阅读说明：本技术 一种可变式矩阵声音定位系统及定位方法 (Variable matrix sound positioning system and positioning method ) 是由 莫怡帆 单庆祝 于 2019-10-14 设计创作，主要内容包括：本发明提出了一种可变式矩阵声音定位系统及定位方法。可变式矩阵声音定位系统包括：多个声音传感器,用于构建三维坐标系以及拾取声音数据；数据处理装置,基于所述多个传感器的位置构建三维坐标系,并且在三维坐标系中标记每个传感器的位置；接收所述声音传感器拾取的声音数据,计算出声源距每个声音传感器的距离；基于每个传感器的位置数据,计算声源在所述三维坐标系中的位置；多条等长度数据传输线,每条连接在所述声音传感器与数据处理装置之间。有的声学照相机或听诊器相比,本发明的定位系统可根据使用人员意愿或使用场地布置检测矩阵,适用环境不受限,可满足车辆在运行过程中的底盘、机舱内部的异响源的定位。(The invention provides a variable matrix sound positioning system and a positioning method. The variable matrix sound localization system comprises: a plurality of sound sensors for constructing a three-dimensional coordinate system and picking up sound data; a data processing device which constructs a three-dimensional coordinate system based on the positions of the plurality of sensors and marks the position of each sensor in the three-dimensional coordinate system; receiving sound data picked up by the sound sensors, and calculating the distance from a sound source to each sound sensor; calculating a position of a sound source in the three-dimensional coordinate system based on the position data of each sensor; and each equal-length data transmission line is connected between the sound sensor and the data processing device. Compared with the existing acoustic cameras or stethoscopes, the positioning system can arrange the detection matrix according to the will of users or the using places, is not limited in applicable environment, and can meet the positioning of abnormal sound sources inside a chassis and a cabin in the running process of a vehicle.)

1. A variable matrix sound localization method, the method comprising:

arranging a plurality of sound sensors around a vehicle body;

constructing a three-dimensional coordinate system based on the plurality of acoustic sensors and marking a location of each sensor in the three-dimensional coordinate system;

picking up sound data by the plurality of sound sensors;

calculating the distance between the sound source and each sound sensor;

based on the position data of each sensor, the position of the sound source in the three-dimensional coordinate system is calculated.

2. The variable matrix sound localization method according to claim 1, wherein one sound sensor among the plurality of sound sensors is selected as an origin sensor, and a position of the origin sensor is set as an origin of a three-dimensional coordinate system;

and a connecting line of the origin sensor and any one sound sensor is used as a coordinate axis, and the three-dimensional coordinate system is constructed on the basis.

3. The variable matrix sound localization method according to claim 1, wherein the sound data picked up by the plurality of sound sensors is subjected to frequency analysis to select a frequency range of abnormal sound.

4. The variable matrix sound localization method according to claim 3, wherein the distance of the abnormal sound source from each of the plurality of sound sensors is calculated based on sound pressure data picked up by the plurality of sound sensors.

5. The variable matrix sound localization method of claim 1, comprising 4 sound sensors a₀、A₁、A₂、A₃。

6. The variable matrix sound localization method of claim 5, wherein the coordinate of the source of the abnormal sound is (X, Y, Z), then

X＝d²-(2t₀+Δt₃)C²Δt₃/2d (9)

Y＝b²-(2t₀+Δt₂)C²Δt₂/2b (10)

Z＝a²-(2t₀+Δt₁)C²Δt₁/2a (11)

Wherein A is₀、A₁、A₂、A₃The sound sensors are represented by coordinates (0,0,0), (0,0, a), (0, b,0) and (d,0,0), and the time t of the sound wave emitted from the abnormal sound source S reaching each sound sensor is₀、t₁、t₂、t₃Relative to t₀Has a time difference of Δ t₁、Δt₂、Δt₃The distances from the abnormal sound source S to the sound sensors are respectively L₀、L₁、L₂、L₃The propagation speed of sound in air is C.

7. The variable matrix sound localization method of claim 6, wherein the sound wave from the abnormal sound source S reaches the sound sensor a₀The time of (a) is:

t₀＝Δt₁/(20^{(LpA0-Lp A1)}-1)

wherein, LpA₀Indicating sensor A₀Sound pressure level, Lp A₁Indicating sensor A₁Sound pressure level.

8. A variable matrix sound localization system, the system comprising:

a plurality of sound sensors for constructing a three-dimensional coordinate system and picking up sound data;

a data processing device which constructs a three-dimensional coordinate system based on the positions of the plurality of sensors and marks the position of each sensor in the three-dimensional coordinate system; receiving sound data picked up by the sound sensors, and calculating the distance from a sound source to each sound sensor; calculating a position of a sound source in the three-dimensional coordinate system based on the position data of each sensor;

and each equal-length data transmission line is connected between the sound sensor and the data processing device.

9. The variable matrix sound localization system of claim 8, wherein the sound sensor is a magnetic three-way laser ranging localization sound sensor.

10. The variable matrix sound localization system of claim 8, further comprising a display in signal communication with said data processing device for displaying the location and coordinates of an anomalous sound source in said three dimensional coordinate system.

Technical Field

The invention relates to the field of vehicle detection, in particular to a variable matrix sound positioning system and a positioning method.

Background

Automobile products involve more parts and are harsh in the use environment of the automobile, so that abnormal sound of some parts of a chassis often appears after the automobile is used for a period of time, and the driving or riding feeling of drivers and passengers is affected. The chassis part structure is complicated and the noise size under different operating modes is also different, is difficult to lock and is what the noise problem of part caused, consequently the engineer also can't solve the noise problem fast through optimizing structure or changing parts.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides equipment capable of positioning the abnormal noise problem of the chassis when vehicles with different sizes move. The equipment can visually display abnormal sound points, is convenient to operate, does not need a positioning instrument held by a person, ensures the safety of positioning personnel in the using process, and can also store data.

According to an aspect of the present invention, there is provided a variable matrix sound localization method, the method comprising:

arranging a plurality of sound sensors around a vehicle body;

constructing a three-dimensional coordinate system based on the plurality of acoustic sensors and marking a location of each sensor in the three-dimensional coordinate system;

picking up sound data by the plurality of sound sensors;

calculating the distance between the sound source and each sound sensor;

based on the position data of each sensor, the position of the sound source in the three-dimensional coordinate system is calculated.

Further, one sound sensor is selected from the plurality of sound sensors as an origin sensor, and the position of the origin sensor is set as the origin of a three-dimensional coordinate system;

and a connecting line of the origin sensor and any one sound sensor is used as a coordinate axis, and the three-dimensional coordinate system is constructed on the basis.

Further, the sound data picked up by the plurality of sound sensors is subjected to frequency analysis, and the frequency range of abnormal sound is selected.

Further, the distance from the abnormal sound source to each sound sensor is calculated according to the sound pressure data collected by the plurality of sound sensors.

Preferably, 4 sound sensors a are included₀、A₁、A₂、A₃。

Further, the coordinate of the abnormal sound source S is (X, Y, Z), then

X＝d²-(2t₀+Δt₃)C²Δt₃/2d (9)

Y＝b²-(2t₀+Δt₂)C²Δt₂/2b (10)

Z＝a²-(2t₀+Δt₁)C²Δt₁/2a (11)

Wherein A is₀、A₁、A₂、A₃The sound sensors are represented by coordinates (0,0,0), (0,0, a), (0, b,0) and (d,0,0), and the time t of the sound wave emitted from the abnormal sound source S reaching each sound sensor is₀、t₁、t₂、t₃Relative to t₀Has a time difference of Δ t₁、Δt₂、Δt₃The distances from the abnormal sound source S to the sound sensors are respectively L₀、L₁、L₂、L₃The propagation speed of sound in air is C.

Further, the sound wave emitted from the abnormal sound source S reaches the sound sensor a₀The time of (a) is:

t₀＝Δt₁/(20^{(LpA0-Lp A1)}-1)

wherein, LpA₀Indicating sensor A₀Sound pressure level, Lp A₁Indicating sensor A₁Sound pressure level.

According to another aspect of the present invention there is provided a variable matrix sound localization system, the system comprising:

a plurality of sound sensors for constructing a three-dimensional coordinate system and picking up sound data;

a data processing device which constructs a three-dimensional coordinate system based on the positions of the plurality of sensors and marks the position of each sensor in the three-dimensional coordinate system; receiving sound data picked up by the sound sensors, and calculating the distance from a sound source to each sound sensor; calculating a position of a sound source in the three-dimensional coordinate system based on the position data of each sensor;

and each equal-length data transmission line is connected between the sound sensor and the data processing device.

Furthermore, the sound sensor is a magnetic three-way laser ranging positioning sound sensor.

Furthermore, the system also comprises a display which is in signal connection with the data processing device and is used for displaying the position and the coordinates of the abnormal sound source in the three-dimensional coordinate system.

Compared with the existing acoustic camera or stethoscope, the positioning system can arrange the detection matrix according to the will of users or the using place, has no limit on the applicable environment, and can meet the positioning of abnormal sound sources inside the chassis and the cabin in the running process of the vehicle. In addition, a virtual detection matrix can be constructed in a mode of establishing a three-dimensional coordinate system, required sound can be selected for processing, and abnormal sound positions are displayed in a three-dimensional space mode.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent by describing in greater detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.

FIG. 1 shows a schematic diagram of a variable matrix sound localization system of an embodiment of the present invention.

Fig. 2 is a schematic diagram illustrating the calculation of the abnormal sound position based on the three-dimensional coordinate system according to the embodiment of the present invention.

Fig. 3 is a schematic diagram showing the position of an abnormal sound source in a three-dimensional coordinate system according to an embodiment of the present invention.

Fig. 4 shows an abnormal sound audio processing and abnormal sound position display diagram according to an embodiment of the present invention.

Fig. 5 shows a flow chart of a variable matrix sound localization method of an embodiment of the present invention.

Detailed Description

Preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

In the invention, through laser ranging, a coordinate origin of a three-dimensional virtual space is established by a reference laser ranging positioning sound sensor, and the position of each sound sensor is calibrated through the laser ranging function of each sensor. And the data processing device establishes a virtual detection matrix according to the calibration result.

The more distant the sound is from the sensor, the less the sound intensity. The data processing device calculates the distance between the sound source and each sensor by collecting the sound pressure data from the sound pressure to each sensor of the matrix, and then displays the position of the sound source in the three-dimensional space by combining the position relation of the virtual three-dimensional moment sensor matrix. The position displayed in the three-dimensional space is the actual sound production position.

As shown in fig. 1, the present invention provides a variable matrix sound localization system, the system comprising:

a plurality of sound sensors for constructing a three-dimensional coordinate system and picking up sound data;

a data processing device which constructs a three-dimensional coordinate system based on the positions of the plurality of sensors and marks the position of each sensor in the three-dimensional coordinate system; receiving sound data picked up by the sound sensors, and calculating the distance from a sound source to each sound sensor; calculating a position of a sound source in the three-dimensional coordinate system based on the position data of each sensor;

and each equal-length data transmission line is connected between the sound sensor and the data processing device.

Preferably, the sound sensor is a magnetic three-way laser ranging positioning sound sensor. In order to facilitate the arrangement of the sensor on the vehicle body, the present invention preferably uses a magnetic-type sound sensor. The sensor needs to have the following functions: sound data such as the frequency and sound pressure of sound is recorded. The shock insulation effect is achieved, and the influence of vibration transmitted by vehicle body metal is prevented. In addition, in order to construct a three-dimensional space coordinate system, the sound sensor needs to be capable of constructing the coordinate system in a calibration mode and have a three-way (X, Y, Z) laser ranging and positioning function.

Furthermore, the system also comprises a display which is in signal connection with the data processing device and is used for displaying the position and the coordinates of the abnormal sound source in the three-dimensional coordinate system.

Preferably, the data transmission line is a high-speed data transmission line with shielding and interference prevention, preferably a pure silver wire or a gold-plated wire, and the resistance error is within 0.01 ohm.

The localization system of the present invention comprises at least 4 acoustic sensors, preferably 8 acoustic sensors. The arrangement position and the number of the sensors can be adjusted according to the desire of a user.

One of the acoustic sensors is selected as an origin sensor, and the position of the origin sensor is set as the origin of the three-dimensional coordinate system. And a connecting line of the origin sensor and any one sound sensor is used as a coordinate axis, and the three-dimensional coordinate system is constructed on the basis. Since the sensors have a ranging positioning function, position data of each sensor and distance data from the origin sensor can be obtained, a three-dimensional coordinate system can be constructed in the data processing device, and the position of each sensor can be marked in the three-dimensional coordinate system.

Furthermore, the data processing device receives the sound data transmitted by the sensors, firstly carries out frequency analysis on the sound data picked up by the plurality of sound sensors, selects the frequency range of abnormal sound, and then calculates the distance between the abnormal sound source and each sound sensor according to the sound pressure data picked up by the plurality of sound sensors. And by combining the position data of each sensor in the three-dimensional coordinate system, the coordinate values of the abnormal sound source can be calculated, and the position is marked in the three-dimensional coordinate system.

Fig. 2 is a schematic diagram illustrating the calculation of the abnormal sound position based on the three-dimensional coordinate system according to the embodiment of the present invention. In the coordinate system in fig. 2, S represents an abnormal sound source, and the coordinates are (X, Y, Z), a₀、A₁、A₂、A₃Denotes a sound sensor having coordinates of (0,0,0), (0,0, a), (0, b,0), and (d,0,0), and the sensor is disposed on a coordinate axis of a three-dimensional coordinate system. The position of the sensor can be set through laser ranging of the sensor or auxiliary calibration equipment, so that the sensor is located on the coordinate axis, and calculation of the embodiment is facilitated.

The time of arrival of the sound wave emitted from the abnormal sound source S at each sound sensor is t₀、t₁、t₂、t₃Relative to t₀Has a time difference of Δ t₁、Δt₂、Δt₃. The distances from the abnormal sound source S to the sound sensors are respectively set to be L₀、L₁、L₂、L₃According to the fact that the propagation speed of sound in air is constant C, the following calculation formula can be obtained:

L₀＝Ct₀(1)

L₁＝Ct₁＝C(t₀+Δt₁) (2)

L₂＝Ct₂＝C(t₀+Δt₂) (3)

L₃＝Ct₃＝C(t₀+Δt₃) (4)

L₀ ²＝X²+Y²+Z²(5)

L₁ ²＝X²+Y²+(a-Z)²(6)

L₂ ²＝X²+(b-Y)²+Z²(7)

L₃ ²＝(d-X)²+Y²+Z²(8)

substituting (1), (2), (3) and (4) into (5), (6), (7) and (8), solving to obtain:

X＝d²-(2t₀+Δt₃)C²Δt₃/2d (9)

Y＝b²-(2t₀+Δt₂)C²Δt₂/2b (10)

Z＝a²-(2t₀+Δt₁)C²Δt₁/2a (11)

the known parameters in the results are: t is t₁、t₂、t₃C, a, b, d; only t₀Is unknown.

When the size of the sound source is much smaller than the distance from the measuring point to the sound source (point sound source), the sound waves radiate more uniformly in all directions in the form of spherical waves, and such a sound source is called a point sound source. The intensity of the spherical wave is inversely proportional to the square of the sound source distance. Combining the relational expressions of sound pressure, sound pressure level, sound power and sound power level, the expression of spherical sound wave attenuation along with distance at normal temperature is as follows:

Lp＝Lw-20Lgr-k (12)

where k is a correction coefficient, and k is 11 in free space and k is 8 in semi-free space. The derivation process is as follows:

distance r₁And r₂The difference in sound pressure level between is:

Lp1-Lp2＝20Lg(r₂/r₁)

combining the formulas (1) and (2) to obtain

LpA₀-LpA₁＝20Lg((t₀+Δt₁)/t₀)

Then t₀＝Δt₁/(20^{(LpA0-Lp A1)}-1)

Will t₀Substituting into equations (9), (10) and (11) results in the coordinate value X, Y, Z of S.

The calculation method of the invention can be realized in a data processing device in a software mode, and the software can be developed based on conventional systems such as windows, iOS, linux and the like, and has the following functions: reading data, receiving data, calculating and processing data, storing operation results and the like. A three-dimensional space coordinate system can be constructed in a software mode, a calibrated three-dimensional space is displayed, and a positioning result is displayed in the space. The data processing device can also be controlled to process the collected data according to requirements, including but not limited to screening of sound frequency and sound pressure.

The software view interface may be as shown in fig. 3 or fig. 4. Fig. 3 is a schematic diagram showing the position of an abnormal sound source in a three-dimensional coordinate system according to an embodiment of the present invention. In fig. 3, the abnormal sound position is shown in a three-dimensional space, and coordinate data is given.

Fig. 4 shows an abnormal sound audio processing and abnormal sound position display diagram according to an embodiment of the present invention. In the embodiment shown in fig. 4, 8 acoustic sensors are used, and a detection matrix is constructed. The screening of sound frequency and sound pressure can be completed through a software view interface, and according to the calculation result, abnormal sound positions are displayed in the space detection matrix.

Fig. 5 shows a flow chart of a variable matrix sound localization method of an embodiment of the present invention. As shown in fig. 5, the variable matrix sound localization method of the present invention includes: a variable matrix sound localization method, the method comprising:

arranging a plurality of sound sensors around a vehicle body;

constructing a three-dimensional coordinate system based on the plurality of acoustic sensors and marking a location of each sensor in the three-dimensional coordinate system;

picking up sound data by the plurality of sound sensors;

calculating the distance between the sound source and each sound sensor;

based on the position data of each sensor, the position of the sound source in the three-dimensional coordinate system is calculated.

Specifically, one sound sensor is selected from the plurality of sound sensors as an origin sensor, and the position of the origin sensor is set as the origin of a three-dimensional coordinate system; and a connecting line of the origin sensor and any one sound sensor is used as a coordinate axis, and the three-dimensional coordinate system is constructed on the basis.

Preferably, the sound data picked up by the plurality of sound sensors is subjected to frequency analysis, and the frequency range of the abnormal sound is selected. Then, the distance from the abnormal sound source to each sound sensor is calculated according to the sound pressure data collected by the plurality of sound sensors. And calculating the position of the abnormal sound source in the three-dimensional coordinate system by combining the position data of each sensor.

Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.