Manual inspection is often inefficient and easily misses detections for the extensive amount of mechanical equipment in industrial production. Incorporating acoustic measurement and diagnostics into mobile robots has multiple advantages. Utilizing the movement characteristics of the robot to search for the location with the best signal quality at different points can help it better adapt to the complex acoustic environment of industrial sites. The focus is on the use of non-synchronous measurement technology, the robot can provide precise sequential movement, which can extend the lower frequency detection limit of the array. It is proved by simulation and experiments that the fault sound source of motor bearing can be accurately located based on robot moving characteristics. This method provides a valuable reference for non-contact monitoring of rotating machinery such as motors.

Motor bearing, non-synchronous measurement, different position, fault sound source