surface discharge of an overhead line system insulator, and belongs to the technical field of electrical equipment fault detection. The method comprises the following steps: step 1, installing a microphone sampling module on a connecting pipe of a cantilever insulator shoulder frame of the overhead line system; 2, constructing a three-dimensional coordinate system by taking the microphone sampling module as a center; step 3, acquiring a frequency range of a railway insulator surface discharge ultrasonic signal, and setting an acquisition frequency range of a microphone acquisition module; 4, ultrasonic signals generated by insulator surface discharge are detected through a microphone sampling module, sound source space energy summation is conducted through a random array delay summation beam forming algorithm, and then the position coordinates of a discharge point are calculated according to the distance; and step 5, generating a fault alarm in combination with a set threshold criterion. According to the method, millimeter-level positioning of insulator surface discharge is realized through fusion of the acoustic array and the adaptive algorithm, and the method has the characteristics of high electromagnetic interference resistance and high response speed.

According to the involute type multi-arm spiral sound array and the method, in the array, a center supporting piece is of a regular heptagonal plate-shaped structure, seven side edges of the center supporting piece are connected with seven base circle spiral arm connecting pieces in a welding mode respectively, the other end of each base circle spiral arm connecting piece is connected with an internal spiral arm structure, and the other end of each internal spiral arm structure is connected with an outer spiral arm structure; the other end of each internal spiral arm structure is connected with one middle spiral arm structure, and the other end of each middle spiral arm structure is connected with one external spiral arm structure; each external spiral arm structure is in welded connection with the middle spiral arm structure adjacent in the anticlockwise direction through an adjacent arm supporting rod; the bottom face of the center supporting piece is connected with the array connecting piece in a welded mode, and the array connecting piece is connected with the array supporting base structure in a fastened mode through bolts. The internal spiral arm structure, the middle spiral arm structure and the external spiral arm structure are provided with circular through holes used for installing microphones, and the circle centers of the through holes are located on an involute generated by the same base circle.