大型在役储罐内置声源定位技术研究

Research on Localization Technology of Built-in Sound Sources in Large-scale Load Storage Tanks

为了实现大型在役储罐内检测机器人的安全运行,需要对安装在机器人上的声源进行精确定位。本文针对声波信号多径与大距离传播造成的信号混叠与变形严重的问题,搭建了声源信号发射与接收系统,利用低频声源开展了15 m大型储罐的试验研究,提出结合集合平均经验模态分解方法与阈值法的时延估计方法,实现了大型在役储罐内的声源位置估计,减少系统的运算量,提高系统的定位精度。实验结果表明:通过利用本文算法求解的时延精度和稳定性较高,可应用于大型在役储罐内的声源定位,其定位误差可优于0.15 m。

In order to realize the safe operation of the large in-service storage tank detection robot,it is necessary to accurately locate the sound source installed on the robot.Aiming at the serious problem of signal aliasing and distortion caused by multipath and long-distance propagation of acoustic signals,a sound source signal transmitting and receiving system was built,and an experimental study of 15 m large storage tank was carried out by using low-frequency sound source.A time delay estimation method combining ensemble average empirical mode decomposition method and threshold method was proposed,which realized the sound source position estimation in large-scale in-service storage tank,reduced the calculation amount of the system and improved the positioning accuracy of the system.The experimental results show that the time delay accuracy and stability of this algorithm are high,and it can be applied to the sound source location in large-scale in-service storage tanks,and its location error can be better than 0.15 m.