CN113758696A - Three-dimensional stereo sound signal acquisition device - Google Patents

Three-dimensional stereo sound signal acquisition device Download PDF

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CN113758696A
CN113758696A CN202111051193.XA CN202111051193A CN113758696A CN 113758696 A CN113758696 A CN 113758696A CN 202111051193 A CN202111051193 A CN 202111051193A CN 113758696 A CN113758696 A CN 113758696A
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sound
sensor
sound source
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sensors
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CN113758696B (en
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武建文
邵阳
崔鹤松
张昭维
林靖怡
郭振岩
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MACHINERY INDUSTRY BEIJING ELECTROTECHNICAL INSTITUTE OF ECONOMIC RESEARCH
Beihang University
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Beihang University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
    • G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S10/00—Systems supporting electrical power generation, transmission or distribution
    • Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
    • Y04S10/52—Outage or fault management, e.g. fault detection or location

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Abstract

The invention discloses a three-dimensional stereo sound signal acquisition device, which belongs to the field of mechanical fault detection and comprises three sound sensors and four cross beams, wherein the vertical, the left and the right and the front and back positions of the sensors in the device can be adjusted according to requirements, so that multi-dimensional, multi-angle and three-dimensional acquisition of fault information is realized, and meanwhile, the movement of the sensors can be more regular and standard due to the quantification of coordinates of the three sensors. The sound collection device is arranged right in front of the high-voltage circuit breaker operating mechanism, and when a mechanical fault occurs and sound is generated, the position of the sensor does not need to be moved and adjusted according to the technical principle of sound time difference positioning, and one-time quick positioning of a two-dimensional sound source coordinate can be realized; and the accurate positioning of the three-dimensional sound source coordinate can be realized through the position of one or more sensors. By solving the optimization problem containing inequality constraints, the calculation is simple, the fault sound source coordinates are quickly and accurately positioned, and the method has important application value for the on-line monitoring research of the mechanical fault of the high-voltage circuit breaker.

Description

Three-dimensional stereo sound signal acquisition device
Technical Field
The invention belongs to the field of mechanical fault detection of high-voltage circuit breakers, and relates to sound signal acquisition of mechanical faults of the high-voltage circuit breakers; in particular to a three-dimensional stereo sound signal acquisition device.
Background
As important control, protection and isolation switching equipment in power systems, reliable operation of high voltage circuit breakers is of great significance to grid safety. The high-voltage circuit breaker is operated by means of correct action of mechanical parts, and the state of mechanical characteristics of the high-voltage circuit breaker is directly related to safe operation of a system[1]. Statistics show that the mechanical fault of the high-voltage circuit breaker accounts for 70-80% of all faults. The development of the mechanical state evaluation and fault diagnosis technology and detection equipment of the high-voltage circuit breaker has great and profound significance.
Model LW30-252 SF6The high-voltage circuit breaker comprises explosion chamber, pillar insulator, transmission case and operating mechanism, and the overall height can reach 6.9 meters, and is bulky, and the electromagnetic compatibility problem is serious, receives external electric field interference to be far more than other circuit breakers, and original sample collection and fault detection are more difficult.
In connection with the diagnosis of mechanical faults in high-voltage circuit breakers, there is prior art document to monitor the coil current[2]Contact stroke[3]And mechanical vibration[4]And voice signals predominate.
The coil current signal is sensitive to faults of the coil and the secondary circuit part, the coil current waveform is closely related to the state of a transmission mechanism system and the state of an iron core, a theoretical basis is provided for timely finding early faults of the circuit breaker, the secondary circuit needs to be opened when the coil current signal is measured on site, measurement is inconvenient, and partial mechanical defects cannot be reflected in the current signal.
The contact stroke signal can reflect mechanical characteristic parameters such as contact opening distance, stroke, overtravel, just opening/closing speed, opening/closing asynchronism and the like, the physical significance of each stage is definite, but the circuit breaker rotation angle-stroke ratios of manufacturers are different, the unified measurement is difficult, and a stroke sensor is inconvenient to install and has single characteristics in field application, so that the diagnosis of complex faults is not facilitated.
The mechanical vibration signal of the high-voltage circuit breaker contains a large amount of equipment state information, the monitoring of the mechanical vibration signal does not influence the operation of the circuit breaker, is not influenced by an electromagnetic field, and has the advantages of good signal-to-noise ratio and the like. However, the vibration amplitude is 20000m/s in the switching-on and switching-off action of the general circuit breaker2Within[5]And 252kV SF6The amplitude of the breaker can reach 80000m/s when the breaker is opened2Above, too big amplitude very easily damages the sensor, and the saturation phenomenon of topping easily appears, and the mounted position of sensor has very big influence to amplitude and frequency simultaneously.
The sound signal is generated by mechanical vibration of the circuit breaker and belongs to a homologous signal with the vibration signal, the sound sensor is convenient to install, the signal is less influenced by an installation mode, and the operation convenience is greatly superior to the vibration signal[6]And the measurement frequency band and the amplitude of the sound signal are small, so that the saturation failure phenomenon can be effectively avoided. Meanwhile, the sound of the SF6 circuit breaker with 252kV can reach 120dB when the circuit breaker is switched on and switched off, and the sound sensor has difficulty in type selection.
Document [7]]An acoustic sensor is adopted, placed on the ground about 1.5 meters away from a circuit breaker and used for LW30-252 porcelain column type outdoor high-voltage SF6The circuit breaker collects sound signals and identifies mechanical faults of the high-voltage circuit breaker based on the sound signals; document [8]A sound sensor is installed at the position 20 cm behind the DW15 series universal circuit breaker in a non-contact mode, and combined with collected vibration signals, a multi-feature fusion and QPSO-RVM universal circuit breaker opening and closing fault vibration sound diagnosis method is provided; document [9]]Two bullet-shaped waterproof sound sensors are arranged at the position 150 cm away from the ZN65-12 vacuum circuit breaker at the same distance, and a fusion processing and fault diagnosis method of various signals is researched; document [10]]An acoustic sensor is arranged at a distance ZN65-12 type breaker shell of 10cmThe fixed base is used for collecting sound signals of two working conditions of the vacuum circuit breaker and carrying out fault diagnosis on the working conditions by combining vibration signals.
Above literature all only adopts one or two sound sensor to carry out sound signal collection to the circuit breaker, and sensor position is fixed can not remove, can't carry out multidimension degree and multi-angle collection to the information of circuit breaker, can't realize the three-dimensional positioning to the fault point. While the documents [11-15] design a sound collecting device based on a microphone array, the number of microphones is large, so that the collected information has redundancy, and the processing process is complex and time-consuming.
Therefore, how to select a suitable sound sensor for the mechanical fault sound characteristics of the high-voltage circuit breakers of 110kV, 252kV and above, and design a sensor adjustable bracket to form a three-dimensional stereo sound signal collecting device, so that the sensor position is changeable, the relative coordinate is clear, the fault sound information of the high-voltage circuit breaker can be collected in multiple dimensions, and the rapid and accurate stereo positioning of the fault point through the information is a key problem to be solved urgently.
Reference to the literature
[1] Guangyang, yangyuan, mangying, and the like. GUAN YONGGGang, YANG YUANWEi, ZHONG Jianying, et al.review on mechanical fault diagnosis methods for High-Voltage circuit breakers [ J ]. High Voltage Apparatus, 2018,54 (07): 10-19.
[2] Zhu Rupeng, High-Voltage Circuit Breaker Operating Mechanism Fault Diagnosis Method research [ D ]. North China Power university, 2019.ZHU Jipen. research on Fault Diagnosis Method of Operating Mechanism of High Voltage Circuit Breaker [ D ]. School of electric and Electronic Engineering,2019.
[3]NIU Weihua,LIANG Guishu,YUAN Hejin,et al.A Fault Diagnosis Method of High Voltage Circuit Breaker Based on Moving Contact Motion Trajectory and ELM[J].Mathematical Problems in Engineering,2016,(2016-11-17),2016,2016(PT.11):1-10.
[4] Wang Yi, Wu Jian Wen, Ma Suliang, et al, research on mechanical failure diagnosis technology of high-voltage circuit breaker based on kernel principal component analysis-SoftMax [ J ] proceedings of electrotechnical Commission 2020, 35 (S1): 267-276.WANG Yuhao, WU Jianwen, MA Suliang, et al. mechanical fault diagnosis research of high voltage circuit breaker based on key basic component analysis and soft max [ J ]. Transactions of Chinese electronic Society, 2020, 35 (S1): 267-276(in Chinese).
[5] Do Longjiang Breaker Spring Operating Mechanism failure Mechanism Analysis and Diagnosis Method research [ D ]. North China university of electric power (Beijing), 2019.DOU Long Jiang.research on the Fault Mechanism Analysis and Diagnosis Method of Circuit Breaker Spring Operating Mechanism [ D ]. School of electric and Electronic Engineering,2019.
[6] Research on a Breaker Fault diagnosis Method Based on an Adaptive weight Evidence Theory [ J ]. China Motor engineering report, 2017,37(23): 7040-.
[7] Yanyuan Wei, Guanyonggang, Chenshigang, King quiet Jun, Keke, High Voltage Circuit Breaker mechanical failure Diagnosis Method Based on Sound Signal [ J ]. China Motor engineering reports, 2018,38(22):6730-6737.YANG Yuanwei, GUAN Yongggang, CHEN Shiging, et al, mechanical Fault Diagnosis Method of High Voltage Circuit Breaker Based on Sound Signal [ J ]. Proceedings of the CSEE, 2018,38(22): 6730-.
[8] Sunwood, break, Dutai, Wangjing, Zhao Li, Universal Breaker failure vibration and sound diagnostic method Based on Multi-Feature Fusion and improvement QPSO-RVM [ J ] Proc. report of electrotechnical science, 2017,32(19):107-117.Sun Shuguang, Yu Han, Du Taihang, et al.Vision and Acoustic Joint failure Diagnosis of computational Circuit Breaker Based on Multi-Feature Fusion and Improved QPSO-RVM [ J ] Transactions of physical Electrical and Circuit testing facility Based on Multi-Feature Fusion and Improved QPSO-RVM [ J ] Transactions of physical Electrical measurement Sound, 2017,32(19): 107-.
[9] A High-Voltage Circuit Breaker state recognition method Based on Sound and Vibration Signal combined analysis is researched to [ D ]. North China Power University,2017. WANG Yaxiao.
[10] Chua bamboo shoot, Wangazel, based on the combined Analysis of the characteristics and Entropy of Vibration and Vibration Segmentation [ J ]. Instrument and Meter Monitoring,2016, {4} (03):1-4.CAI Sun, WANG Yaxiao.based on Sound and simulation Segmentation Feature Analysis Method in Circuit Breaker failure Diagnosis [ J ]. Instrument Analysis Monitoring,2016, {4} (03): 1-4).
[11] The method and apparatus for locating sound source by microphone is CN, CN 1952684A [ P ].
[12] A sound collecting/reproducing method and apparatus for a creek Tianpafu, a village mountain mourning, a post vine dazzling sound are disclosed in the specification, CN 200680045728A [ P ].
[13]Zhu J,Zhang X,Luo Z,et al.MICROPHONE ARRAY SOUND SOURCE POSITIONING METHOD AND DEVICE:,WO2018223639A1[P].
[14]Mccowan I A.A microphone array system and method for sound acquistion:,2014.
[15]Matsuo N.Microphone array:US,US6757394 B2[P].2003.
Disclosure of Invention
In order to solve the problems that in the process of collecting sound signals of mechanical faults of a high-voltage circuit breaker, the position is single and fixed, the dimension is small, the information is not rich enough, the position of a sensor is not clear, the calculation is complex, and the sound source positioning cannot be realized, the invention provides a three-dimensional stereo sound signal collecting device, the up-down, left-right, front-back three-dimensional positions of three sound sensors can be automatically regulated according to the requirement, the multi-dimensional, multi-angle and stereo collection of three sound signals can be simultaneously met, the three sound sensors in different spatial positions are used for collecting more rich sound information, the coordinate digitization of the three sensors is realized, the coordinate positions of the sound sensors are confirmed more visually, quickly and accurately, and the quick and accurate stereo space positioning of the fault sound source can be realized according to the positioning technology of sound time difference. By solving the optimization problem containing inequality constraints, the calculation is simple, quick, convenient and accurate, and the method has important application value for the on-line monitoring research of the mechanical faults of the high-voltage circuit breaker.
The three-dimensional sound acquisition device comprises three sound sensors, a base and four sliding beams; the three sound sensors are respectively a first sound sensor, a second sound sensor and a third sound sensor; the sliding cross beams are respectively a first sliding cross beam, a second sliding cross beam, a third sliding cross beam and a fourth sliding cross beam;
the second sliding beam is fixed on the base and is vertical to the base; 16-24 fixing holes are formed in the second sliding beam at equal intervals, the top end of the second sliding beam is fixed with the first sliding beam, and the first sliding beam is parallel to the base and used for fixing the first sound sensor; the bottom end is fixed with a fourth sliding cross beam, the fourth sliding cross beam is parallel to the first sliding cross beam and is respectively positioned at two sides of the second sliding cross beam, and the first sliding cross beam and the fourth sliding cross beam can slide up and down in a fixing hole of the second sliding cross beam to adjust different heights.
8-12 fixing holes are formed in the first sliding beam at equal intervals, and the first sound sensor can move back and forth on different holes;
the fourth sliding beam is provided with 4-8 fixing holes at equal intervals, the third sliding beam is horizontally and vertically arranged on the fourth sliding beam, a clamping groove is formed in the middle of the third sliding beam and is fastened with the fourth sliding beam, and the third sliding beam moves back and forth on the fourth sliding beam.
The third sliding beam is used for fixing the second sound sensor and the third sound sensor, and has 17-21 fixing holes with equal intervals, the two sound sensors are positioned on the sliding beam, can move left and right on the third sliding beam and are positioned at the same side of the beam or are respectively positioned at two ends of the beam, and the distance between the two sensors is adjustable.
The three-dimensional sound collection system is fixed on the triangular support and placed right ahead of the high-voltage circuit breaker operating mechanism, and when the high-voltage circuit breaker generates mechanical failure and generates sound, the specific process of estimating the spatial position of a sound source is as follows:
step one, calculating the distance difference of a sound source reaching any two sensors, namely the sound path difference a;
the calculation formula is as follows:
a＝v×τ (1)
tau is the time difference of sound arriving at two sound sensors at different positions; v is the speed of sound propagation in air;
step two, when the sound sensor and the sound source are on the same plane, determining the plane position of the sound source;
the method specifically comprises the following steps: according to the knowledge of geometric correlation, the time difference tau of the first sound sensor and the third sound sensor is obtained1Determining a hyperbola a1Also, the time difference τ is determined based on the arrival time at the second sound sensor and the third sensor2Determining a hyperbola a2And determining the plane position of the sound source according to the intersection point of the two hyperbolas.
Step three, when the sound sensor and the sound source are not on the same plane, and the distance r between the sound source and the three-dimensional stereo sound acquisition device meets the requirement
Figure BDA0003253017780000051
When the sound is generated, the sound spreads around through the medium in the form of spherical waves; when the distance r does not satisfy the above condition, the sound wave is transmitted to the sound collection device in the form of a plane wave.
Wherein, L is the diameter of the sound collection device, and lambda is the wavelength of the sound wave.
Step four, when sound diffuses around in the form of spherical waves, setting a base of the three-dimensional sound acquisition device as a coordinate origin, and constructing a three-dimensional sound source model for determining three-dimensional coordinates of a sound source by taking the left-right direction as an x direction, the front-back direction as a y-axis direction and the up-down direction as a z direction;
the specific classification is as follows:
(1) the first condition is as follows: when a certain dimension coordinate of a sound source is known, taking a coordinate in the y direction as an example, the same calculation is carried out in the x direction and the z direction; when the high-voltage circuit breaker makes a sound due to a mechanical fault, the coordinate in the y direction is known y0, and the position of a fault sound source can be judged only by acquiring the coordinates of the fault sound source in the x direction and the z direction through the three-dimensional stereo sound acquisition device, so that the sound source positioning is realized.
The specific calculation is as follows: the coordinates of the first acoustic sensor are (x1, y1, z1), the coordinates of the second acoustic sensor are (x2, y2, z2), the coordinates of the third acoustic sensor are (x3, y3, z3), and the three-dimensional coordinates of the sound source are (x, y0, z); aiming at the current positions of the three sensors, calculating the spatial positioning of the sound source by utilizing the time delay from the sound source to each sensor;
the expression is as follows:
Figure BDA0003253017780000052
Figure BDA0003253017780000053
a21＝v×τ21 (4)
a31＝v×τ31 (5)
the time delay of the sound source reaching the first sound sensor is taken as a reference, and the time delay of the sound source reaching the second sound sensor is tau21Millisecond, time delay to third acoustic sensor is tau31Milliseconds. At the moment, two unknown quantities x and z of the two equations do not need to adjust the relative positions of the three sound sensors, and the mechanical fault sound source coordinate of the high-voltage circuit breaker can be quickly determined only by once calculation.
In order to realize rapid calculation and obtain the fault sound source coordinates, the binary quadratic equation problem is converted into an optimization solving problem containing inequality constraints; the expression is as follows:
min FF＝f1+f2
Figure BDA0003253017780000054
Figure BDA0003253017780000055
a21＝v×τ21
a31＝v×τ31
f1≥0
f2≥0
(2) case two: when the method is applicable to mechanical fault positioning of a high-voltage circuit breaker and three-dimensional coordinates of a sound source in the x direction, the y direction and the z direction need to be determined simultaneously, multiple groups of coordinates and equations can be obtained by adjusting the positions of three sound sensors, and the spatial positioning of the sound source is calculated by utilizing the time delay from the sound source to each sensor;
the expression is as follows:
Figure BDA0003253017780000061
Figure BDA0003253017780000062
a21＝v×τ21 (8)
a31＝v×τ31 (9)
the two equations correspond to three unknown quantities (x, y and z), the position of the sound sensor needs to be adjusted, three-dimensional sound information of the same fault is collected again, and sound source positioning based on time delay is obtained; when the sound sensors are adjusted, the position of only one sound sensor is adjusted, or the positions of two or three sound sensors are adjusted simultaneously, and the specific adjusting mode is determined according to actual needs.
I) When the position of only one sensor is adjusted and the other two sensors are kept still, when the first sound sensor is selected for adjustment, the expression is as follows:
Figure BDA0003253017780000063
Figure BDA0003253017780000064
a211＝v×τ211 (12)
a311＝v×τ311 (13)
the adjusted coordinates of the first acoustic sensor are (x11, y11, z11), and the time delay to the second acoustic sensor is τ based on the time of arrival of the acoustic source at the first acoustic sensor211Millisecond, time delay to third acoustic sensor is tau311Milliseconds.
At the moment, four equations (6), (7), (10) and (11) are simultaneously used for solving three unknowns (x, y, z), three equations are randomly selected from four equations to solve three unknowns to be solved, and the total number is
Figure BDA0003253017780000065
And four combination methods are used for obtaining the four sound source three-dimensional coordinates, and finally, the four coordinate results are averaged to obtain the final sound source three-dimensional coordinates.
Similarly, when only one sensor is adjusted, when the second sound sensor or the third sound sensor is selected for adjustment, in the above equations (10) and (11), the coordinates of the first sound sensor are (x1, y1, z1) and the coordinates of the second sound sensor are updated to (x22, y22, z22), or the coordinates of the third sound sensor are updated to (x33, y33, z 33); in both cases, three equations correspond to three unknowns, and the unique solution result can be obtained as the final sound source three-dimensional coordinate.
II) when any two sound sensors or any three sound sensors need to be adjusted simultaneously, the formulas (10) and (11) are changed, and four equations (6), (7), (10) and (11) are formed in a simultaneous manner to solve three unknowns (x, y, z); randomly selecting three groups of equations from the four groups of equations to solve three unknowns to be solved, converting the ternary quadratic equation problem into an optimization solution problem containing inequality constraints,in common with
Figure BDA0003253017780000066
And four combination methods are used for obtaining the four sound source three-dimensional coordinates, and finally, the four coordinate results are averaged to obtain the final sound source three-dimensional coordinates.
In order to realize the quick calculation and obtain the fault sound source coordinates and avoid the phenomenon that three groups of equation sets have no solution due to the existence of errors, the ternary quadratic equation problem is converted into an optimization solving problem containing inequality constraints.
The expression is as follows:
min FF＝f1+f2+f3
Figure BDA0003253017780000071
Figure BDA0003253017780000072
Figure BDA0003253017780000073
a21＝v×τ21
a31＝v×τ31
a2211＝v×τ2211
f1≥0
f2≥0
f3≥0
the invention has the advantages that:
1) the utility model provides a three-dimensional stereo sound signal collection system, through this collection system, can be as required automatically regulated three sound sensor about, around and the position around, realize multidimension degree, multi-angle and three-dimensional collection fault information, can realize three sensor coordinate quantification, the coordinate position of each sound sensor of more directly perceived, swift, accurate affirmation makes the removal of sensor more regular and criterion.
2) The three-dimensional stereo sound signal collecting device has the advantages that the farthest distance in each direction can reach 340mm, and the sound delay in each dimension can reach 1 millisecond at most according to the propagation speed of sound in air being 340 m/s.
3) The three-dimensional stereo sound signal acquisition device can realize one-time quick positioning of a two-dimensional sound source coordinate without moving and adjusting the position of a sensor according to the positioning technical principle of sound time difference; and the accurate positioning of the three-dimensional sound source coordinate can be realized through the position of one or more sensors.
4) The three-dimensional stereo sound signal acquisition device is simple, quick, convenient and accurate in calculation by solving the optimization problem containing inequality constraints, and has important application value in on-line monitoring research of mechanical faults of a high-voltage circuit breaker.
Drawings
FIG. 1 is an assembly drawing of a solid three-dimensional sound collection device solid works for use in the present invention;
FIG. 2 is a three-dimensional sound field modeling diagram established by the present invention;
FIG. 3 is a pictorial view of an acoustic sensor and power distribution module used in the present invention;
FIG. 4 is a diagram of a three-dimensional sound collection device used in the present invention;
FIG. 5 is a diagram of the relative position of three acoustic sensors used in the present invention;
fig. 6 shows the principle of sound time difference positioning technology of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following examples and accompanying drawings;
aiming at the mechanical fault sound characteristics of the high-voltage circuit breakers of 110kV, 252kV and above, the invention selects a proper sound sensor, designs a three-dimensional sound bracket, and forms a three-dimensional stereo sound signal acquisition device for acquiring the mechanical fault sound signals of the high-voltage circuit breakers; the device comprises three sound sensors and five movable modules, wherein all the modules are mutually linked and are tightly matched.
The three-dimensional sound acquisition device comprises three sound sensors, a base and four sliding beams as shown in figure 1; the three sound sensors are respectively a first sound sensor, a second sound sensor and a third sound sensor; the sliding cross beams are respectively a first sliding cross beam, a second sliding cross beam, a third sliding cross beam and a fourth sliding cross beam;
the second sliding cross beam is fixed on the base, is vertical to the base and is a height adjusting rod of the whole device; 16-24 fixing holes are formed in the second sliding beam at equal intervals, the first sliding beam is fixed at the top end and is parallel to the base and used for fixing the first sound sensor; the bottom end is fixed with a fourth sliding cross beam, the fourth sliding cross beam is parallel to the first sliding cross beam and is respectively positioned at two sides of the second sliding cross beam, and the first sliding cross beam and the fourth sliding cross beam can slide up and down in a fixing hole of the second sliding cross beam to adjust different heights.
8-12 fixing holes are formed in the first sliding beam at equal intervals, and the first sound sensor can move back and forth on different holes;
the fourth sliding beam is provided with 4-8 fixing holes at equal intervals, the third sliding beam is horizontally and vertically arranged on the fourth sliding beam, a clamping groove is formed in the middle of the third sliding beam and is fastened with the fourth sliding beam, and the third sliding beam moves back and forth on the fourth sliding beam.
The third sliding beam is used for fixing the second sound sensor and the third sound sensor, and has 17-21 fixing holes with equal intervals, the two sound sensors are positioned on the sliding beam, can move left and right on the third sliding beam, can be positioned at the same side of the beam, and can also be respectively positioned at two ends of the beam, and the distance between the two sensors is adjustable.
It should be noted that: the size parameter is set according to the actual requirement of the application and is only referred by the reader, and the reader can independently adjust the size parameter on the basis of the parameter according to the actual requirement of the reader.
The three-dimensional sound collection system is fixed on the triangular support, placed in the dead ahead of the high-voltage circuit breaker operating mechanism, and when the high-voltage circuit breaker generates mechanical failure and generates sound, as a sound source, the specific process of estimating the spatial position of the sound source is as follows:
step one, calculating the distance difference of a sound source reaching any two sensors, namely the sound path difference a;
the calculation formula is as follows:
a＝v×τ (1)
tau is the time difference of sound arriving at two sound sensors at different positions; v is the speed of sound propagation in air, typically 340 m/s;
step two, when the sound sensor and the sound source are on the same plane, determining the plane position of the sound source by using a time delay estimation method;
the method specifically comprises the following steps: according to the knowledge of geometric correlation, the time difference tau of the first sound sensor and the third sound sensor is obtained1Determining a hyperbola a1Also, the time difference τ is determined based on the arrival time at the second sound sensor and the third sensor2Determining a hyperbola a2And determining the plane position of the sound source according to the intersection point of the two hyperbolas.
When the sound sensor and the sound source are not on the same plane, judging whether the distance r between the sound source and the three-dimensional sound acquisition device meets the following condition, if so, the sound diffuses to the periphery through a medium in the form of spherical waves; otherwise, the sound wave is transmitted to the sound collection device in the form of a plane wave.
The specific conditions are as follows:
Figure BDA0003253017780000091
wherein, L is the diameter of the sound collection device, and lambda is the wavelength of the sound wave.
Step four, when sound diffuses around in the form of spherical waves, setting a base of the three-dimensional sound acquisition device as a coordinate origin, and constructing a three-dimensional sound source model for determining three-dimensional coordinates of a sound source by taking the left-right direction as an x direction, the front-back direction as a y-axis direction and the up-down direction as a z direction;
as shown in fig. 2, the following cases are specifically classified:
(1) the first condition is as follows: when a certain dimension coordinate of a sound source is known, taking a coordinate in the y direction as an example, the same calculation is carried out in the x direction and the z direction; for example, when the high-voltage circuit breaker makes a sound due to a mechanical fault, the coordinates in the y direction can be uniformly set as the coordinates of the outer surface of the mechanism, which is known as y0, and the device of the sound source can be judged only by acquiring the coordinates in the x and z directions of the fault sound source through the three-dimensional stereo sound collection device.
In this case, the coordinates of the first acoustic sensor are (x1, y1, z1), the coordinates of the second acoustic sensor are (x2, y2, z2), the coordinates of the third acoustic sensor are (x3, y3, z3), the three-dimensional coordinates of the acoustic source are (x, y0, z), and x and z are to-be-solved quantities, and for the current positions of the three sensors, the spatial localization of the acoustic source is calculated by using the time delay from the acoustic source to each sensor;
the expression is as follows:
Figure BDA0003253017780000092
Figure BDA0003253017780000093
a21＝v×τ21 (4)
a31＝v×τ31 (5)
the time delay of the sound source reaching the first sound sensor is taken as a reference, and the time delay of the sound source reaching the second sound sensor is tau21Millisecond, time delay to third acoustic sensor is tau31Milliseconds. At the moment, two unknown quantities x and z of the two equations do not need to adjust the relative positions of the three sound sensors, and the mechanical fault sound source coordinates of the high-voltage circuit breaker can be quickly determined only by once calculation, so that the calculated quantity is reduced, and the quick online monitoring is more favorably realized.
In order to realize rapid calculation and obtain the fault sound source coordinate, the invention converts the binary quadratic equation problem into an optimization solving problem containing inequality constraint; the expression is as follows:
min FF＝f1+f2
Figure BDA0003253017780000094
Figure BDA0003253017780000095
a21＝v×τ21
a31＝v×τ31
f1≥0
f2≥0
(2) case two: when the applicable situation is not only aiming at the mechanical fault location of the high-voltage circuit breaker, but also the three-dimensional coordinates of the sound source in the x direction, the y direction and the z direction need to be determined simultaneously, the positions of the three sound sensors can be adjusted on the basis of the first situation to obtain a plurality of groups of coordinates and equations, and the spatial location of the sound source is calculated by utilizing the time delay from the sound source to each sensor;
the expression is as follows:
Figure BDA0003253017780000101
Figure BDA0003253017780000102
a21＝v×τ21 (8)
a31＝v×τ31 (9)
the coordinates of the first acoustic sensor are (x1, y1, z1), the coordinates of the second acoustic sensor are (x2, y2, z2), the coordinates of the third acoustic sensor are (x3, y3, z3), and the three-dimensional coordinates of the sound source are (x, y, z) to be the amount to be calculated. The time delay of the sound source reaching the first sound sensor is taken as a reference, and the time delay of the sound source reaching the second sound sensor is tau21Millisecond, time delay to third acoustic sensor is tau31Milliseconds.
The two equations correspond to three unknown quantities (x, y and z), the position of the sound sensor needs to be adjusted, three-dimensional sound information of the same fault is collected again, and sound source positioning based on time delay is obtained again; when the sound sensors are adjusted, the position of only one sound sensor is adjusted, or the positions of two or three sound sensors are adjusted simultaneously, and the specific adjusting mode is determined according to actual needs.
I) When the position of only one sensor is adjusted and the other two sensors are kept still, when the first sound sensor is selected for adjustment, the expression is as follows:
Figure BDA0003253017780000103
Figure BDA0003253017780000104
a211＝v×τ211 (12)
a311＝v×τ311 (13)
the adjusted coordinates of the first acoustic sensor are (x11, y11, z11), and the time delay to the second acoustic sensor is τ based on the time of arrival of the acoustic source at the first acoustic sensor211Millisecond, time delay to third acoustic sensor is tau311Milliseconds.
At the moment, four equations (6), (7), (10) and (11) are simultaneously used for solving three unknowns (x, y, z), three equations are randomly selected from four equations to solve three unknowns to be solved, and the total number is
Figure BDA0003253017780000105
And four combination methods are used for obtaining the four sound source three-dimensional coordinates, and finally, the four coordinate results are averaged to obtain the final sound source three-dimensional coordinates.
Similarly, when only one sound sensor is adjusted, when the second sound sensor or the third sound sensor is selected for adjustment, in the above equations (10) and (11), the coordinates of the first sound sensor are (x1, y1, z1) and the coordinates of the second sound sensor are (x22, y22, z22) or the coordinates of the third sound sensor are (x33, y33, z 33); the formula corresponds to:
Figure BDA0003253017780000106
or
Figure BDA0003253017780000111
In both cases, three equations correspond to three unknowns, and the unique solution result can be obtained as the final sound source three-dimensional coordinate;
II), when any two sound sensors or three sound sensors need to be adjusted simultaneously, the above equations (10) and (11) are changed, and the expressions are as follows:
Figure BDA0003253017780000112
Figure BDA0003253017780000113
a2211＝v×τ2211 (121)
a3311＝v×τ3311 (131)
the coordinates of the first acoustic sensor are (x11, y11, z11), the coordinates of the second acoustic sensor are (x22, y22, z22), the coordinates of the third acoustic sensor are (x33, y33, z33), and the time delay of the sound source reaching the second acoustic sensor is tau based on the time of the sound source reaching the first acoustic sensor2211Millisecond, time delay to third acoustic sensor is tau3311Milliseconds.
The four equations (6), (7), (101) and (111) are formed simultaneously to solve for the three unknowns (x, y, z); randomly selecting three groups of equations from four groups of equations to solve three unknowns to be solved, converting the problem of ternary quadratic equation into the problem of optimal solution containing inequality constraint, and sharing
Figure BDA0003253017780000114
And four combination methods are used for obtaining the four sound source three-dimensional coordinates, and finally, the four coordinate results are averaged to obtain the final sound source three-dimensional coordinates.
In order to realize the quick calculation and obtain the fault sound source coordinates and avoid the phenomenon that three groups of equation sets have no solution due to the existence of errors, the ternary quadratic equation problem is converted into an optimization solving problem containing inequality constraints.
The expression is as follows:
min FF＝f1+f2+f3
Figure BDA0003253017780000115
Figure BDA0003253017780000116
Figure BDA0003253017780000117
a21＝v×τ21
a31＝v×τ31
a2211＝v×τ2211
f1≥0
f2≥0
f3≥0
and finally, moving the spatial positions of the three sensors for multiple times to assist in verifying the three-dimensional spatial position of the sound source.
By analyzing the frequency domain characteristics of the collected fault sound information with different three-dimensional dimensions, multi-point positioning can be realized according to different sound source frequencies at different three-dimensional positions.
Example (b):
firstly, a three-dimensional sound acquisition device is fixed on a triangular support and placed right in front of an operating mechanism of a 252kV sulfur hexafluoride high-voltage circuit breaker, the sound support is located at a position with a distance of 750 mm and a height of 1500 mm from the front and back of a mechanism shell, and when the high-voltage circuit breaker generates sound due to mechanical failure, the sound acquisition device serves as a sound source.
The dimensional parameters of the base and the four sliding beams in this embodiment are shown in table 1. Wherein, the base part is the bearing of the whole device, and the second sliding beam is connected with the base by an English M1/4 screw, thereby playing a role in fixing.
TABLE 1
Figure BDA0003253017780000121
The whole length of the first sliding beam is 230 mm, the number of the fixing holes is 10, every two holes are spaced by 20 mm, the first sound sensor can move back and forth on the first sliding beam, and the maximum moving distance is 160 mm.
The whole height of the second sliding beam is 400 mm, the number of the fixing holes is 20, the interval between every two holes is 20 mm, the first sliding beam, the fourth sliding beam and the second sliding beam are connected through two M6 screws, the height of the second sliding beam can be adjusted in a sliding mode, and the maximum height difference can reach 350 mm.
The overall length of the third sliding beam is 400 mm, the number of the fixing holes is 19, the interval between every two holes is 20 mm, and the maximum moving distance of the second sound sensor and the third sound sensor in the left-right moving process is 360 mm.
The depth of the clamping groove in the middle of the third sliding beam is 2 mm, and the clamping groove is connected with the third sliding beam through an M6 screw.
The fourth sliding beam is used for adjusting the front and back positions of the second sound sensor and the third sound sensor, the whole length is 130 mm, the number of the fixing holes is 6, the interval between every two holes is 20 mm, the third sliding beam moves back and forth on the fourth sliding beam, and the maximum movable distance is 100 mm.
Due to 252kVSF6When the high-voltage circuit breaker is switched on and off, the sound at the position 750 mm away from the mechanism can reach 125dB, and the sound pressure peak value can reachThe peak value is 51.1Pa, the frequency range is wide, therefore, the invention selects a free-field sound sensor (model number is 14423L) to be used together with an AWA14604 type preamplifier and an AH6012 type power adapter, and the material diagram of the sound sensor and the power distribution module is shown in figure 3. The three-dimensional sound acquisition device comprising the three sound sensors is fixed on a triangular support and is placed at a position 0.75 meter in front of the high-voltage circuit breaker operating mechanism, the overall height is about 1.5 meters, and a real object diagram of the three-dimensional sound acquisition device is shown in fig. 4.
The technical parameters of the acoustic sensor are shown in table 2. The sound sensor (14423L type) is required to have high sensitivity and wide dynamic response range, can effectively collect low-frequency signals and is suitable for collecting mechanical fault sound signals of a 252kV high-voltage circuit breaker.
TABLE 2
Figure BDA0003253017780000131
When the high-voltage circuit breaker has a mechanical fault, fault sound information of different three-dimensional dimensions can be acquired by adjusting the relative positions of the three sound sensors on the three-dimensional support, as shown in fig. 5, fig. 5(a) is to fix the positions of the second sound sensor and the third sound sensor and move the first sound sensor up and down; FIG. 5(b) illustrates the first acoustic sensor being moved back and forth with the second and third acoustic sensors fixed in position; fig. 5(c) shows the position of the first and third acoustic sensors fixed and the second acoustic sensor moved left and right; fig. 5(d) shows the third acoustic sensor moving left and right while fixing the positions of the first and second acoustic sensors; fig. 5(e) shows the positions of three acoustic sensors being moved simultaneously. The position of only one sound sensor can be adjusted, as shown in fig. 5(a) (b) (c) (d), so as to realize quick positioning of the sound source; meanwhile, in order to ensure accurate positioning of a fault sound source, the positions of two or three sound sensors are adjusted at the same time as shown in fig. 5(e), richer coordinate information is obtained, and the sound source is positioned more accurately.
The sound source for the mechanical fault of the high-voltage circuit breaker can be spatially positioned according to a sound time difference positioning technology, and the principle of the sound source is shown in figure 6, and the sound source comprises one sound source and three sound sensors at different spatial positions.
Research shows that at least three independent delay values, namely at least four sound sensors are needed as sound receiving devices to realize the positioning of a sound source target in a three-dimensional space by adopting a sound time difference positioning technology. However, in the application of collecting the mechanical fault sound signal of the high-voltage circuit breaker, when the high-voltage circuit breaker emits sound during mechanical action, the device name of the sound emitting source can be judged according to the coordinates in the x and z directions, so the coordinates in the front and back directions can be uniformly set as the coordinates of the outer surface of the mechanism and are known quantities. Therefore, the coordinates of the sound source in the left-right direction and the up-down direction can be determined only when the high-voltage circuit breaker is in mechanical failure. The two-dimensional coordinates of the sound source can be determined only by three sensors, and compared with a quaternary sensor acquisition device, the method has the advantages that the calculated amount is reduced, and the quick online monitoring is realized.
In the first embodiment, the 252kV sulfur hexafluoride high-voltage circuit breaker normally operates at the beginning, the designed three-dimensional acquisition device is installed right in front of the high-voltage circuit breaker operating mechanism, and the sound bracket is located at a position with a distance of 750 mm and a height of 1500 mm from the front and back of the mechanism shell to monitor the high-voltage circuit breaker in real time.
The base of the three-dimensional sound collection device is set as a coordinate origin, the left-right direction is taken as the x direction, the front-back direction is taken as the y axis direction, and the up-down direction is taken as the z direction. Initially, three sound sensors are respectively arranged at the highest frontmost position, the lowest rearmost leftmost position and the lowest rearmost rightmost position of the three-dimensional stereo support, namely the coordinates of a first sound sensor are (0, 220, 400), the coordinates of a second sound sensor are (-180, -120, 40) and the coordinates of a third sound sensor are (180, -120, 40).
When the high-voltage circuit breaker has a mechanical fault, the three-dimensional coordinate of a fault sound source is assumed to be (x, y0, z), wherein the value of the front and rear coordinate y0 is fixed, and the front surface of the high-voltage circuit breaker is the distance of 1222.7mm from the origin. At this time, the time delay of the sound source reaching the second sound sensor and the first sound sensor measured by the sound collection device is 1.4678 milliseconds, the time delay of the sound source reaching the third sound sensor and the first sound sensor is 1.1733 milliseconds, the propagation speed of the sound in the air is 340mm/ms, and the formula (3) - (6) is adopted.
Figure BDA0003253017780000141
Figure BDA0003253017780000142
a21＝340×1.4678 (5)
a31＝340×1.1733 (6)
The above-mentioned binary quadratic equation problem is converted into an optimization solution problem with inequality constraints, and the expression is as follows:
min FF＝f1+f2
Figure BDA0003253017780000143
Figure BDA0003253017780000144
a21＝340×1.4678
a31＝340×1.1733
f1≥0
f2≥0
by solving the optimization problem, the three-dimensional coordinates (452.3, 1222.7 and 818.9) of the sound source can be rapidly obtained, namely, the space positioning of the sound source is realized, and the mechanical fault position of the sulfur hexafluoride high-voltage circuit breaker on the closing release is determined.
Example two: when the high-voltage circuit breaker has a mechanical fault and the y values of the front coordinate and the rear coordinate are unknown, namely the three-dimensional direction coordinates (x, y, z) are required to be determined, the fault sound source can be determined by moving the three-dimensional sound acquisition system;
the method comprises the following specific steps:
the same as the first embodiment, the 252kV sulfur hexafluoride high-voltage circuit breaker normally operates at the beginning, the designed three-dimensional acquisition device is installed right in front of the high-voltage circuit breaker operating mechanism, the sound bracket is at a position with a distance of 750 mm and a height of 1500 mm from the front and back of the mechanism shell, and the high-voltage circuit breaker is monitored in real time. The base of the three-dimensional sound collection device is set as a coordinate origin, the left-right direction is taken as the x direction, the front-back direction is taken as the y axis direction, and the up-down direction is taken as the z direction.
Assuming that initially, three sound sensors are respectively arranged at the highest front, lowest left and last, lowest right and last of a three-dimensional support, namely the coordinates of a first sound sensor are (0, 220, 400), the coordinates of a second sound sensor are (-180, -120, 40), and the coordinates of a third sound sensor are (180, -120, 40), when a mechanical fault occurs in a high-voltage circuit breaker, the time delay of a sound source reaching the second sound sensor and the first sound sensor is 1.5185 milliseconds, the time delay of a sound source reaching the third sound sensor and the first sound sensor is 1.1039 milliseconds, the propagation speed of sound in the air is 340mm/ms, and the equations (7) - (10) are carried out.
Figure BDA0003253017780000151
Figure BDA0003253017780000152
a21＝340×1.5185 (9)
a31＝340×1.1039 (10)
And adjusting the front and back positions of a third sliding beam in the three-dimensional stereo sound acquisition device to enable the second sound sensor and the third sound sensor to simultaneously move forwards by 80 millimeters, and keeping the positions of other sliding beams unchanged, namely keeping the position of the first sound sensor unchanged. At this time, the coordinates of the first acoustic sensor are still (0, 220, 400), the coordinates of the second acoustic sensor are (-180, -40, 40), the coordinates of the third acoustic sensor are (180, -40, 40), the time delay for the sound source to reach the second acoustic sensor and the first acoustic sensor is 1.3715 ms, the time delay for the sound source to reach the third acoustic sensor and the first acoustic sensor is 0.9428 ms, the propagation speed of sound in the air is 340mm/ms, and the equations (11) - (14) are substituted.
Figure BDA0003253017780000153
Figure BDA0003253017780000154
a2211＝340×1.3715 (13)
a3311＝340×0.9428 (14)
The equations (7) - (14) are combined to form four sets of equations, and the three sets of equations are arbitrarily selected from the four sets of equations, and four different methods can be adopted. In order to realize rapid calculation and obtain the coordinates of a fault sound source and avoid the phenomenon that three groups of equation sets have no solution due to the existence of errors, a ternary quadratic equation problem can be converted into an optimized solution problem containing inequality constraints, three unknowns to be solved are respectively solved, the three-dimensional coordinates of the sound source are obtained as (x, y, z), and the final result is shown in table 3. Taking the first calculation as an example, the optimization solution expression containing inequality constraints is listed as follows:
min FF＝f1+f2+f3
Figure BDA0003253017780000161
Figure BDA0003253017780000162
Figure BDA0003253017780000163
a21＝340×1.5185
a31＝340×1.1039
a2211＝340×1.3715
f1≥0
f2≥0
f3≥0
TABLE 3
Figure BDA0003253017780000164
The results of the four calculations in table 3 are averaged to obtain three-dimensional coordinates (619.6, 936.7, 1028.1) of the fault sound source, that is, the spatial positioning of the sound source is realized, and the mechanical fault position of the sulfur hexafluoride high-voltage circuit breaker at the motor is determined.
Through a large number of practical calculation examples of MATLAB, time consumption for solving the ternary quadratic equation group and the optimization problem containing inequality constraint is compared, and the result shows that the time for solving the optimization problem is about 9 times of the time for solving the three groups of equation equations, and due to the existence of measurement errors, the possibility of no solution exists in the solving process of the ternary quadratic equation group.
The three-dimensional sound support can conveniently, quickly and accurately determine the relative positions of the three sound sensors, so that the sensors can move more regularly and according to the standard. The relative positions of the three sound sensors are changed, so that richer sound information can be obtained when the high-voltage circuit breaker is in mechanical failure, and a firmer data base is provided for online monitoring of the mechanical failure.
The collection of three routes sound signal is satisfied simultaneously, but the three-dimensional position of three sound sensor about can automatically regulated as required, realizes multidimension degree, multi-angle and three-dimensional collection fault information, and the farthest distance in every direction is 340 millimeters. The sound delay can be up to 1 millisecond in each dimension, depending on the speed of sound propagation in air being 340 m/s. The three sound sensors in different spatial positions can collect richer sound information, realize the digitization of the coordinates of the three sensors and confirm the coordinate positions of the sound sensors more intuitively, quickly and accurately.
According to the technical principle of positioning of sound time difference, the position of a sensor does not need to be moved and adjusted, and one-time quick positioning of a two-dimensional sound source coordinate can be realized; and the accurate positioning of the three-dimensional sound source coordinate can be realized through the position of one or more sensors. By solving the optimization problem containing inequality constraints, the calculation is simple, quick, convenient and accurate, and the method has important application value for the on-line monitoring research of the mechanical faults of the high-voltage circuit breaker.

Claims (8)

1. A three-dimensional stereo sound signal acquisition device is characterized by comprising three sound sensors, a base and four sliding beams; the three sound sensors are respectively a first sound sensor, a second sound sensor and a third sound sensor; the sliding cross beams are respectively a first sliding cross beam, a second sliding cross beam, a third sliding cross beam and a fourth sliding cross beam;
the second sliding beam is fixed on the base and is vertical to the base; the second sliding beam is provided with holes at equal intervals, and the top end of the second sliding beam is fixed with the first sliding beam and used for fixing the first sound sensor; a fourth sliding cross beam is fixed at the bottom end, and the first sliding cross beam and the fourth sliding cross beam slide up and down through an opening of the second sliding cross beam to adjust different heights;
the first sliding beam is provided with openings at equal intervals, and the first sound sensor moves back and forth through different openings;
the fourth sliding beam is provided with holes at equal intervals, the third sliding beam is horizontally and vertically arranged on the fourth sliding beam, and the third sliding beam moves back and forth on the fourth sliding beam;
the third sliding beam is used for fixing the second sound sensor and the third sound sensor, the openings are arranged at equal intervals, and the two sound sensors move left and right on the third sliding beam.
2. The apparatus as claimed in claim 1, wherein the fourth sliding beam is parallel to the first sliding beam and is disposed on two sides of the second sliding beam.
3. The stereo sound signal collecting device as claimed in claim 1, wherein a locking groove is formed in the middle of the third sliding beam and is fastened to the fourth sliding beam.
4. The apparatus as claimed in claim 1, wherein the second and third sound sensors are located on the same side of the beam or at two ends of the beam, respectively, and the distance between the two sound sensors is adjustable.
5. The apparatus as claimed in claim 1, wherein the apparatus for acquiring three-dimensional stereo sound is fixed on a tripod and placed right in front of an operating mechanism of a high voltage circuit breaker, and when the high voltage circuit breaker fails mechanically to generate sound, the method for estimating the spatial position of the sound source comprises the following steps:
step one, calculating the distance difference of a sound source reaching any two sensors, namely the sound path difference a;
the calculation formula is as follows:
a＝v×τ (1)
tau is the time difference of sound arriving at two sound sensors at different positions; v is the speed of sound propagation in air;
step two, when the sound sensor and the sound source are on the same plane, determining the plane position of the sound source;
step three, when the sound sensor and the sound source are not on the same plane, and the distance r between the sound source and the three-dimensional stereo sound acquisition device meets the requirement
Figure FDA0003253017770000011
When the sound is generated, the sound spreads around through the medium in the form of spherical waves; when the distance r does not meet the condition, transmitting the sound wave to the sound collection device in a plane wave mode;
wherein, L is the diameter of the sound collecting device, and lambda is the wavelength of sound waves;
step four, when sound diffuses around in the form of spherical waves, setting a base of the three-dimensional sound acquisition device as a coordinate origin, and constructing a three-dimensional sound source model for determining three-dimensional coordinates of a sound source by taking the left-right direction as an x direction, the front-back direction as a y-axis direction and the up-down direction as a z direction;
the specific classification is as follows:
(1) the first condition is as follows: when the high-voltage circuit breaker makes a sound due to a mechanical fault, the position of the fault sound source can be judged only by acquiring the coordinates of the fault sound source in the other two directions through the three-dimensional sound acquisition device according to a certain dimensional coordinate of the sound source, so that the sound source positioning is realized;
(2) case two: when the method is applicable to mechanical fault positioning of a high-voltage circuit breaker and three-dimensional coordinates of a sound source in the x direction, the y direction and the z direction need to be determined simultaneously, multiple groups of coordinates and equations can be obtained by adjusting the positions of three sound sensors, and the spatial positioning of the sound source is calculated by utilizing the time delay from the sound source to each sensor;
the expression is as follows:
Figure FDA0003253017770000021
Figure FDA0003253017770000022
a21＝v×τ21 (8)
a31＝v×τ31 (9)
the two equations correspond to three unknown quantities (x, y and z), the position of the sound sensor needs to be adjusted, three-dimensional sound information of the same fault is collected again, and sound source positioning based on time delay is obtained; when the sound sensors are adjusted, the position of only one sound sensor is adjusted, or the positions of two or three sound sensors are adjusted simultaneously, and the specific adjusting mode is determined according to actual needs.
6. A process as claimed in claim 5The three-dimensional stereo sound signal acquisition device is characterized in that the second step specifically comprises the following steps: according to the knowledge of geometric correlation, the time difference tau of the first sound sensor and the third sound sensor is obtained1Determining a hyperbola a1Also, the time difference τ is determined based on the arrival time at the second sound sensor and the third sensor2Determining a hyperbola a2And determining the plane position of the sound source according to the intersection point of the two hyperbolas.
7. The apparatus for stereo signal acquisition according to claim 5, wherein the condition in the fourth step, which is known by the y-direction coordinate y0, is calculated by:
the coordinates of the first acoustic sensor are (x1, y1, z1), the coordinates of the second acoustic sensor are (x2, y2, z2), the coordinates of the third acoustic sensor are (x3, y3, z3), and the three-dimensional coordinates of the sound source are (x, y0, z);
the expression is as follows:
Figure FDA0003253017770000023
Figure FDA0003253017770000024
a21＝v×τ21 (4)
a31＝v×τ31 (5)
the time delay of the sound source reaching the first sound sensor is taken as a reference, and the time delay of the sound source reaching the second sound sensor is tau21Millisecond, time delay to third acoustic sensor is tau31Milliseconds; at the moment, two unknown quantities x and z of the two equations do not need to adjust the relative positions of the three sound sensors, and the mechanical fault sound source coordinate of the high-voltage circuit breaker can be quickly determined only by once calculation;
in order to realize rapid calculation and obtain the fault sound source coordinates, the binary quadratic equation problem is converted into an optimization solving problem containing inequality constraints; the expression is as follows:
min FF＝f1+f2
c.s.
Figure FDA0003253017770000031
Figure FDA0003253017770000032
a21＝v×τ21
a31＝v×τ31
f1≥0
f2≥0。
8. the three-dimensional stereo sound signal collecting device as claimed in claim 5, wherein the position of the sound sensor in the second case of step four is adjusted by the following steps:
I) when the position of only one sensor is adjusted and the other two sensors are kept still, when the first sound sensor is selected for adjustment, the expression is as follows:
Figure FDA0003253017770000033
Figure FDA0003253017770000034
a211＝v×τ211 (12)
a311＝v×τ311 (13)
the adjusted coordinates of the first acoustic sensor are (x11, y11, z11), and the time delay to the second acoustic sensor is τ based on the time of arrival of the acoustic source at the first acoustic sensor211Millisecond, time delay to third acoustic sensor is tau311Milliseconds;
at the moment, four equations (6), (7), (10) and (11) are simultaneously used for solving three unknowns (x, y, z), three equations are randomly selected from four equations to solve three unknowns to be solved, and the total number is
Figure FDA0003253017770000035
Four combination methods are adopted to obtain the four sound source three-dimensional coordinates, and finally the four coordinate results are averaged to obtain the final sound source three-dimensional coordinates;
similarly, when only one sensor is adjusted, when the second sound sensor or the third sound sensor is selected for adjustment, in the above equations (10) and (11), the coordinates of the first sound sensor are (x1, y1, z1) and the coordinates of the second sound sensor are updated to (x22, y22, z22), or the coordinates of the third sound sensor are updated to (x33, y33, z 33); in both cases, three equations correspond to three unknowns, and the unique solution result can be obtained as the final sound source three-dimensional coordinate;
II) when any two sound sensors or any three sound sensors need to be adjusted simultaneously, the formulas (10) and (11) are changed, and four equations (6), (7), (10) and (11) are formed in a simultaneous manner to solve three unknowns (x, y, z); randomly selecting three groups of equations from four groups of equations to solve three unknowns to be solved, converting the problem of ternary quadratic equation into the problem of optimal solution containing inequality constraint, and sharing
Figure FDA0003253017770000036
Four combination methods are adopted to obtain the four sound source three-dimensional coordinates, and finally the four coordinate results are averaged to obtain the final sound source three-dimensional coordinates;
in order to realize the quick calculation and obtain the fault sound source coordinate and avoid the phenomenon that three groups of equality equations have no solution due to the existence of errors, the ternary quadratic equality problem is converted into an optimization solving problem containing inequality constraint;
the expression is as follows:
min FF＝f1+f2+f3
c.s.
Figure FDA0003253017770000041
Figure FDA0003253017770000042
Figure FDA0003253017770000043
a21＝v×τ21
a31＝v×τ31
a2211＝v×τ2211
f1≥0
f2≥0
f3≥0。
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