CN114720164A - State monitoring method for moving object, computing device and computer readable medium - Google Patents
State monitoring method for moving object, computing device and computer readable medium Download PDFInfo
- Publication number
- CN114720164A CN114720164A CN202110010487.1A CN202110010487A CN114720164A CN 114720164 A CN114720164 A CN 114720164A CN 202110010487 A CN202110010487 A CN 202110010487A CN 114720164 A CN114720164 A CN 114720164A
- Authority
- CN
- China
- Prior art keywords
- moving object
- sound data
- specific
- cycle
- operating cycle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/005—Testing of complete machines, e.g. washing-machines or mobile phones
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Embodiments of the present invention relate to data analysis technologies, and in particular, to a method, a computing device, and a computer-readable medium for monitoring a state of a moving target. The method comprises the following steps: controlling (S304) a microphone array (20) to collect sound data at a particular instant in a current operating cycle of the moving object (30); determining (S305) a specific position of the moving object (30) in the running trajectory at the specific time; spatially filtering (S306) sound data acquired by the microphone array (20) at the specific time in a current operation cycle to obtain sound data of sound emitted at the specific position; and comparing the sound data obtained after filtering with the sound data obtained after filtering at the specific time in a past operation period (S307) to determine the state of the moving target (30) in the current operation period.
Description
Technical Field
The embodiment of the invention relates to the technical field of data analysis, in particular to a state monitoring method, computing equipment and a computer readable medium for a moving target.
Background
Vibration analysis is one of the primary methods used for equipment condition monitoring, for example, by analyzing vibration data to monitor the health of industrial equipment to avoid unexpected downtime and the resulting economic loss. But it is very difficult or even impossible to obtain vibration data from an operating device. This is because the vibration sensor and its wiring (such as power and data lines) are difficult to install, especially in scenarios where the device being monitored is moving and vibration data needs to be continuously acquired.
Therefore, how to monitor the status of the moving device is an urgent problem to be solved.
Disclosure of Invention
In order to continuously monitor the state of a moving device, hereinafter referred to as a "moving target", in the embodiment of the present invention, the state of the moving target is analyzed by collecting sound data, and since the sound data is propagated through the air, it is not necessary to install any hardware device on the moving target. And when the moving target runs, controlling the microphone array to collect sound data at different moments, determining the positions of the moving target at different moments in the current running period according to the running period of the moving target and the initial running moment of the current running period, and performing spatial filtering on the sound data collected by the microphone array at a specific moment to obtain the sound data of the sound at the specific position of the moving target at the determined specific moment, so that the sound emitted by a non-moving target can be effectively filtered, and the obtained sound data can accurately represent the state of the moving target at the position. Further, the state of the moving object in the current operation period is determined by comparing the sound data of the moving object at the specific moment of the different operation periods.
In a first aspect, a method for monitoring a condition of a moving object is provided. The method can comprise the following steps: acquiring the time length of an operation period of a moving target; acquiring a motion track of the moving target in a running period; acquiring the initial operation time of the moving target in the current operation period; controlling a microphone array to collect sound data at a specific moment in the current operation cycle of the moving target; determining a specific position of the moving target in the running track at the specific time according to the acquired duration of the running period and the initial running time in the current running period; performing spatial filtering on sound data acquired by the microphone array at the specific moment in the current operation cycle to obtain sound data of the sound emitted at the specific position; and comparing the sound data obtained after filtering with the sound data obtained after filtering at the specific moment in a previous operation cycle to determine the state of the moving target in the current operation cycle.
In a second aspect, a computing device for performing status monitoring for a moving object is provided, which includes means for performing the steps of the method provided in the first aspect.
In a third aspect, a computing device for performing status monitoring for a moving object is provided, comprising: at least one memory configured to store computer readable code; at least one processor configured to invoke the computer readable code to perform the steps of the method provided by the first aspect.
In a fourth aspect, a computer readable medium has computer readable instructions stored thereon, which, when executed by a processor, cause the processor to perform the steps of the method provided in the first aspect.
For any one of the above aspects, optionally, a specific frequency range of a sound emitted by the moving object at the specific time in the operation cycle may also be obtained; in the filtering of the sound data, the sound data collected by the microphone array at the specific time in the current operation cycle may be subjected to frequency filtering and spatial filtering to obtain the sound data emitted from the specific position and located in the specific frequency range. In this way, the sound emitted by non-moving objects may be further filtered.
For any of the above aspects, optionally, the operation parameters of the moving object in the current operation period and the past operation period are the same.
For any of the above aspects, optionally, the computing device for condition monitoring for moving objects is located in a control device controlling the moving objects; or the computing device is in communication connection with a control device that controls the moving object, and the parameter obtaining module is specifically configured to: the method comprises the steps of obtaining the duration of an operation period of the moving target, the motion track of the moving target in the operation period and the initial operation time of the moving target in the current operation period from the control device.
Drawings
Fig. 1A and 1B are schematic diagrams illustrating state monitoring of a moving object according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a computing device for performing status monitoring on a moving object according to an embodiment of the present invention.
Fig. 3 is a flowchart of a state monitoring method for a moving object according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of spatial filtering according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a method for simultaneously monitoring operating states of a plurality of moving objects in an alternative implementation manner of the embodiment of the present invention.
List of reference numerals:
10: the control device 20: the microphone array 30: moving object 11: computing device
Dt1、Dt+1、Dt+2: the positions of the moving object 30 at times t, t +1, and t +2, respectively
12: the computing device 1201: memory 1202: the processor 1203: control interface
1204: communication interface 121: state monitoring program for moving object 30
1211 to 1215: computer program modules in program 121, wherein 1211: parameter acquisition module, 1212: control module, 1213: determination module, 1214: filtering module, 1215: analysis module
300: the embodiment of the invention provides a state monitoring method for a moving target
S301 to S308: steps of method 300
Detailed Description
The subject matter described herein will now be discussed with reference to example embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thereby implement the subject matter described herein, and are not intended to limit the scope, applicability, or examples set forth in the claims. Changes may be made in the function and arrangement of elements discussed without departing from the scope of the embodiments of the invention. Various examples may omit, substitute, or add various procedures or components as needed. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, features described with respect to some examples may also be combined in other examples.
As used herein, the term "include" and its variants mean open-ended terms, meaning "including but not limited to. The term "based on" means "based at least in part on". The terms "one embodiment" and "an embodiment" mean "at least one embodiment". The term "another embodiment" means "at least one other embodiment". The terms "first," "second," and the like may refer to different or the same object. Other definitions, whether explicit or implicit, may be included below. The definition of a term is consistent throughout the specification unless the context clearly dictates otherwise.
In order to facilitate understanding of the contents of the embodiments of the present invention, some contents related to the embodiments of the present invention are described below. It should be noted that these should not be construed as limitations on the scope of the invention.
1. Microphone array
Apparatus consisting of a number of acoustic sensors (typically microphones) for sampling the spatial characteristics of a sound field. According to the layout of each microphone in the microphone array, a linear layout microphone array, a circular layout microphone array (such as the microphone array 20 in fig. 1A and 1B), and so on can be used.
In the embodiment of the invention, the sound data are collected by the microphone array and then sent to the computing equipment, and the computing equipment performs spatial filtering on the sound equipment to obtain the sound data of the sound emitted by the moving target subjected to state monitoring.
In the embodiment of the invention, the states of a plurality of moving targets 30 can be monitored simultaneously, the microphone array is controlled to collect the sound data of the plurality of moving targets, and the sound data can be filtered according to the positions because the positions of different moving targets at the same moment are different, so that the sound data of each moving target can be obtained respectively.
When the motion track coverage range of the moving target is large, a plurality of microphone arrays can be deployed for large-area coverage, and sound data at different positions are collected respectively.
2. Moving object
In the embodiment of the invention, the equipment subjected to state monitoring is mobile equipment, namely the equipment is not fixed in position during operation and is in motion.
3. Period of operation
Some devices have a certain operation period during operation, and generally the devices execute the same task in different operation periods to complete the same processing. Such as: a robotic arm first identifies a target part from a stack of parts during a run, and then picks up the target part (e.g., a screw) and screws it into a bolt. The mechanical arm also repeats the actions of part identification, part grabbing and screw-in the next operation period. Thus, the device has a certain operating cycle.
4. Motion trail
In the embodiment of the present invention, the moving tracks of the moving target subjected to the condition monitoring in different operating cycles may be considered to be the same or approximately the same. In this way, according to the duration of the operating cycle, the starting time of the current operating cycle, and the position of the moving target at a specific time in one operating cycle, the specific position of the moving target at the specific time in the current operating cycle can be determined, and then the sound data collected at the specific time is spatially filtered to obtain the sound data of the expected sound emitted from the specific position, wherein the sound data is identified as the sound data of the sound emitted by the moving target.
5. Operating parameters
In the embodiment of the invention, the state of the moving target is determined by comparing the sound data at the same specific moment in different operation cycles. It can be assumed that the operating parameters of the moving object are the same or substantially the same in different operating cycles, such as: the working condition of the moving target, the working environment in which the moving target is located, the type of the processed workpiece and the like.
6. Method for determining the state of a moving object
In the embodiment of the present invention, the state of the moving target is determined by comparing the sound data of the moving target in different operation cycles, and various implementation manners may be selected, including but not limited to:
in a first way,
And comparing the sound data of the same specific time of different operation cycles to determine the state of the moving target of the specific time of the current operation cycle.
The second way,
The computing device controls the microphone array to respectively collect sound data at a plurality of moments of each operation period, draws a curve of the sound data changing along with time in each operation period, and compares the curves of different operation periods to determine the state of the moving target in the current operation period.
7. Acquisition of sound data
The computing device may control the microphone array to collect sound data at a certain frequency during the operational cycle of the moving object, or to collect sound data only at each particular time or time period of interest, such as: and collecting sound data and the like when the mechanical arm is screwed in the screw.
The following describes embodiments of the present invention in detail with reference to the accompanying drawings.
Fig. 1A and fig. 1B respectively show schematic diagrams of two implementations of sound data acquisition and moving object monitoring in the embodiment of the present invention.
In FIG. 1AThe control device 10 controls the moving object 30, which knows the duration of the operation cycle of the moving object 30, controls the start time of the moving object 30 in the current operation cycle, and may also control the movement trajectory of the moving object 30. Further, the control device 10 may also control the microphone array 20 to collect sound data. Such as: controlling the microphone array 20 to collect sound data at the time of t, t +1 and t +2, and calculating the position D of the moving target 30 at the time of t, t +1 and t +2 according to the operation period of the moving target 30 and the starting time of the current operation periodt1、Dt+1、Dt+2And performs spatial filtering on the sound data accordingly to acquire sound data of sounds emitted at the specific positions, and further performs analysis to determine the state of the moving object 30.
In fig. 1B, the control device 10 controls the moving object 30, which knows the duration of the operation cycle of the moving object 30, controls the starting time of the current operation cycle of the moving object 30, and may also control the motion trajectory of the moving object 30. The computing device 11 is connected to the control device 10 in communication, and is capable of acquiring the duration of the operation cycle of the moving target 30, the start time of the current operation cycle, and the movement trajectory of the moving target 30 in the operation cycle from the control device 10. The computing device 11 may control the microphone array 20 to collect sound data. Such as: controlling the microphone array 20 to collect sound data at the time of t, t +1 and t +2, and calculating the position D of the moving target 30 at the time of t, t +1 and t +2 according to the operation period of the moving target 30 and the starting time of the current operation periodt1、Dt+1、Dt+2And performs spatial filtering on the sound data accordingly to acquire sound data of sounds emitted at the specific positions, and further performs analysis to determine the state of the moving object 30.
Fig. 2 is a schematic structural diagram of the computing device 12 for performing status monitoring on the moving object 30 according to an embodiment of the present invention. This computing device 12 may be the aforementioned control device 10 or a part thereof, or may also be the aforementioned computing device 11. The computing device 11 may be implemented as a network of computer processors to perform the condition monitoring method 300 for moving objects in embodiments of the present invention, or may be a single computer, single-chip, or processing chip as shown in FIG. 3, including at least one memory 1201 comprising a computer-readable medium, such as Random Access Memory (RAM). The certificate authority 22 also includes at least one processor 1202 coupled with the at least one memory 1201. Computer-executable instructions are stored in the at least one memory 1201 and, when executed by the at least one processor 1202, may cause the at least one processor 1202 to perform the steps described herein.
The at least one memory 1201 illustrated in fig. 3 may contain the condition monitoring program 121 for a moving object, so that the at least one processor 1202 performs the condition monitoring method 300 for a moving object described in the embodiment of the present invention. The state monitoring program 121 for the moving object may include:
a parameter acquisition module 1211 configured to: acquiring the duration of an operation period of a moving target 30, acquiring a motion track of the moving target 30 in the operation period, and acquiring an initial operation time of the moving target 30 in the current operation period;
a control module 1212 configured to control the microphone array 20 to collect sound data at a specific moment in the current operating cycle of the moving object 30;
a determining module 1213, determining the specific position of the moving target 30 in the moving trajectory at the specific time according to the duration of the obtained operating cycle and the initial operating time in the current operating cycle;
a filtering module 1214 configured to spatially filter sound data acquired by the microphone array 20 at a specific time in the current operation cycle to obtain sound data of sound emitted at a specific location;
an analysis module 1215 configured to compare the filtered sound data with the filtered sound data obtained at a particular time in a past operation cycle to determine the state of the moving object 30 in the current operation cycle.
Optionally, the parameter obtaining module 1211 is further configured to: acquiring a specific frequency range of a sound emitted by the moving target 30 at a specific moment in an operation period; the filtering module 1213, when performing spatial filtering on the sound data collected by the microphone array 20 at a specific time in the current operation cycle to obtain the sound data of the sound emitted at a specific position, is specifically configured to: the sound data collected by the microphone array 20 at a particular time in the current operating cycle is frequency filtered and spatially filtered to obtain sound data emitted at a particular location and within a particular frequency range.
In addition, the modules can also be regarded as various functional modules implemented by hardware, and used for implementing various functions involved in the execution of the state monitoring method for the mobile object by the computing Device 12, for example, control Logic of various processes involved in the method is burned into a chip such as a Field-Programmable Gate Array (FPGA) chip or a Complex Programmable Logic Device (CPLD), and the functions of the modules are executed by the chip or the Device, and the specific implementation manner may depend on engineering practice.
In addition, computing device 12 may also include a communication interface 1204 for communicating between computing device 12 and other devices, such as control device 10. The computing device 12 may also include a control interface 1203, through which control instructions are sent to the microphone array 20 instructing it to collect sound data and receive the sound data through the control interface 1203.
It should be mentioned that embodiments of the invention may comprise devices having architectures different from that shown in fig. 3. The above-described architecture is merely exemplary and is used to explain the status monitoring method 300 for a moving object according to an embodiment of the present invention.
Among other things, the at least one processor 1202 may include a microprocessor, an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a state machine, and so forth. Examples of computer readable media include, but are not limited to, floppy diskettes, CD-ROMs, magnetic disks, memory chips, ROMs, RAMs, ASICs, configured processors, all-optical media, all-magnetic tape or other magnetic media, or any other medium from which a computer processor can read instructions. In addition, various other forms of computer-readable media may transmit or carry instructions to a computer, including a router, private or public network, or other wired or wireless transmission device or channel. The instructions may include code in any computer programming language, including C, C + +, C, Visual Basic, java, and JavaScript.
A state monitoring method 300 for a moving object according to an embodiment of the present invention is described below with reference to fig. 3. The method may be performed by the computing device 12 described previously. As shown in fig. 3, the method 300 may include the steps of:
-S301: the duration of the operation period of the moving object 30 is acquired.
-S302: the motion trajectory of the moving object 30 in the operation cycle is acquired.
-S303: the starting operating time of the moving object 30 in the current operating cycle is acquired.
-S304: at a specific time in the current operation cycle of the moving object 30, the microphone array 20 is controlled to collect sound data.
-S305: determining the specific position of the moving target 30 in the moving track at the specific time according to the acquired duration of the running period and the initial running time in the current running period;
-S306: performing spatial filtering on sound data collected by the microphone array 20 at a specific time in the current operation cycle to obtain sound data of sound emitted at a specific position;
-S307: the sound data obtained after filtering is compared with the sound data obtained after filtering at a specific time in a previous operation cycle to determine the state of the moving object 30 in the current operation cycle. Alternatively, the sound data obtained after filtering may be compared with sound data of a plurality of past operation cycles to determine the state of the moving object 30. Alternatively, the sound data at the specific moment and the data at other moments in the current operation cycle may be combined into a curve, and the curve of the current operation cycle may be compared with the curves of other operation cycles to perform the state analysis.
Optionally, the method 300 may further include the step S308 of obtaining a specific frequency range of the sound emitted by the moving object 30 at a specific time in the operation cycle; step S306 may include sub-step S3061 frequency filtering and sub-step S3062 spatial filtering, specifically, frequency filtering and spatial filtering the sound data collected by the microphone array 20 at a specific moment in the current operation cycle to obtain the sound data emitted at a specific position and located in a specific frequency range. Of course, only spatial filtering may be performed without frequency filtering.
Of the above steps, the order of the steps is not particularly limited, and steps S301, S302, and S303 are completed before step S305 determines the specific position of the moving object 30 at the specific time and step S308 determines the specific frequency range of the sound emitted by the moving object 30 at the specific time in the operating cycle; before performing frequency filtering in substep S3061, completing step S308 and step S306 to collect sound data; before performing spatial filtering in substep S3062, the acquisition of sound data in step S306 and the determination of the specific location in step S305 may be completed.
An alternative method of performing spatial filtering in an embodiment of the invention is described below with reference to fig. 4.
The filtering may be performed using a spatial filter. At a specific time t, the position of the moving object 30 is Dt. Here, by Δ TtiIndicating the sound from position DtThe time duration of the i-th microphone in the microphone array 20. At a particular time t, the sound pressure of the moving object 30 may be expressed as:
wherein p istiIs the sound pressure of the ith microphone, hti(1 ≦ i ≦ n) is the steering vector (steering vector), which is the response of all microphones of microphone array 20 to a narrowband source with unit capability. Filter coefficient htiAnd Δ TtiCan be set so that ptContaining only data from position DtFrom other bitsThe signal is suppressed as much as possible. h is a total oftiIs a position D corresponding to a specific time ttVector of the line to the ith microphone position. Can be adjusted by htiThe direction of the sound received by the microphone array 20 is adjusted so as to face the sound source.
Since the motion trajectories are uniform, the filter coefficients [ h ]t1,ht1,…,htn,ΔTt1,ΔTt2,…ΔTtn]Can be obtained by moving the position of the target 30 and the parameters of the microphone array 20 (wherein, a pair of htiAnd Δ TtiCorresponding to one position, if there are n positions, n pairs of h can be calculatedtiAnd Δ Tti). One particular case is if the moving object 30 is stationary, the filter coefficients are constant.
Fig. 5 illustrates a method for simultaneously monitoring the operating status of a plurality of moving objects in an alternative implementation of an embodiment of the invention. In which sound data at various positions on the motion trajectory of the moving object 30 is acquired by the microphone array 20, and the sound data is subjected to signal processing as a periodic fingerprint to evaluate the operating state of the moving object 30. In the mode shown in fig. 5, a plurality of moving objects are simultaneously monitored by the microphone array 20: moving object 30-1, moving object 30-2, …, moving object 30-j, where j is a positive integer. For each moving object 30, sound data is periodically collected, and the operation state of the moving object 30 is analyzed by comparing the sound data of different operation periods.
Furthermore, an embodiment of the present invention further provides a computer readable medium, where the computer readable medium has computer readable instructions stored thereon, and when the computer readable instructions are executed by a processor, the processor is caused to execute the foregoing state monitoring method for a moving target. Examples of the computer-readable medium include floppy disks, hard disks, magneto-optical disks, optical disks (e.g., CD-ROMs, CD-R, CD-RWs, DVD-ROMs, DVD-RAMs, DVD-RWs, DVD + RWs), magnetic tapes, nonvolatile memory cards, and ROMs. Alternatively, the computer readable instructions may be downloaded from a server computer or from a cloud over a communications network.
It should be noted that not all steps and modules in the above flows and system structure diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution order of the steps is not fixed and can be adjusted as required. The system structure described in the above embodiments may be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by a plurality of physical entities, or some components in a plurality of independent devices may be implemented together.
In summary, embodiments of the present invention provide a method, a computing device, and a computer-readable medium for performing status monitoring for a moving object. The problem that the operation data of the moving target cannot be acquired due to the difficulty in mounting the power line and the data transmission line of the sensor machine is solved. The running state of the moving object can be continuously monitored by using the microphone array, the device running data is acquired in a non-contact mode, and a plurality of moving objects can be monitored simultaneously by one microphone array.
Claims (14)
1. A method (300) of condition monitoring for a moving object, comprising:
-obtaining (S301) a duration of an operating cycle of a moving object (30);
-acquiring (S302) a motion trajectory of the moving object (30) in a run cycle;
-obtaining (S303) a starting operating moment of the moving object (30) in a current operating cycle;
-controlling (S304) a microphone array (20) to collect sound data at a particular instant in the current operating cycle of the moving object (30);
-determining (S305) a specific position of the moving object (30) in the moving trajectory at the specific time, according to the obtained duration of the operating cycle and the starting operating time in the current operating cycle;
-spatially filtering (S306) sound data acquired by the microphone array (20) at the specific moment in a current operation cycle to obtain sound data of sound emitted at the specific location;
-comparing (S307) the filtered acoustic data with the filtered acoustic data at said specific moment in a previous operation cycle to determine the state of said moving object (30) in the current operation cycle.
2. The method of claim 1, further comprising:
-acquiring (S308) a specific frequency range of sounds emitted by said moving object (30) operating at said specific moment in the operating cycle;
-spatially filtering (S306) sound data acquired by the microphone array (20) at the specific moment in the current operation cycle to obtain sound data of the sound emitted at the specific location, comprising: and performing frequency filtering (S3061) and spatial filtering (S3062) on the sound data acquired by the microphone array (20) at the specific moment in the current operation cycle to obtain the sound data emitted at the specific position and located in the specific frequency range.
3. The method of claim 1, wherein the operational parameters of the moving object (30) are the same during the current operational period and during the past operational period.
4. A computing device (12) for condition monitoring for a moving object, comprising:
-a parameter acquisition module (1211) configured to:
-obtaining the duration of an operating cycle of a moving object (30);
-acquiring a motion trajectory of the moving object (30) during a run cycle;
-obtaining a starting operating moment of the moving object (30) in a current operating cycle;
-a control module (1212) configured to control a microphone array (20) to collect sound data at a particular instant in a current operating cycle of the moving object (30);
-a determining module (1213) for determining a specific position of the moving object (30) in the moving trajectory at the specific time according to the duration of the obtained operating cycle and the starting operating time in the current operating cycle;
-a filtering module (1214) configured to spatially filter sound data acquired by the microphone array (20) at the specific moment in a current operation cycle to obtain sound data of the sound emitted at the specific location;
-an analysis module (1215) configured to compare the filtered sound data with the filtered sound data at said particular time in a past operational cycle, to determine the state of the moving object (30) in the current operational cycle.
5. The computing device (12) of claim 4, further comprising:
-the parameter acquisition module (1211) further configured to: acquiring a specific frequency range of a sound emitted by the moving target (30) at the specific moment in an operation cycle;
-the filtering module (1213), when spatially filtering the sound data acquired by the microphone array (20) at the specific moment in the current operation cycle to obtain sound data of the sound emitted at the specific location, is specifically configured to: and carrying out frequency filtering and spatial filtering on the sound data acquired by the microphone array (20) at the specific moment in the current operation cycle to obtain the sound data emitted at the specific position and located in the specific frequency range.
6. The computing device (12) of claim 4, wherein the operating parameters of the moving target (30) are the same at a current operating cycle and at the past operating cycle.
7. The computing device (12) of claim 4,
the computing device (12) is located in a control device (10) controlling the moving object (30); or
The computing device is in communication connection with a control device (10) controlling the moving object (30), and the parameter acquisition module (1211) is specifically configured to: the duration of the operating cycle of the moving object (30), the movement locus of the moving object (30) in the operating cycle, and the starting operating time of the moving object (30) in the current operating cycle are acquired from the control device (10).
8. A computing device (12) for condition monitoring for a moving object, comprising:
at least one memory (1201) configured to store computer readable code;
at least one processor (1202) configured to invoke the computer readable code to perform the steps of:
-obtaining the duration of an operating cycle of a moving object (30);
-acquiring a motion trajectory of the moving object (30) during a run cycle;
-obtaining a starting operating moment of the moving object (30) in a current operating cycle;
-controlling a microphone array (20) to collect sound data at a specific moment in the current operating cycle of the moving object (30);
-determining a specific position of the moving target (30) in the moving trajectory at the specific time according to the obtained duration of the operating cycle and the starting operating time in the current operating cycle;
-spatially filtering sound data acquired by the microphone array (20) at the specific moment in a current operation cycle to obtain sound data of sound emitted at the specific location;
-comparing the filtered acoustic data with the filtered acoustic data at said specific time during a previous operating cycle to determine the state of said moving object (30) during the current operating cycle.
9. The computing device (12) of claim 8,
-the at least one processor (1202), further configured to invoke the computer readable code, to perform the steps of:
-obtaining a specific frequency range of the sound emitted by the moving object (30) at the specific moment in the operation cycle;
-the at least one processor (1202), when invoking the computer-readable code, is specifically configured to, in spatial filtering sound data acquired by the microphone array (20) at the particular time instant in a current operating cycle to obtain sound data of the sound emitted at the particular location: and carrying out frequency filtering and spatial filtering on the sound data acquired by the microphone array (20) at the specific moment in the current operation cycle to obtain the sound data emitted at the specific position and located in the specific frequency range.
10. The computing device (12) of claim 8, wherein the operating parameters of the moving target (30) are the same at a current operating cycle and at the past operating cycle.
11. The computing device (12) of claim 8,
the computing device (12) is located in a control device (10) controlling the moving object (30); or
The computing device (12) further includes a communication module (1204) communicatively coupled to the control device (10) controlling the moving object (30), the at least one processor (1202) invoking the computer readable code to obtain, from the control device (10), the duration of the operational cycle of the moving object (30), the trajectory of the moving object (30) during the operational cycle, and the starting operational time of the moving object (30) during the current operational cycle via the communication module (1204).
12. A computer readable medium having computer readable instructions stored thereon, which when executed by a processor, cause the processor to perform the steps of:
-obtaining the duration of an operating cycle of a moving object (30);
-acquiring a motion trajectory of the moving object (30) during a run cycle;
-obtaining a starting operating moment of said moving object (30) in a current operating cycle;
-controlling a microphone array (20) to collect sound data at a specific moment in the current operating cycle of the moving object (30);
-determining a specific position of the moving target (30) in the moving trajectory at the specific time according to the obtained duration of the operating cycle and the starting operating time in the current operating cycle;
-spatially filtering sound data acquired by the microphone array (20) at the specific moment in a current operation cycle to obtain sound data of sound emitted at the specific location;
-comparing the filtered acoustic data with the filtered acoustic data at said specific time during a previous operating cycle to determine the state of said moving object (30) during the current operating cycle.
13. The computer-readable medium of claim 12,
-the computer readable instructions, when executed by a processor, further cause the processor to perform the steps of: acquiring a specific frequency range of a sound emitted by the moving target (30) at the specific moment in an operation cycle;
-the computer readable instructions, when executed by the processor, cause the processor to perform the steps of, in particular: and carrying out frequency filtering and spatial filtering on the sound data acquired by the microphone array (20) at the specific moment in the current operation cycle to obtain the sound data emitted at the specific position and located in the specific frequency range.
14. The computer-readable medium of claim 12, wherein the operational parameters of the moving object (30) are the same during the current operational period and during the past operational period.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110010487.1A CN114720164A (en) | 2021-01-06 | 2021-01-06 | State monitoring method for moving object, computing device and computer readable medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110010487.1A CN114720164A (en) | 2021-01-06 | 2021-01-06 | State monitoring method for moving object, computing device and computer readable medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114720164A true CN114720164A (en) | 2022-07-08 |
Family
ID=82234742
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110010487.1A Pending CN114720164A (en) | 2021-01-06 | 2021-01-06 | State monitoring method for moving object, computing device and computer readable medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114720164A (en) |
-
2021
- 2021-01-06 CN CN202110010487.1A patent/CN114720164A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10970387B2 (en) | Systems, methods, and apparatuses for intrusion detection and analytics using power characteristics such as side-channel information collection | |
| EP2781979B1 (en) | Real-time monitoring of vehicle | |
| JP6609050B2 (en) | Anomalous fusion in temporal causal graphs | |
| JP6374466B2 (en) | Sensor interface device, measurement information communication system, measurement information communication method, and measurement information communication program | |
| US20160231738A1 (en) | Information processing apparatus and analysis method | |
| JP2006506800A5 (en) | ||
| Sun et al. | BLDC motor speed control system fault diagnosis based on LRGF neural network and adaptive lifting scheme | |
| JP6729577B2 (en) | Signal detecting device, signal detecting method and program | |
| Moallemi et al. | Exploring scalable, distributed real-time anomaly detection for bridge health monitoring | |
| WO2018047805A1 (en) | Device for estimating speed of moving sound source, speed monitoring system, method for estimating speed of moving sound source, and storage medium in which program for estimating speed of moving sound source is stored | |
| CN114720164A (en) | State monitoring method for moving object, computing device and computer readable medium | |
| WO2020162426A1 (en) | Analysis device, analysis method, program, and sensor structure | |
| KR101102916B1 (en) | Realtime test and analysis system of a driving car | |
| JP7160190B2 (en) | Abnormality detection device, method, system and program | |
| CN113934432A (en) | Method, apparatus, and storage medium for deploying a machine learning model | |
| JP2005284519A (en) | Abnormality diagnosis apparatus | |
| Bezemskij et al. | Threat evaluation based on automatic sensor signal characterisation and anomaly detection | |
| CN111857202B (en) | Active vibration isolation control method, device and system, control equipment and storage medium | |
| CN114252810B (en) | Transformer sound vibration fault monitoring method, system, equipment and readable storage medium | |
| KR102607487B1 (en) | Method and Apparatus for Reducing Noise in a Robot Arm | |
| KR20140085010A (en) | Method and system for searching structure shake position | |
| CN114001939B (en) | Line connection device monitoring method, device, equipment and storage medium | |
| WO2023015484A1 (en) | Method and apparatus for training a model | |
| JP2011146871A (en) | Apparatus and method for searching sound source | |
| KR20240028039A (en) | Apparatus and method of separating passive sonar narrowband signals |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |