EP3769106A1

EP3769106A1 - Apparatus, system and method for spatially locating sound sources

Info

Publication number: EP3769106A1
Application number: EP19714530.3A
Authority: EP
Inventors: Thomas Rittenschober
Original assignee: Seven Bel GmbH
Current assignee: Seven Bel GmbH
Priority date: 2018-03-19
Filing date: 2019-03-19
Publication date: 2021-01-27
Also published as: WO2019178626A1; US11307285B2; KR20200133224A; US20210096208A1; CN111868549A

Abstract

An apparatus comprising at least one first microphone (10) which is movably arranged, at least one second stationary microphone (11) and at least one sensor (16) is described. The microphones can capture the sound waves emitted by acoustic sources, and the sensor can capture spatial coordinates of the first microphone. A corresponding method and a system having the apparatus mentioned are also described.

Description

DEVICE, SYSTEM AND METHOD FOR THE SPATIAL LOCALIZATION OF SOUND SOURCES

TECHNICAL AREA

The present description relates to a device, a system and a method for the spatial localization of sound sources and is therefore assigned to the field of acoustic measurement technology.

BACKGROUND

The spatial location of acoustic sound sources is an essential task in the quantification of noise and vibration characteristics of products in the automotive and aerospace sector and in the consumer electronics and industrial equipment sectors. This task is called Noise, Vibration, Harshness (NVH) Testing in the product development process. In order to develop products that meet both regulatory and customer requirements in terms of noise levels and sound perception, NVH Testing is essential and therefore products must be measured with the appropriate reliability and accuracy. The location of sound sources is not limited only to products of the above industrial sectors, but also finds application in other fields, such as e.g. for environmental noise measurement in the workplace, in public areas for the identification of acoustic sources of interference or in the building acoustics evaluation of sound insulation. Users of systems for spatial location of acoustic sources are i.a. Manufacturer of products from the above-mentioned industrial sectors, engineering service providers, building acoustics, construction companies and public institutions.

Specifically, the verification of regulatory requirements and desired sound qualities takes place relatively late in the product development process. At this point, product developers need easy-to-use and intuitive tools to help them analyze NVH issues and make decisions about meeting product specifications. Similar problems are to be found in the field of building acoustics in the in-situ verification of structural measures, quality monitoring in the manufacture of products and in condition monitoring of machines and processes. So-called acoustic cameras are known from the prior art, with de nen acoustic sources can be visualized. Such acoustic cameras typically have a microphone array with a high number of microphones arranged on a disk-shaped surface. The design of such acoustic cameras is often complex and, in particular, a large number of microphones are usually required, combined with powerful systems for parallel data acquisition and processing.

The inventor has made it his mission to provide a device for the spatial location and visualization of acoustic sources and their visualization bereitzustel len, for example, can provide intrinsic technical advantages in image quality compared to the prior art, in particular in the field of Contrast range, the local resolution and the maximum reproducible frequency of the sound sources and beyond particularly easy to handle and is inexpensive to manufacture due to the reduced technical complexity.

SUMMARY

The above object is achieved by a device according to claims 1 and 18, a system according to claim 7 and by a method according to the claims chen 10, 13 and 31. Various embodiments and further developments are the subject of the dependent claims.

A device is described which comprises at least a first microphone, which is movably arranged, at least one second stationary microphone and at least one sensor. The microphones can detect the sound waves emitted by acoustic sources, and the sensor can detect spatial coordinates of the first microphone.

It also describes a system with a corresponding device comprising a stationary data processing device on which the device is rotatably mounted about the rotation axis. The data processing device can receive measurement data from the Vorrich device and represent acoustic source strengths of the object to be measured. A method according to an embodiment comprises the steps of: providing a rotatably mounted device having at least a first microphone, which is arranged Lich movable, and at least one second stationary microphone; Turning the device in front of an axis of rotation, with the first microphone rotating and the second microphone being fixed; Detecting, by the first and second microphones, sound waves emitted from an object to be measured and simultaneously acquiring spatial coordinates of the first microphone; Calculating and mapping source strengths of the sound emitting object based on the acquired measurement data.

The invention also relates to a method and a device for imaging the representation of acoustically emitting objects by recording (i) acoustic quantities of the acoustic field with a moving and a stationary sensor, (ii) track coordinates of the moved sensor and ( iii) an optical image of the scene to be sent by a camera, as well as the recording of the data in a moving together with the sensor electronic unit and forwarding to a terminal for processing the data and displaying the results as a superposition of the color-coded acoustic image with the optically detected Image of the object to be measured.

The devices described here can be used in a variety of applications, in particular for the verification of regulatory requirements and desired sound qualities of products from the industrial sectors automotive, aerospace, consumer electronics and industrial equipment, but also in the field of architectural acoustics , Quality control in the production of products and the condition monitoring of machines.

The concepts described here for the imaging of acoustically emitting objects can be useful in various applications, for example, because the measuring equipment costs compared to known systems with ver comparable performance and image quality based on a sensor array and beamforming technologies is small. The associated cost reduction makes the technology available to a wide range of users. The massive reduction in size and weight facilitates transportability and the reduced complexity reduces set-up time for the measurement and increases reliability during operation. [0013] In some applications, the concepts described here can be used advantageously, since compared to known sensor arrays and beamforming techniques, a data volume that is smaller by one to two orders of magnitude has to be processed, and thus the requirements for the hardware to be used for data acquisition and processing are significantly reduced and the result in the form of a mapping of acoustic sources can be calculated significantly faster.

BRIEF DESCRIPTION OF THE FIGURES

The invention will be explained in more detail with reference to the dargestell th in the drawings examples. The illustrations are not necessarily to scale and the invention is not limited to the aspects presented. Rather, it is important to present the principles underlying the invention. To the pictures:

FIG. 1 illustrates a block diagram of an example of a method for calculating an image of acoustically emitting objects based on the measurement of acoustic quantities and measured properties of the sensor movement.

Figure 2 shows a first embodiment of a device in a front view (left, incl. Block diagram of the electronic unit), as well as in a sectional view (right).

Figure 3 shows an alternative embodiment of the device in a front view (left, incl. Block diagram of the electronics unit), a sectional view (center) and in a rear view (right, without housing cover and drive).

DETAILED DESCRIPTION

The present invention addresses the problem of spatial location of acoustic sources and is referred to in the literature as the "Direction of A" (DoA) problem. It should be noted that the DoA problem and associated solutions may be relevant in almost all situations where the underlying physics is characterized by the propagation of waves, eg radar, sonar, seismology, wireless communication, radio astronomy, imaging in medical technology, Acoustics, etc. In the case of acoustics, the task is based on the measurement of physical quantities of the sound field (eg by means of microphones) to reconstruct the direction or position of acoustic sources with respect to the position and orientation of the observer measuring system.

The measuring means and methods described herein are combined in commercially available solutions with a video camera, a data recorder with connection to sensors and a computer for implementing algorithms for reconstructing the acoustic imaging, see e.g. the system description in the publication WO 2004/068085 A2.

The following physical quantities and associated sensor technologies are considered in commercially available solutions for sound source localization: pressure (un directed pressure microphone); Sonic speed (Flitzdrahtmikrofon), sound intensity (two microphone technology); Refractive index air (laser Doppler vibrometer); Transversal speed of reflecting surfaces (laser Doppler vibrometer). Scientific literature also describes the measurement of the transversal velocity of an optically reflective and acoustically transparent membrane by means of a laser Doppler vibrometer for the spatial location of acoustic sources. Usually, the physical quantities recorded with the various sensor technologies are electrically converted, digitally recorded, preprocessed and finally fed to the actual measuring method by means of corresponding single- or multi-channel data acquisition systems.

For further consideration, the structure of the method in a first group with a plurality of stationary, time-synchronized sensors (eg microphones), which is referred to in the literature as a sensor array, and a second group of methods with a single or several moving , temporally synchronized sensors make sense. Sensor arrays may, depending on the application, have one-, two- or three-dimensional geometrical arrangements, eg linear, annular, cross-shaped, spiral-shaped, spherical, regularly or randomly distributed in one plane or one volume. A variant in the form of a wheel with laterally offset spokes is described in the publication US Pat. No. 7,098,865 B2 (original publication DK 174558 B1). The configuration of an array towards the distances of the sensors with each other or the spatial extent of the Arrays (Apertur) is in all of the following methods for the achievable local resolution, the suppression of artifacts and the maximum detectable Fre quenzinhalt the acoustic sources to be measured.

Beamforming refers to a signal processing technique that corrects the time offset due to the different duration of the acoustic source to the respective sensor in the array with respect to the considered focus point in a first step and summed in a second step all time-corrected signals. The output signal of the beamforming algorithm is thus amplified in its amplitude when acoustic signals come from the direction of the focus point considered or attenuated, if they come from other directions. Beamforming thus corresponds to a spatial filtering of acoustic signals. The algorithmic linking of sensor signals in the manner described is also referred to as "delay and sum" or "steered

Response Power "(SRP) algorithm.

The first step in the signal processing of the sensor signals, namely the time Liche correction based on the focal point, can be replaced by a filter to optimize the ratio of received signal power in relation to the signal noise opti. The associated methods are called "superdirective beamforming" and "adaptive beamforming. The method can also be applied to moving acoustic sources, e.g. passing trains, automobiles or rotating objects in machine construction.

[0024] Near-field acoustical holography (NAH) of sound-emitting objects generates an image of sound sources on a surface based on measurements with a sensor array with a checkerboard arrangement of the sensors in a swell-free area, the array being transversal to Spreading direction of the sound is aligned and should cover the majority of the radiating surface. In the case of measurement with pressure microphones, the acoustic pressure in the source plane is determined by inverse Fourier transformation of the (two-dimensional) spatial Fourier transformation of the acoustic pressure distribution in the measurement plane (hologram plane) multiplied by a function that the phase rotation of the holo grammebene in describes any parallel, swell-free levels. This calculation Thodik makes it possible to reconstruct sound velocity and acoustic intensity through the Euler equation. The so-called patch-NAH method addresses the problem of measuring large areas and structures, whereby the area to be measured is subdivided into smaller areas {pat ches). An extension of the NAH method is the NAH (Random Boundary Element Method) based approach, which uses the Helmholtz-Integral theory to study the effect of acoustic sources on a shell on internal points of the considered volume. An approximation of the above-mentioned methods is known in the literature as the "Helmholtz Equation, Least Squares" (HELS) method, wherein the acoustic field is approximated by allowable basis functions with a quality functional with respect to the least square error.

Time Dijference ofArrival (TDOA) refers to a two-stage method in which, in a first step for a sensor array, the time delay between sensor signals of respectively locally adjacent pairs of sensors is determined by means of cross-correlation. By knowing the pairwise time delays and location of the sensors, curves or surfaces are generated and the intersection of the curves or surfaces resulting from an optimization problem is determined as the estimated position of the sound source.

The Multiple Signal Classifier (MUSIC) algorithm belongs to the group of subspace {subspace) methods and allows the identification of multiple harmonic acoustic sources (narrowband sources) at high spatial resolution. Based on a linear mapping column-wise consisting of so-called steering "vectors, which map the signals from a plurality of a priori defined spatial sources at a certain time on the measurement signals of a sensor array at a specific time, is by decomposition of the cross-correlation of the sensor signals in mathematical subspaces and eigenvalue computation calculates the spatial spectrum of the source distribution. The peaks in the spectrum correspond to the directions from which the Shah of the sources parameterized in the model arrives. ESPRIT is an adaptation of the abovementioned subspace method with the aim of reacting less sensitively to variations in the position, gain and phase errors of the sensors. The temporally synchronized, spatial sampling of the sensor signals of a sensor array in a circular form induces a Doppler effect in the synthesized signal. The time-discrete Teager-Kaiser operator can be used to analyze the modulations and, in the planar case, to analytically calculate the direction of the incoming shah.

The localization of multiple sources and thus the calculation of the spatial spectrum of the source distribution is realized by determining a probability density function based on the evaluation of individual time segments. Alternatively, the center of gravity algorithm can be used to reduce noise sensitivity and limitations in the actual usable frequency range.

In the publication US 9,357,293 B2 a frequency domain method based on the scanning of microphone signals of virtually moved subapertures of a linear array with a high number of sensors vor. The movement of the subapertures at different speeds along the array generates frequency-dependent un different signal overlays depending on the position of the acoustic sources. This information about the different mixes and signal energies in the frequency spectrum with different subaperture movements can be used to finally conclude the position of acoustic sources at a particular frequency.

In the so-called "light refractive tomography", the change in the refractive index of the medium in which the shah field propagates, along the laser beam, which is reflected at a rigid reflector, be calculated by means of a laser scan ning vibrometer. The orientation of the laser beam is in this case transversal to the direction of propagation of the shah field. As an extension, computer tomographic methods can be used to reconstruct the sectional image of the acoustic field in the plane in which the refractive index change is calculated.

Hereinafter, methods with single or multiple moving sensors for exploiting the Doppler effect will be discussed.

By an a priori known movement of an acoustic sensor on a circular path is positioned in space single acoustic source with constant Frequency and amplitude are localized by phase lock loop (PLL) demodulation of the phase modulation of the observed signal.

According to the publication US 2,405,281 A, the direction from which dominant acoustic or electromagnetic waves arrive can be identified based on the Doppler effect by means of a sensor moved on a circular path. Here, the measured bandwidth of the Doppler history of a harmonic source becomes maximum when the plane of rotation of the sensor is orthogonal to the receive direction of the source. Further publications on the identification of individual, dominant acoustic sources by movement of one or more microphones utilizing the Doppler effect are EP 2 948 787 A1 and EP 2 304 969 B1.

[0033] The use of beamforming for the spatial filtering of sound waves arriving on a sensor array (with uniformly distributed sensors) has the one limitation that the maximum detectable (critical) frequency of acoustic sources is determined by the distance between two adjacent sensors Arrays is defined. The attempt to localize acoustic sources beyond this frequency leads to the generation of so-called "ghost images" in the reconstructed acoustic image and is also referred to in the literature as a spatial aliasing effect. The use of a sensor array with a fixed arrangement of sensors beyond the critical frequency and the associated suppression of spatial aliasing artifacts can be realized by spatial movement of the Sen sor- arrays. The point spread function of the imaging system consisting of a sensor array moving on a circular path at a constant angular velocity can be simulated by means of a delay and sum algorithm and the suppression of aliasing artifacts can be experimentally verified with a single harmonic sound source.

As already mentioned at the beginning of this section, methods for the alignment of sources or reflecting structures are also worth mentioning that are not directly applied in acoustics, but whose underlying physics is characterized by the propagation of waves. For example, a Synthetic Aperture Radar (SAR) radar can provide an image of a surface by generating the electromagnetic field generated by a moving transmitter of known position is being scanned. The movement of the transmitter relative to the surface induces a Doppler effect in the collocated receiver. By correlation of the measured Dopp lerhistorie, ie the time course of the Doppler frequency of the echo of an object from initially positive values to negative values, with so-called replica (ie, based on the knowledge of the movement of the transmitter generated for each distance Doppler Histo rien, according to punctiform reflectors) is reconstructed an image of the scanned surface with high resolution.

[0035] The basic idea of the new concepts described here is the reduction of the measurement-technical effort for the detection of sound field information to a minimum while improving the quality of the spatial imaging of acoustic sources, in particular with regard to the contrast range, the local resolution and the maximum reproducible frequency , Measurement techniques that require a sensor array have the inherent disadvantage of using a variety of sensors to achieve useful local resolution with acceptable contrast range and reasonable upper cutoff frequency.

Both in beamforming and in acoustic holography, the local resolution through the aperture size of the array as well as the maximum representable frequency and the field of view are described by the distance between the sensors. An improvement in the local resolution thus causes an increase in the number of sensors on the measuring surface.

The TDOA method only allows identification of the most dominant source, and the MUSIC / ESPRIT methods show limitations in the number of identifiable sources whose upper limit is determined by the number of sensors used. In both TDOA and MUSIC / ESPRIT, measuring a sound field with an unknown number of acoustic sources can lead to misinterpretations. The DREAM (Discrete Representation Array Modeling) method requires several runs in order to characterize the signal spectrum of the acoustic sources in a first step, and finally to determine the size and speeds of the sub-aperture of a linear array in a second step. Due to the sequential procedure for determining the configuration, the method for the measurement of single acoustic events without a priori information is not applicable. The mentioned method of light refractive tomography provides the Messtechni ker before the challenge to create a vibration-free environment for the Laser Scanning Vibrome ter and the rigid reflector, since the change in the refractive index of the medi ums according to the sound field typically several orders of magnitude below the Vibration level of the causative source is. As with beamforming and acousticography, an array of laser Doppler vibrometers along the circumference of the reconstructed slice image is necessary to achieve useful spatial resolution. The complexity of the measuring equipment for realizing an array with laser Doppler vibrometers is due to the complexity of the measuring means used orders of magnitude higher than in arrays with pressure or sound velocity sensors.

The methods which use the demodulation of a phase modulation of the observed ten signal of a circularly moving sensor usually work only for the identification of a harmonic source with constant amplitude and frequency or a dominant, stationary source.

Fig. 1 illustrates in a block diagram an example of a signal processing method, which in the embodiments described herein for determining an Ab education of sound-emitting objects (so-called acoustic images in which the sound pressure is for example color coded) can be used. The embodiments described further below detail each use a sensor (eg micro phone) with a known, fixed position M ₂ and one or more along a circular path be wegte sensors. In the present example, a moving microphone is considered, whose circular or spiral movement is described by the time-dependent position M ₁ (t), for example. However, the trajectory M ₁ (t) does not necessarily have to run along a circular path or a spiral path. In the case of circular or spiral trajectories, however, the instantaneous position M ₁ (t) can be determined comparatively easily by means of an angle sensor (rotation angle encoder).

The following quantities are considered as input variables of the method: (i) a reconstruction point R described by spatial coordinates relative to a coordinate system whose origin is at location M _{2 of} the stationary sensor; (ii) the sensor signals of the moving first sensor (microphone signal Pi (t)) and the stationary second sensor (Microphone signal p ₂ (t); (iii) the movement M ₁ (t) of the first moving sensor described by spatial coordinates with respect to the coordinate system whose origin is at the location of the fixed sensor; (iv) the observation period T determined by the full aperture aperture is defined (eg one revolution with a sensor guided on a circular path) and which determines the temporal windowing of the time signals for the transformation into the frequency domain, and (v) the observed frequency band [ ₁ F ₂ ].

In a first step, the time signal _c (ί) of the moving sensor at the time point t = 0 in the reconstruction point R with the value t ₁ = d (R, M ₁ ) _{t = 0} / c time back propagated (temporally back shifted), where d ^ R. M-) denotes the distance between the reconstruction point R and the position of the moved sensor and c the propagation speed of disturbances in the medium under consideration (speed of sound). In a second step, the time signal p ₁ (t + t _c ) is shifted in time by a time-varying fractional delay filter with a variable time delay 2t-d. The time-variable time delay d = + dt (M ₁ ) denotes the time difference that the acoustic interference in the medium under consideration requires from the reconstruction point R to the location M _{1 of} the moved sensor dt is a function of the position of the moving microphone M ₁ . In a third step, the time signal as in the first step in the reconstruction point R back propagated time (by the value t ₁₎ . The resulting time signal p ₁ (t) now represents an acoustic signal which is radiated at the reconstruction point R from a virtual sound source (acoustic monopole), and this time signal p ₁ (t) is then finally, in a fourth step, into place M _{2 of} the stationary sensor with time delay t ₂ = d (R, M ₂ ) / C propagated forward (forward shifted), where d (R, M ₂ ) denotes the distance between the reconstruction point R and the position of the ortsfes th sensor. For an actual radiating source in the reconstruction point R, the time-varying Doppler shifts caused by the movement M _{1 of} the first sensor are compensated. The resulting time signal Pi (t) is thus - for a radiating source at the reconstruction point R - the local mapping of the time signal Pi (t) of the moving sensor to the position M _{2 of} the stationary sensor. Time signal contributions from actually radiating sources away from the reconstruction point R experience additional time-varying Doppler shifts. With the time signals p ₂ (t) and _c (ί) is now in the frequency domain, the coherence estimate C _p2p ^ (f) based on the spectral power density functions P _p2p2 (f) and P _p ^ _p ^ (f) and the determined spectral cross power density function P _p2p ^ (f), where

The estimated coherence C _p2p ^ (/) can now be multiplied by the spectral power density functions P _pp (/) and thus by integration for an observed frequency band - defined by a lower frequency and an upper frequency F _{2 of} the considered frequency band - according to

Q = z W / ⁾ / ^{) d} f are evaluated. The measure Q defined in this way corresponds to the contribution of the source radiating from the reconstruction point R in the frequency band [F ₁ F ₂ ] to the signal power measured at the location M _{2 of} the stationary sensor. This contribution is related to the signal power in the reference point M ₂ (location of the fixed microphone) and can be given in dB, for example.

While Figure 1 shows the reconstruction of the acoustic source strength in a recon struction point R in space, the expansion of this concept to a belie big shaped surface by local discretization of the surface in a variety of recon struction points and calculation of the acoustic source strengths in the respective succeeds discrete reconstruction points. Finally, the image of the calculated source strengths in the reconstruction points can be superimposed on an image of the measurement scene which is optically acquired (for example by means of a camera) in order to enable a spatial assignment. In one embodiment, the surface on which the reconstruction points lie may be an image plane which is, for example, at right angles to a rotation axis about which the moving microphone rotates, and which lies at a defined, predeterminable distance from the stationary microphone. Figure 2 shows a system for locating and imaging of acoustic sources and their strength in a measurement scene with one or more sound sources. The system includes a device configured as a movable frame structure 100 and a fixed stationary computing device connected thereto that may be a mobile device 20 (i mobile device) having a camera 21 (eg, a smartphone or a tablet PC). , Other types of computing devices that are capable of receiving and transmitting data over a wired or wireless communication link and images may also be used.

According to one embodiment, the frame structure 100 is rotatably supported about a (fixed) axis 54 (axis 54 with axis of rotation A). In the center of the Drehbe movement, ie on the axis of rotation A, the above-mentioned fixed microphone 11 (position M ₂ ) is arranged, whereas 100 meh rere (eg electronically multiplexed) microphones 10 are arranged along a longitudinal axis of the frame structure. The aforementioned longitudinal axis of the frame structure 100 is right angle to the axis of rotation A, which is why upon rotation of the frame structure 100 about the axis 54, the microphones 10 move on a circular path about the axis of rotation A. An electronic unit 40 may also be arranged in the frame construction 100, to which the microphones 10 and 11 are connected. Instead of a rigid axle 54 and a rotatable shaft with the axis of rotation A can be used ver.

For power supply, the electronics unit 40 may include a battery 49 which supplies the remaining components of the electronics unit with a supply voltage. The charging unit 44 is for charging the battery 49. However, other forms of power supply are possible. According to the example illustrated in FIG. 2, the electronics unit 40 further comprises (i) a rotary encoder (eg, magnetic or optical) 16 for determining the angular position of the frame structure 100 with respect to the axis of rotation A, (ii) a microphone amplifier 41 for the analog Vorverstär kung of the sensor signals p ₂ (t) and _c (ί) of the fixed microphone 10 and the moving microphone 11, (iii) a data acquisition device (analog-to-digital converter 42, memory 46) for digitizing and storing the sensor signals the microphones 10, 11 and the rotary encoder 16, (iv) an electronic multiplexer 45 for selecting the moving microphone connected to egg ner data acquisition device 10 and (v) a module 47 for wireless transmission of the collected data to the mobile device 20 for Purpose of Further processing of the measurement data or analysis by the user. A Mikrocon controller 43 controls the multiplexer 45, the analog-to-digital converter 42, the data flow and data transmission. For detecting the spatial coordinates M ₁ (t) of the moving microphones, other sensor systems may also be used, such as systems comprising an angular velocity sensor and a triaxial acceleration sensor or motion tracking systems for direct detection of the movement.

The mobile device 20 with integrated camera 21 is aligned with its optical axis parallel to the axis of rotation A, wirelessly receives the digitized measurement data from the electronics unit 40 and transmits them e.g. via a wireless network connection to a cloud computing service for calculating the acoustic imaging according to the method described above with reference to FIG. 1 and superimposes the result (calculated by the cloud computing service) with that acquired by the camera 21 optical image of the measurement scene with the sound sources contained therein. The calculations are outsourced to a cloud computing service in order, among other things, to relieve the power consumption of the mobile terminal, to store data permanently and sustainably in the case of continuous measurements, to simplify the accessibility of the data to other users with corresponding access rights as well as the web-based integration of the sensor into any measuring and control systems. Also, computing performance does not necessarily have to be provided to a cloud computing service, rather, the computations may also be performed by any other computer (e.g., a workstation) connected to the mobile device 20.

The rotation of the frame structure 100 can be done via a manual or an electric drive 30 (electric motor). As an alternative, a drive would be possible by a mechanical spring mechanism. In the example shown, the power transmission of the drive 30 is realized via a drive wheel 31, the tion with the Rahmenkonstruk 100 rigidly connected and rotatably mounted on the shaft 54. The axis 54 and the drive 30 are stationary and, for example, mounted on the bracket 22. The drive wheel 31 is driven, for example via a pinion 32 on the motor shaft of the electric motor. A Con troller for controlling the electric motor 30 including battery or a connection for an external electrical power supply is integrated into the holder 22. The bracket 22 For example, it can be arranged on a tripod (as it will, for example, also be used for cameras).

In one embodiment, the housing 13 (i.e., the outer shell) of the frame structure 100 may have a cross-section (normal to the longitudinal axis of the frame construction 100) that is in the form of an aerodynamic wing profile 12. This has the advantage that due to the rotational movement of the frame construction 100, no aeroacoustic sources are caused or their occurrence is at least greatly reduced. In the present embodiment, four microphones 10 are arranged on the frame construction 100, which rotate with the frame construction 100. The micro phone 11 is as mentioned at a position on the axis of rotation and therefore does not change its position. The microphones 10, 11 are arranged along the longitudinal axis of the Rahmenkon construction 100, wherein a distance between two adjacent microphones depending Weil can be the same (which does not necessarily have to be the case). In the dargestell th example, the moving microphones 10 are arranged on one side of the frame structure 100, while the electronic unit 40 and a balance mass 17 are arranged on the other side of the frame structure 100. The balancing mass 17 can be dimensioned and positioned so that the inherently asymmetrical frame construction 100 does not exhibit any imbalance when rotated about the axis of rotation A. Even with a symmetri rule embodiment of the frame structure is a balance mass 17 is not agile in the rule, since the masses of the attached to the frame structure 100 components are not symmetrical with respect to the axis of rotation.

According to the example shown in FIG. 2, the microphones 10, 11 may be secured to the frame structure 100 via an elastic support 15. The elastic support 15 may help to mechanically decouple the microphones 10, 11 from the frame structure 100 and to prevent the transmission of vibrations caused, for example, by the drive 30 or the pivot bearings 50 to the microphones. In other words, the elastic, damping mounting of the microphones 10, 11, causes an interruption tion of the structure-borne sound path to the microphones. In the illustrated example, windshield elements 14 covering the microphones 10, 11 may be provided on the housing 13 of the frame structure 100 to detect the coupling of wind noise and signals from other aeroacoustic sources into the sensor signals due to movement of the microphones Frame structure 100 to suppress. Depending on the application, these Windschutzele elements 14 are optional.

In summary, the function of the game Ausführungsbei shown in Fig. 2 can be described as follows: Upon rotation of the frame structure 100 about the axis A, the stationary microphone 11 does not change its position, while the other microphones 10 follow a circular path. The microphones 10, 11 detect the sound waves emitted by acoustic sources in the form of a sound pressure, while the rotation angle encoder 16 detects the spatial coordinates of the moving microphones 10. The spatial coordinates are defined by the angular position of the frame construction 100 and the position of the microphones 10 relative to the frame structure 100. The received NEN sensor signals are received by the electronic unit 40, digitized and sent to the mobile device 20. As explained above, this can itself calculate the source strengths of the sound sources present at the measured object from the received measurement data, or it can output the calculation to an external arithmetic unit. The camera 21 captures an optical image of the object (or objects) to be measured, to which the calculated source strengths can be superimposed in order to obtain a visual representation and assignment of the acoustic sources and their source strength to the optical camera image. For example, the optical image can be recorded in black and white and the source strength in the image can be color coded.

FIG. 3 shows a further embodiment of a system for locating and imaging acoustic sources on an object to be measured. The system according to Fi gur 3 differs from the system according to Figure 2 only in the design of the frame structure 200. Instead of the four microphones 10, which can be wegbar along a circular path, only a movable microphone 10 is provided in the present example, which at the Frame structure 200 is mounted radially (along the longitudinal axis) displaceable. The distance between the microphone 10 and the axis of rotation (and thus the radius of the circular motion of the microphone 10) can thus be varied. Other Anord openings of the microphones, especially with multiple slidably mounted microphones 10 are also possible. By a change (increase or decrease) of the radial Abstan of between the microphone 10 and the rotation axis A while the Rahmenkonstruk tion 200 rotates, the microphone 10 effectively performs a spiral movement about the axis of rotation A. An adjustability of the distance between microphone 10 and the axis of rotation A (that is, the position of the microphone 10 relative to the frame structure 200 can be achieved, for example, by a cable device 60. In this case, a cable 61 may be connected to a micro-fonhalterung 65 which is linearly slidably mounted on the frame structure 200. For this purpose, the frame construction 200 may, for example, comprise two guide bars 62, which lie substantially parallel to the longitudinal axis of the frame construction and along which the microphone holder 65 can slide is in the example shown by several Uml Enroll 63 and guided around a rigidly connected to the axis 54 pulley 66. In the example shown, the cable partially passes through one of the (hollow) guide rods 62.

Upon rotation of the frame structure 200 about the fixed axis 54, the cable 61 is unwound at the periphery of the disc 66, which leads to a displacement of the microphone holding tion 65 and consequently to an approximately spiral movement of the microphone 10, wherein a measured angular position of the frame construction clearly the radial Po position of the moving microphone 10 can be assigned; with each full revolution of the frame construction, the microphone is displaced by a distance corresponding to the circumference of the disc 65. As in the previous example, the frame construction has a housing 213 which surrounds the cable pull device 60 consisting of cable 61, deflection rollers 63, disc 65, guide rods 62 and microphone holder 65 and which has an elongated opening (slot) for the microphone 10. Incidentally, the example shown in FIG. 3 is the same as the previous example of FIG. 2.

Claims

CLAIMS:

1. A device that identifies:

at least one first microphone (10), which is movably arranged and designed to detect acoustic sources in a measurement scene,

a second stationary microphone (11) adapted to detect acoustic sources in the measurement scene, and

at least one position sensor (16), which is designed to detect the position of the first microphone (10).

2. The device according to claim 1,

wherein the device is mounted so that it can rotate about an axis of rotation (A) ren, wherein the second microphone (11) on the axis of rotation (A) is arranged so that it does not change its position during rotation.

3. The device according to claim 2,

the device being in the form of an aerodynamically shaped wing.

The apparatus of any one of claims 1 to 3, further comprising:

an electronics unit (40) adapted to process sensor signals supplied by the first microphone (10), the second microphone (11) and the position sensor (16).

The apparatus of claim 2, further comprising:

a balance mass (17) which is arranged in the device such that it has no imbalance during a rotational movement about the axis of rotation (A).

6. The device according to one of claims 1 to 5,

wherein the device comprises a first part and a second part, wherein the first part is slidably mounted relative to the second part, wherein the first microphone (10) on the first part and the second microphone (11) is arranged on the second part is.

7. A system comprising:

a holder;

a device mounted on the holder according to one of claims 1 to 6 and

a device (20) which can be fastened to the holder and is designed to receive measurement data based on the sensor signals from the device and to visualize measurement results based on the measurement data.

The system of claim 7, further comprising:

a computing unit included with the device (20) or coupled thereto via a communication link.

9. The system according to claim 8,

wherein the arithmetic unit is formed by a cloud computing service.

10. A method comprising:

Moving a first microphone (10) relative to a fixed reference posi tion at which a second microphone (11) is arranged;

Detecting the sensor signals provided by the first microphone (10) and the second microphone (11) and simultaneously detecting a position signal indicative of the position of the first microphone (10) relative to the reference position;

Calculating an acoustic source strength at one or more reconstruction points based on the sensor signals of the first microphone (10) and the second microphone (11) and further based on the detected position signal.

11. The method of claim 10, further comprising:

Detecting an optical image having one or more sound sources;

Superimposing the acoustic source strengths calculated for the one or more reconstruction points on the optically acquired image.

12. The method according to any one of claims 8 or 9, further comprising: Sending the acquired measurement data to a computing unit, in particular to a cloud computing service, via a communication link,

wherein the calculation of the acoustic source strength at the one or more reconstruction points is performed by the computing unit.

13. A method comprising:

Detecting at least a first sensor signal (Pi (t)) by means of at least one first microphone (10) moving along a defined trajectory and simultaneously measuring the position (M ₁ (t)) of the first microphone (10) relative to a fixed one Reference position (M ₂ ).

Detecting a second sensor signal (p ₂ (t)) by means of a second microphone (11) located in the reference position (M ₂ );

Determining a contribution of virtual sound sources, which are virtually in several predefinable reconstruction points (R), to the measured signal power of the second sensor signal (p ₂ (t)) based on the first sensor signal (p ₁ (t)), the second sensor signal ( p ₂ (t)) and the measured position of the second microphone (10) relative to the fixed reference position (M ₂ ).

14. The method of claim 13, further comprising:

Taking an image by means of a fixed position camera relative to the first microphone (11);

Assigning the reconstruction points (R) to corresponding pixels of the

image; and

Representing the image, wherein the reconstruction points (R) zugeord Neten pixels based on the calculated for the respective reconstruction point (R) contribution of the located in the respective reconstruction point (R) virtual sound source is colored.

The method of claim 13 or 14, wherein, for each reconstruction point (R), determining the contribution of a virtual sound source comprises:

Transforming the first sensor signal (Pi (t)) into a transformed first sensor signal (p ₁ (t)) in which the influence of the Doppler effect caused by the movement of the second microphone (10) is at least approximately compensated; Calculating the coherence (C _p2p ^ (/)) between the second sensor signal (p ₂ (t)) and the transformed first sensor signal (p ₁ (t)) _\ and

Calculating the contribution of in the respective reconstruction point (R) be sensitive virtual sound source based on the measured signal power of the second sensor signal (p ₂ (t)) for a predetermined frequency band ([F ₁ , F ₂ ]).

16. The method of claim 15, wherein transforming the first sensor signal (Pi (t)) comprises:

Back propagating the first sensor signal (Pi (t)) into the respective reconstruction point (R) by a period of time which depends on the distance between the first microphone (10) at any start time of a measurement and the reconstruction point (R);

Filtering the backpropagated first sensor signal with a time variant fractional delay filter by a period of time representing the time required for an acoustic signal from the reconstruction point to the first microphone (10);

Backpropagating the filtered sensor signal into the reconstruction point (R) by a period of time that depends on the distance between the first microphone (10) at any start time of a measurement and the reconstruction point (R), the resulting back propagated filtered sensor signal (p ₁ (p ₁₎ t)) represents an acoustic signal emitted by a virtual sound source located in the respective reconstruction point (R);

Forward propagating the backpropagated filtered sensor signal (p ₁ (t)) to the reference position by a period of time dependent on the distance between the reference position and the reconstruction point (R).

The method of claim 15 or 16, wherein calculating the contribution of the virtual source of sound located in the respective reconstruction point (R) comprises:

Integration of the product from coherence and spectral power density (P _p2P2 (/)) of the second sensor signal {p ₂ (t)) over the predeterminable frequency band

([Fi 'F ₂ ] Y,

18. A device for spatially locating acoustic sources on arbitrary surfaces by recording measurements of the acoustic field with two microphones (10, 11),

characterized in that

a first microphone (10) moves on a path and a second microphone (11) is stationary,

wherein the associated acoustic signals to a moving with the first be moved microphone (10) unit consisting of

a sensor system for detecting the spatial coordinates of the first moving microphone (10),

a data acquisition device for the data of the two microphones (10, 11),

the sensors (16) for the detection of the spatial coordinates of the first moving sensor (10), and

an electrical power supply (49),

are transmitted to a data processing device (20) with a display and operating surface for the control of the measurement and presentation of the results in the form of a superimposition of the image of the measurement scene acquired with a camera (21) and the reconstructed image of acoustic sources be and

wherein the first moving microphone (10), the second stationary microphone (11) and the moving unit are integrated into a frame construction (100, 200).

19. The device according to claim 18, characterized

that the frame construction (100, 200) is rotatably mounted about a stationary axis (54) and thus a controlled rotation of the frame construction (100, 200) takes place.

20. An apparatus according to claim 19, characterized

in that the frame construction (100, 200) is coupled to a drive (30) and thus an automatic rotation of the frame construction (100, 200) about the solid axis (54) is created.

21. An apparatus according to claim 19, characterized in that the first moving microphone (10) consists of an array of microphones distributed along the frame construction (100, 200) as a function of time and / or angular position of the frame construction (100, 200) by an electronic multiplexer (45) controlled by the data acquisition device. is selected and thus an approximate spiral movement of the first moving microphone (10) can be realized.

22. An apparatus according to claim 19, characterized

in that the first moving microphone (10) slides on a radially oriented rail embedded in the frame structure (200), the radial movement of which is synchronized with the movement of the frame structure (200) about the stationary axis (54) and thus a helical movement of the first one Moving microphone (10) in BeWe movement of the frame construction (200) is induced.

23. An apparatus according to claim 18, characterized

in that the first moving microphone (10) and the second fixed microphone (11) are essentially acoustically decoupled from the frame construction (100, 200) and thus drive, motion or wind noise influences the metrological dynamics in a negligible extent.

24. An apparatus according to claim 18, characterized

in that the first moving microphone (10) and the second fixed microphone (11) are provided with a windscreen (14) in order to suppress aeroacoustic noises of the moving frame construction (100, 200) and to influence the metrological dynamics only to a negligible extent ,

25. An apparatus according to claim 18, characterized

the surface of the frame construction (100, 200) is aerodynamically shaped in the direction of movement in order to suppress aeroacoustic noises of the moving frame construction and to influence the metrological dynamics only to a negligible extent.

26. An apparatus according to claim 18, characterized in that the sensor system for detecting the spatial coordinates of the first moved microphone (10) is realized by a rotation angle sensor (16) for measuring the angle of rotation with respect to the rigid axis of rotation (54).

27. The device according to claim 18, characterized

in that the sensor system for detecting the spatial coordinates of the first moved microphone (10) is realized by an at least uniaxial angular velocity sensor aligned collinearly with the axis of rotation (54) of the frame construction (100, 200) and a triaxial acceleration sensor.

28. The device according to claim 18, characterized

in that the sensor system for detecting the spatial coordinates of the first moved microphone (10) is realized by a motion tracking system.

29. The device according to claim 18, characterized

that the distance of the first moving microphone (10) to the center of rotation of the frame construction (200) can be varied to improve the spatial resolution, especially in low-frequency acoustic sources.

30. The device according to claim 18, characterized

that the data of the mitbe wegten data acquisition device integrated into the frame construction (100, 200) are transmitted wirelessly to a personal computer, laptop or mobile device for further processing or visualization.

31. A method for reconstructing the acoustic source strength in any space point by estimating the coherence between the time signal of a first stationary acoustic sensor and a tense of the time signal of a second moving sensor, characterized in that

the time signal of the second moving acoustic sensor is transformed by time shift, taking into account the propagation velocity in the medium in question Me to the reconstruction point,

the resulting signal serves as an excitation for an acoustic monopole source in the reconstruction point, is time shifted with respect to the time-dependent time delay between Rekon construction point and position of the second moving acoustic sensor to the Gleichan part inverted time delay profile and

is finally formed on the location of the first stationary acoustic sensor by a constant time shift,

wherein the frequency domain coherence function thus determined defines a measure of the contribution of the source radiating from a reconstruction point to the level measured at the location of the fixed sensor.

32. The method according to claim 31, characterized

the coherence estimation in the frequency domain is evaluated at a specific frequency or integrated in a defined frequency band in order to enable analyzes of the acoustic source distribution in the frequency domain.

33. The method according to claim 32, characterized

that the reconstruction of the acoustic source strength is carried out on several space points, so that an image of the acoustic source strengths on any arbitrarily shaped surface is made possible.

34. The method according to claim 33, characterized

in that the image of the acoustic source strengths is overlaid with an optically detected image of the measurement scene in order to enable a spatial assignment.