Oil cylinder detection method, device, system and operating machinery

Abstract

The present application provides a cylinder detection method, device, system and operating machinery, which are applied to the technical field of operating machinery. After obtaining the sampling data set of the target cylinder in the current sampling period, the method determines the actual stroke length of the target cylinder based on each sampling array in the sampling data set, and then obtains the stroke deviation corresponding to each stroke based on the actual stroke length of each stroke and the standard stroke length. Finally, for each stroke, based on the size relationship between the stroke deviation of the stroke and the preset deviation threshold, the stroke detection result of the stroke is determined. The detection method provided by the present invention can determine the actual stroke length of the cylinder based on the sampling data of the cylinder, and then detect the cylinder stroke, providing a reference basis for accurately grasping the working status of the hydraulic system, and helping to ensure the operating efficiency of engineering vehicles.

Description

Technical Field

[0001] The present application relates to the technical field of operating machinery, and in particular to a method and device for detecting an oil cylinder, and an operating machinery. Background Art

[0002] In actual applications, many engineering vehicles are equipped with hydraulic systems, which realize functions such as material transportation, vehicle body support, and operating component driving. The working performance of the hydraulic system often directly affects the operating efficiency of the engineering vehicle.

[0003] For example, a concrete pump truck's pumping system is a typical hydraulic system, which completes tasks such as concrete delivery and concrete pouring. The pumping system consists of two cylinders. A shortened stroke in either cylinder can reduce concrete pumping efficiency or even completely disable the pumping system, further extending the concrete pouring process and impacting the overall project schedule.

[0004] Therefore, how to detect the stroke of the oil cylinder in the hydraulic system, timely understand the working status of the hydraulic system, and ensure the operating efficiency of the engineering vehicle has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides a cylinder detection method, device, system and operating machinery, which can detect the cylinder stroke based on the sampling data of the cylinder, provide a reference basis for accurately grasping the working status of the hydraulic system, and help ensure the operating efficiency of engineering vehicles.

[0006] In a first aspect, the present invention provides a method for detecting a cylinder stroke, comprising:

[0007] Get the sampling data set of the target cylinder in the current sampling period;

[0008] The collected data set includes multiple sampling arrays, and any of the sampling arrays includes multiple sampling data representing the working process of the target cylinder;

[0009] Determine the actual stroke length of the target cylinder based on each of the sampling arrays;

[0010] Based on the actual stroke lengths and the standard stroke lengths, obtaining stroke deviations corresponding to the strokes;

[0011] The stroke detection result of each stroke is determined based on the magnitude relationship between the stroke deviation and the preset deviation threshold.

[0012] Optionally, the multiple sampling data of any of the sampling arrays include: sampling time, cylinder displacement and operation status;

[0013] Determining the actual stroke length of the target cylinder based on each of the sampling arrays includes:

[0014] Arranging the displacements of the oil cylinders according to the time sequence of the sampling moments to obtain a displacement sequence;

[0015] extracting a target extreme value from the displacement sequence;

[0016] The target extreme value is an extreme value in the displacement sequence corresponding to a specified operation state, and each of the target extreme values is arranged in a time sequence of sampling moments;

[0017] An actual stroke length of at least one stroke of the target cylinder is determined based on the target extreme value.

[0018] Optionally, the preset deviation threshold includes at least one;

[0019] The determining of the stroke detection result of each stroke based on the magnitude relationship between the stroke deviation and the preset deviation threshold includes:

[0020] determining a plurality of preset deviation ranges based on each of the preset deviation thresholds;

[0021] determining a target deviation range corresponding to the travel deviation of the trip based on a magnitude relationship between the travel deviation of the trip and each of the preset deviation thresholds;

[0022] Determining, according to a second preset mapping relationship, a detection result corresponding to the target deviation range as a travel detection result of the travel;

[0023] The second preset mapping relationship records the corresponding relationship between each preset deviation range and the stroke detection result.

[0024] In a second aspect, the present invention provides a method for detecting a cylinder fault, comprising:

[0025] Determine a stroke detection result of a target cylinder according to the cylinder stroke detection method according to any one of the first aspects of the present invention;

[0026] The current operating state of the target cylinder is determined according to the stroke detection result.

[0027] Optionally, determining the current operating state of the target cylinder according to the stroke detection result includes:

[0028] Calculate the sum of the pumping volume of the target cylinder in the current sampling period and the cumulative pumping volume in the previous sampling period to obtain the current cumulative pumping volume;

[0029] If the current cumulative pumping volume is greater than or equal to a preset pumping volume threshold, determining the current operating state of the target cylinder according to the stroke detection results of all strokes corresponding to the current cumulative pumping volume;

[0030] If the current cumulative pumping volume is less than the preset pumping volume threshold, return to the step of determining the stroke detection result of the target cylinder according to the cylinder stroke detection method according to any one of the first aspects of the present invention.

[0031] Optionally, determining the current operating state of the target cylinder according to stroke detection results of all strokes corresponding to the current cumulative pumping amount includes:

[0032] Counting the total value of the first detection result and the maximum consecutive value of the first detection result in all stroke detection results corresponding to the current pumping cumulative amount;

[0033] Wherein, the first detection result is a detection result indicating that the stroke of the target cylinder is shortened;

[0034] The current operating state of the target cylinder is determined according to the magnitude relationship between the total value and a preset cumulative value threshold, and the magnitude relationship between the maximum continuous value and a preset continuity threshold.

[0035] Optionally, the oil cylinder fault detection method provided in the second aspect of the present invention further includes: determining a target operation and maintenance plan corresponding to the current operating state of the target oil cylinder according to the first preset mapping relationship;

[0036] The first preset mapping relationship records the corresponding relationship between each operating state of the target cylinder and each preset operation and maintenance plan.

[0037] In a third aspect, the present invention provides a cylinder stroke detection device, comprising:

[0038] An acquisition unit, used to acquire a sampling data set of a target oil cylinder in a current sampling period;

[0039] The collected data set includes multiple sampling arrays, and any of the sampling arrays includes multiple sampling data representing the working process of the target cylinder;

[0040] a first determining unit, configured to determine an actual stroke length of the target cylinder based on each of the sampling arrays;

[0041] a calculation unit, configured to obtain a stroke deviation corresponding to each of the strokes based on the actual stroke lengths and the standard stroke lengths;

[0042] The second determining unit is configured to determine a stroke detection result of each stroke based on a magnitude relationship between the stroke deviation and a preset deviation threshold.

[0043] In a fourth aspect, the present invention provides a cylinder fault detection device, comprising:

[0044] a third determining unit, configured to determine a stroke detection result of a target cylinder according to the cylinder stroke detection method according to any one of the first aspects of the present invention;

[0045] The fourth determining unit is configured to determine a current operating state of the target cylinder according to the stroke detection result.

[0046] In a fifth aspect, the present invention provides a cylinder stroke detection system, comprising: at least one displacement acquisition device and a detection controller, wherein:

[0047] The displacement acquisition device is used to acquire the displacement of the oil cylinder;

[0048] The detection controller is connected to each of the displacement acquisition devices respectively;

[0049] The detection controller executes the oil cylinder stroke detection method as described in any one of the first aspects of the present invention, or executes the oil cylinder fault detection method as described in any one of the second aspects of the present invention.

[0050] In a sixth aspect, the present invention provides an operating machine, comprising: a hydraulic system and the cylinder stroke detection system according to the fifth aspect of the present invention, wherein:

[0051] The oil cylinder stroke detection system is used to detect the operating status of the target oil cylinder in the hydraulic system.

[0052] According to the cylinder stroke detection method provided by the present invention, after obtaining the sampling data set of the target cylinder in the current sampling period, the actual stroke length of the target cylinder is determined based on each sampling array in the sampling data set, and then the corresponding stroke deviation is obtained based on the actual stroke length of each stroke and the standard stroke length. Finally, based on the size relationship between the stroke deviation and the preset deviation threshold, the stroke detection result of each stroke is determined. The detection method provided by the present invention can determine the actual stroke length of the cylinder based on the sampling data of the cylinder, and then detect the cylinder stroke, providing a reference basis for accurately grasping the working status of the hydraulic system, and helping to ensure the operating efficiency of the operating machinery. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 Shown is a flow chart of a method for detecting a cylinder stroke provided by an embodiment of the present invention.

[0054] Figure 2 Shown is a schematic diagram of the structure of the hydraulic cylinder of the pumping system in a concrete pump truck.

[0055] Figure 3 Shown is a schematic diagram of the cylinder displacement curve of the hydraulic cylinder of the pumping system in a concrete pump truck.

[0056] Figure 4 FIG2 is a schematic diagram of a sampling array preprocessing scenario provided by an embodiment of the present invention.

[0057] Figure 5 FIG2 is a schematic diagram of another sampling array preprocessing scenario provided by an embodiment of the present invention.

[0058] Figure 6 Shown is a flow chart of a method for detecting oil cylinder faults provided by an embodiment of the present invention.

[0059] Figure 7 Shown is a schematic diagram of a cylinder displacement curve described in an embodiment of the present invention.

[0060] Figure 8 Shown is another schematic diagram of a cylinder displacement curve according to an embodiment of the present invention.

[0061] Figure 9 Shown is a flow chart of another oil cylinder fault detection method provided by an embodiment of the present invention.

[0062] Figure 10 Shown is a structural block diagram of a cylinder stroke detection device provided by an embodiment of the present invention.

[0063] Figure 11 Shown is a structural block diagram of an oil cylinder fault detection device provided by an embodiment of the present invention.

[0064] Figure 12 Shown is a structural block diagram of another oil cylinder fault detection device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0066] The hydraulic cylinders in a hydraulic system convert hydraulic energy into mechanical kinetic energy through reciprocating motion, thereby completing their intended operating functions. If a hydraulic oil leak or other malfunction occurs in the cylinder, it may cause the cylinder stroke to shorten. This shortened cylinder stroke will directly reduce the operating efficiency of the hydraulic system, or even cause the hydraulic system to completely cease operation. Therefore, during the actual use of the hydraulic system, it is necessary to detect changes in the cylinder stroke in the hydraulic system to provide a reference for the operation and maintenance of the hydraulic system.

[0067] Based on this, the present invention provides a cylinder stroke detection method, which identifies the actual stroke length of at least one stroke of the cylinder through sampling data during the cylinder's working process, and obtains the stroke deviation corresponding to each stroke based on the difference between the actual stroke length of each stroke and the standard stroke length of the cylinder. Finally, the stroke detection result of the corresponding stroke is determined by the size relationship between the stroke deviation of any stroke and a preset deviation threshold. The detection method provided by the present invention can realize the detection of the cylinder stroke, and provide a reference basis for operation and maintenance personnel to timely understand the operating conditions of the cylinder and the entire hydraulic system, so as to avoid affecting the operating efficiency of the hydraulic system due to the shortening of the cylinder stroke.

[0068] The cylinder stroke detection method provided by the present invention can be applied to electronic devices, which can be system controllers provided in hydraulic systems, or other controllers independent of the hydraulic system, such as the vehicle controller of the engineering vehicle to which the hydraulic system belongs or other auxiliary controllers provided on the engineering vehicle. Of course, in some cases, it can also be applied to servers on the network side. Figure 1 , Figure 1 : is a flow chart of a method for detecting a cylinder stroke provided by an embodiment of the present invention, which may include:

[0069] S100: Acquire a sampling data set of a target oil cylinder in a current sampling period.

[0070] In practical applications, a hydraulic system is provided with at least one cylinder. The target cylinder described in the embodiment of the present invention and subsequent embodiments refers to the cylinder in the hydraulic system that requires stroke detection. It is conceivable that, in the case of a hydraulic system including multiple cylinders, such as a hydraulic pumping system of a concrete pump truck, which is provided with two cylinders, one of the cylinders can be used as the target cylinder and tested using the stroke detection method provided by the present invention. Alternatively, if the hardware equipment is functioning properly, both cylinders can be used as target cylinders and their strokes can be tested simultaneously.

[0071] Furthermore, the collected data set includes multiple groups of sampling arrays, and any group of sampling arrays includes multiple sampling data representing the working process of the target cylinder.

[0072] In some optional implementations, the sampling data may include sampling time, cylinder displacement, and operating status of the target cylinder.

[0073] The sampling moment is the time at which the cylinder displacement and operating status data are acquired. It is understood that the time difference between any two adjacent sampling moments is the sampling interval. A shorter sampling interval means more sample arrays are collected during the current sampling period, while a longer sampling interval means fewer sample arrays are collected during the current sampling period. In practical applications, this selection can be based on actual detection accuracy requirements and hardware performance, and the present invention does not impose any limitations on this.

[0074] Cylinder displacement is data with a fixed cycle. Each cycle consists of two strokes: forward and reverse. Under normal cylinder operation, the length of either stroke is equal to the standard stroke length. As an alternative, a displacement sensor can be installed within the cylinder to collect displacement. Of course, other methods are also possible, but we will not elaborate on them here.

[0075] by Figure 2 and Figure 3 The concrete pump truck pumping system shown in FIG. 1 is taken as an example, the pumping system includes two oil cylinders, namely a first oil cylinder and a second oil cylinder, wherein Figure 2 In the example, the displacement of the first cylinder is L1, and the displacement of the second cylinder is L2. The sum of the displacements of the two cylinders at any moment is a fixed value, which is the standard stroke of the cylinder. Figure 3 As shown, S1 represents the cylinder displacement curve of the first cylinder, and S2 represents the cylinder displacement curve of the second cylinder. In practical applications, they can be regarded as paired data. For the displacement curve of any cylinder, the difference between the peak and the trough of the curve is the stroke length of a stroke.

[0076] The operating status mainly refers to the main working scenarios that may occur in the actual use of the cylinder. Under normal circumstances, the operating status can include no action, pumping, master cylinder jog, piston retraction, preheating, etc. Of course, the hydraulic system used by the cylinder is different, and the corresponding operating status will also be different. In actual application, it needs to be determined in combination with the specific application scenario of the cylinder.

[0077] In summary, the sample data set obtained in any sampling period includes the sample data shown in Table 1:

[0078] Table 1

[0079] Sampling time Job Status Cylinder displacement / mm 2022-03-16 01:01:00.530 Pumping 3500 2022-03-16 01:01:01.030 Pumping 3400 … … …

[0080] It is understandable that the longer the sampling period, the more data in the resulting sampled data set that requires analysis and processing. Conversely, the shorter the sampling period, the less data in the sampled data set that requires analysis and processing, and the requirements for device performance will be relatively lower. Therefore, in practical applications, the length of the sampling period can be flexibly selected based on actual detection requirements and hardware device performance. The present invention does not limit the specific setting of the sampling period. Of course, in order to ensure the effective execution of the detection method provided by the embodiment of the present invention, the selection of the sampling period should at least ensure that the sampled data in the sampled data set corresponds to at least one complete stroke of the target cylinder. Otherwise, there is no way to complete the subsequent detection steps.

[0081] In actual data collection, errors and omissions in collected data are unavoidable. To ensure the effectiveness of subsequent data analysis, some possible embodiments require preprocessing of the sampled data in the sampled data set. Typically, preprocessing operations include, but are not limited to, deleting duplicate arrays, correcting abnormal arrays, and supplementing missing arrays. Of course, in actual applications, corresponding processing operations can also be performed based on the actual sampled data obtained. This also falls within the scope of protection of the present invention, provided it does not exceed the core concept of the present invention.

[0082] Specifically, repeated arrays can be screened based on the sampling moments in the sampling array, that is, the sampling arrays in the sampling data set are traversed, and only one sampling array among the multiple sampling arrays with repeated sampling moments is retained, and the remaining sampling arrays are deleted. A missing array specifically refers to a sampling array that only includes the sampling moment and the operating status, but does not include the cylinder displacement at the sampling moment. The abnormal array is similar to the missing array. The abnormal array includes the correct sampling moment and the operating status, but the cylinder displacement in the array has a sudden change compared to the normal change trend of the cylinder displacement, such as suddenly becoming larger or suddenly becoming smaller. Of course, how to judge whether the cylinder displacement in the sampling array is identified as mutation data also needs to be considered in combination with various situations such as the target cylinder's own parameters, the sampling accuracy of the displacement sensor, and the detection accuracy requirements. The present invention does not limit the specific basis for determining the sudden change in the cylinder displacement.

[0083] There are many ways to handle missing arrays and abnormal arrays, such as Figure 4 as well as Figure 5 As shown, the cylinder displacements in the sampling array (i.e., the normal array) with completely correct data in the same phase of adjacent sampling cycles replace the missing cylinder displacements in the missing array, as well as the cylinder displacements in the abnormal array. Of course, other methods can also be used to pre-process the sampling array, such as replacing the mean of adjacent normal values or using cubic spline interpolation for data processing, which also fall within the scope of protection of the present invention without exceeding the core concept of the present invention.

[0084] S110 , determining the actual stroke length of the target cylinder based on each sampling array.

[0085] Typically, the sampling data set includes at least one stroke. Therefore, after obtaining the sampling data set, it is first necessary to divide all cylinder strokes in the sampling data set so that each division result corresponds to a stroke, and further determine the actual stroke length of each stroke.

[0086] Combine Figure 3 As shown in the figure and the working characteristics of the cylinder, it can be seen that the displacements of each cylinder obtained by sampling have a time series correlation and are data with a fixed period. The displacement of the cylinder for a complete stroke must include two extreme values, namely a maximum value and a minimum value. The difference between the maximum value and the minimum value is the actual stroke length of the stroke.

[0087] Furthermore, in combination with the foregoing, it can be seen that in actual applications, the oil cylinder includes a variety of working conditions. The displacement changes under certain working conditions can be accurately collected to obtain extreme value data, which can conveniently divide the stroke and determine the actual stroke length. Based on this, in order to improve detection accuracy, this embodiment defines the extreme value corresponding to the working state as the specified working state as the target extreme value, and calculates the actual stroke length of the stroke based on the target extreme value. As for the selection of the specified working state, it will vary depending on the specific application scenario or working process of the oil cylinder. Taking a concrete pump truck as an example, the pumping working state can be used as the specified working state. In actual application, the specified working state needs to be determined based on the actual situation, which will not be elaborated here.

[0088] Based on the above, an optional implementation of this step is:

[0089] First, as mentioned above, each sampling array includes three sampling data: sampling time, cylinder displacement, and operating status. For each cylinder displacement, there is a corresponding sampling time. Based on this, the cylinder displacements can be sorted according to the time sequence of the sampling times corresponding to each cylinder displacement to obtain a displacement sequence.

[0090] For example, the displacement sequence is L = [1100, 1000, 1200, 2600, 2500, 2200, 1200, 1800]. Typically, the unit of displacement of each cylinder is millimeter. Based on the mathematical definition of extreme values, the extreme values included in the displacement sequence are: 1000, 2600, and 1200.

[0091] Furthermore, the target extreme value in the displacement sequence is extracted. Assuming that the working states corresponding to the aforementioned extreme values are all designated working states, the three extreme values of 1000, 2600, and 1200 are all target extreme values.

[0092] Finally, when the target extreme values are still arranged in the time sequence of the corresponding sampling moments, a target extreme value sequence [1000, 2600, 1200] can also be obtained. Based on the target extreme value sequence composed of the target extreme values, the actual stroke length of at least one stroke of the target cylinder can be determined.

[0093] Specifically, any two adjacent target extreme values are grouped together to obtain multiple extreme value groups. Using the previous example, the extreme value groups obtained by division include (1000, 2600) and (2600, 1200). It can be seen that any extreme value group obtained by division includes a maximum value and a minimum value. Further, combined with Figure 3 As shown, any extreme value group corresponds to a stroke of the target cylinder.

[0094] For each extreme value group, the difference between the maximum and minimum values within the extreme value group is calculated to obtain the actual stroke length of the stroke corresponding to the extreme value group. For example, the actual stroke length of stroke A corresponding to the extreme value group (1000, 2600) is 2600-1000=1600mm. Correspondingly, the actual stroke length of stroke B corresponding to the extreme value group (2600, 1200) is 2600-1200=1400mm.

[0095] S120 : Obtaining a stroke deviation corresponding to each stroke based on each actual stroke length and the standard stroke length.

[0096] For a determined target cylinder, its standard stroke length is known. Based on this, for each stroke, the difference between the actual stroke length and the standard stroke length is calculated to obtain the stroke deviation of the stroke.

[0097] Continuing with the previous example, the actual stroke length of stroke A is 1600mm, the actual stroke length of stroke B is 1400mm, and the standard stroke length of the target cylinder is 1650mm. For stroke A, the stroke deviation is 1650-1600=50mm, and the stroke deviation of stroke B is 1650-1400=250mm.

[0098] S130 : Determine a stroke detection result for each stroke based on a magnitude relationship between the stroke deviation and a preset deviation threshold.

[0099] First of all, it should be noted that the specific value of the preset deviation threshold and the specific number of settings depend on the requirements for detection accuracy and the specific settings of the stroke detection results. In actual applications, it can be flexibly set in combination with actual detection needs and result division needs.

[0100] For example, if the preset deviation threshold only includes Rs1, two corresponding preset deviation ranges can be obtained: [0, Rs1] and (Rs1, +∞). By comparing the travel deviation of any stroke with the preset deviation threshold Rs1, the target deviation range corresponding to that stroke can be determined. Specifically, if Rs1 = 100 mm, the corresponding preset deviation ranges are [0, 100] and (100, +∞). For the aforementioned stroke A with a travel deviation of 50 mm, the target deviation range corresponding to stroke A is [0, 100].

[0101] Furthermore, embodiments of the present invention provide a second preset mapping relationship that records the correspondence between various preset deviation ranges and stroke detection results. Based on this second preset mapping relationship, the detection result corresponding to the target deviation range can be determined as the stroke detection result for the trip. For example, the detection result corresponding to the preset deviation range [0, 100] is normal, while the detection result corresponding to the preset deviation range (100, +∞) is shortened. Based on the foregoing, it can be seen that the stroke detection result for trip A is normal, while the stroke detection result for trip B is shortened.

[0102] For another example, based on Rs1, the preset deviation threshold also includes Rs2. Based on the two preset deviation thresholds, there can be three preset deviation ranges, namely [0, Rs1], (Rs1, Rs2] and (Rs2, +∞). Correspondingly, according to the record of the second preset mapping relationship, the detection result corresponding to [0, Rs1] is normal, the detection result corresponding to (Rs1, Rs2] is slightly shortened, and the detection result corresponding to (Rs2, +∞) is shortened. By comparing trip A and trip B respectively according to the above content, the trip detection results of each trip can be determined, which will not be repeated here.

[0103] To sum up, the stroke detection method provided in this embodiment identifies the actual stroke length of at least one stroke of the cylinder through sampling data during the operation of the cylinder, obtains the stroke deviation corresponding to each stroke based on the difference between the actual stroke length of each stroke and the standard stroke length of the cylinder, and finally determines the stroke detection result of the corresponding stroke through the size relationship between the stroke deviation of any stroke and the preset deviation threshold. The detection method provided by the present invention can realize the detection of the cylinder stroke, provide a reference basis for operation and maintenance personnel to timely understand the operating conditions of the cylinder and the entire hydraulic system, and avoid affecting the operating efficiency of the hydraulic system due to the shortening of the cylinder stroke.

[0104] Optionally, in practical applications, it is often necessary to perform continuous data sampling and stroke detection on the target cylinder. If a stroke of the target cylinder is divided into two adjacent sampling periods, the stroke will be considered as missing data and cannot be detected. To solve this problem, after completing the detection of each stroke in any sampling data set, part of the sampling array of the current sampling period can be retained, and the retained part of the sampling array can be merged with each sampling array obtained in the next sampling period to form the corresponding sampling data set. Of course, this also means that the sampling data set of the current sampling period described in the aforementioned embodiment includes the sampling array collected in the current sampling period and part of the sampling array of the previous sampling period.

[0105] As an optional implementation, the reference sampling array and all sampling arrays following the reference sampling array in the current sampling cycle can be retained, wherein the reference sampling array can be the sampling array that is adjacent to and preceding the sampling array corresponding to the last extreme value in the current sampling cycle. For ease of description, taking the displacement sequence [1100, 1000, 1200, 2600, 2500, 2200, 1200, 1800] as an example, the last extreme value in the sequence is 1200, and accordingly, the reference sampling array is the sampling array corresponding to the cylinder displacement of 2200. Based on the foregoing, the sampling array to which the cylinder displacement of 2200 belongs and the sampling arrays following it should be retained.

[0106] In the actual application of the cylinder, some parts of the stroke often become shorter for a short period of time due to certain interference factors. It is difficult to accurately judge the operating status of the cylinder by relying solely on the stroke detection results of one or a few strokes. To solve this problem, based on the above embodiment, this embodiment provides another cylinder stroke detection method, which can determine the current operating status of the target cylinder based on the stroke detection results of the target cylinder.

[0107] See also Figure 6 , Figure 6 This is a flow chart of a method for detecting a cylinder fault according to an embodiment of the present invention. The method first determines the stroke detection result of the target cylinder according to the cylinder stroke detection method provided in any of the aforementioned embodiments (in this embodiment, Figure 1 Taking the stroke detection method provided in the embodiment as an example), on this basis, the oil cylinder fault detection method provided in this embodiment also includes:

[0108] S140: Calculate the sum of the pumping volume of the target cylinder in the current sampling period and the cumulative pumping volume in the previous sampling period to obtain the current cumulative pumping volume.

[0109] Based on the above, we know that the current sampling period includes at least one stroke of the target cylinder. Combined with the operating principle of the target cylinder, we know that each stroke of the target cylinder corresponds to a calculable pumping volume. The sum of the pumping volumes of each stroke included in the current sampling period is the pumping volume of the target cylinder in the current sampling period. Based on this, the pumping volume in the current sampling period can be calculated as follows:

[0110] First, calculate the pumping volume corresponding to each stroke of the target cylinder during the current sampling period. Specifically, obtain the target cylinder's volume-to-displacement ratio. Following these steps, the actual stroke length of each stroke during the current sampling period can be obtained. The product of the actual stroke length and the volume-to-displacement ratio is the pumping volume corresponding to that stroke.

[0111] Afterwards, the sum of the pumping and releasing volumes corresponding to each stroke is calculated to obtain the pumping and releasing volume of the target cylinder in the current sampling period.

[0112] It's important to note that the volume-displacement ratio used in the calculations above represents the proportional relationship between the volume pumped by the cylinder and its displacement. For example, in a concrete pump truck's hydraulic pumping system, the delivery cylinder used to deliver concrete is connected to the hydraulic pumping system's oil cylinder. Both are cylindrical, and the volume of concrete pumped out by the delivery cylinder is linearly proportional to the volume of hydraulic oil pumped into the cylinder. Consequently, the volume of concrete pumped out by the delivery cylinder is also linearly proportional to the displacement of the cylinder.

[0113] Furthermore, the cumulative pumping volume of the previous sampling cycle needs to be obtained. It is understandable that if the current sampling cycle is the first sampling cycle, the cumulative pumping volume of the previous sampling cycle is zero. The sum of the cumulative pumping volume of the current sampling cycle and the cumulative pumping volume of the previous sampling cycle is taken as the cumulative pumping volume corresponding to the current sampling cycle, i.e., the current cumulative pumping volume.

[0114] S150: Determine whether the current cumulative pumping volume is greater than or equal to a preset pumping volume threshold. If so, execute S160; if not, return to execute S100.

[0115] By setting a preset pumping volume threshold, the number of sampling cycles required to determine the operating status of the target cylinder can be controlled, and then the number of cylinder stroke detection results obtained can be controlled. The larger the preset pumping volume threshold, the more stroke detection results obtained. Conversely, the smaller the preset pumping volume threshold, the fewer stroke detection results obtained.

[0116] It is understood that if the sampling period is sufficiently long or the preset pumping volume threshold is sufficiently small, only one sampling period is required to ensure that the current cumulative pumping volume is greater than or equal to the preset pumping volume threshold. Therefore, in practical applications, the sampling period and the preset pumping volume threshold can be determined based on actual detection requirements, and the present invention does not limit the specific values of the sampling period and the preset pumping volume threshold.

[0117] Based on the above content, if the current pumping cumulative amount obtained in S140 is greater than or equal to the preset pumping volume threshold, continue to execute S160. On the contrary, if the current pumping cumulative amount obtained is less than the preset pumping volume threshold, return to execute step S100, start acquiring the sampling data of the next sampling cycle, and perform corresponding stroke detection and pumping cumulative amount calculation and other operations until the obtained pumping cumulative amount is greater than or equal to the preset pumping volume threshold, and execute S160.

[0118] S160 : Determine the current operating state of the target cylinder based on the stroke detection results of all strokes corresponding to the current pumping cumulative amount.

[0119] It can be understood that if the current pumping cumulative amount is only obtained based on the pumping volume of the current sampling period, all the strokes mentioned in this step refer to all the strokes within the current sampling period; correspondingly, if the current pumping cumulative amount includes the pumping volume of the current sampling period and the pumping volume of at least one sampling period before the current sampling period, then all the strokes mentioned in this step refer to the strokes of all sampling periods used to calculate the current pumping cumulative amount.

[0120] On this basis, combined with the actual operation and maintenance experience of the hydraulic system, two types of data can be counted in all stroke detection results, and the current operating status of the target cylinder can be determined based on the obtained statistical data.

[0121] Specifically, when the target cylinder is in a faulty state, the stroke of the target cylinder may be as follows: Figure 7 Irregular, intermittent shortening may also occur. Figure 8 As shown, the stroke of the target cylinder is continuously shortened over a period of time. Based on this, this embodiment defines the detection result indicating that the stroke of the target cylinder is shortened as the first detection result. The current operating status of the target cylinder is determined by counting the total value of the first detection result in all stroke detection results and the maximum consecutive value of the first detection result in all detection results.

[0122] It should be noted that since the maximum continuous value refers to the maximum value of the number of consecutive appearances of the first detection results, the stroke detection results of each stroke are required to be continuous in terms of time sequence. Therefore, if all stroke detection results come from multiple sampling periods, before counting the maximum continuous value, the stroke detection results of each sampling period should be arranged in the order of each sampling period, and then the maximum continuous value should be counted.

[0123] In some possible embodiments, this embodiment provides a preset cumulative threshold for measuring the total value of the first detection result, and a preset continuity threshold for measuring the maximum continuous value of the first detection result. Both the preset cumulative threshold and the preset continuity threshold can be determined based on the total number of all trips and actual operation and maintenance experience. For example, 50% of the total number of trips can be used as the preset cumulative threshold, and 30% of the total number of trips can be used as the continuity threshold. The present invention does not limit the specific settings of the two. Of course, under normal circumstances, the preset continuity threshold is less than the preset cumulative threshold.

[0124] Based on the above content, if the total value of the first detection result is greater than or equal to the preset cumulative threshold, or the maximum continuous value of the first detection result is greater than or equal to the preset continuity threshold, it can be determined that the target cylinder is currently in a fault state; on the contrary, if the total value of the first detection result is less than the preset cumulative threshold, and the maximum continuous value of the first detection result is less than the preset continuity threshold, it can be determined that the target cylinder is currently in a normal state.

[0125] In other possible embodiments, the stroke detection results of the target cylinder are not simply divided into normal and shortened conditions. For example, a detection result of slightly shortened stroke may also be included. In this case, statistics can be collected for the different detection results, and the current operating status of the target cylinder can be determined based on the statistical results and the aforementioned threshold.

[0126] For example, the first detection result is a detection result indicating that the target cylinder stroke has shortened, and the second detection result is a detection result indicating that the target cylinder stroke has slightly shortened. When making a judgment, if the total value of the first detection result is greater than or equal to the preset cumulative threshold or the maximum continuous value of the first detection result is greater than or equal to the preset continuity threshold, then it is determined that the target cylinder is currently in a fault state; on the contrary, if the total value of the second detection result is greater than or equal to the preset cumulative threshold (the total value of the first detection result is less than the preset cumulative threshold) or the maximum continuous value of the second detection result is greater than or equal to the preset continuity threshold (the maximum continuous value of the first detection result is less than the preset continuity threshold), then it can be determined that the target cylinder is in a warning state; further, if none of the above judgment conditions are met, it is determined that the target cylinder is currently in a normal state.

[0127] Of course, if the stroke detection results of the target cylinder also include other types, or at least one of the preset cumulative threshold and the preset continuity threshold includes multiple setting values, other state judgment results can also be combined to obtain other state judgment results, which will not be described one by one here. Under the premise of not exceeding the scope of the core idea of the present invention, they also fall within the scope of protection of the present invention.

[0128] Furthermore, as an optional implementation, after determining the current operating state of the target cylinder, the current pumping cumulative amount obtained in the current sampling period is cleared to facilitate the next determination of the operating state of the target cylinder.

[0129] In summary, the detection method provided by the embodiment of the present invention is Figure 1 On the basis of the illustrated embodiment, the operating status of the target cylinder can be further determined by combining the stroke detection results of multiple strokes, providing reference information for operation and maintenance personnel and drivers, which helps to promptly discover the fault status of the target cylinder and perform maintenance in time to avoid further expansion of the fault.

[0130] Optional, combined Figure 9 As shown, the embodiment of the present invention also provides another oil cylinder fault detection method. Figure 6 Based on the illustrated embodiment, the fault detection method provided in this embodiment further includes:

[0131] S170. Determine a target operation and maintenance plan corresponding to the current operating state of the target cylinder according to the first preset mapping relationship.

[0132] This embodiment provides a first preset mapping relationship that records the correspondence between each operating state of the target cylinder and each preset operation and maintenance solution. Based on this, after determining the current operating state of the target cylinder in S160, the first preset mapping relationship can be queried to determine the target operation and maintenance solution corresponding to the current operating state of the target cylinder.

[0133] For example, taking a concrete pump truck as an example, when the operating state of the target oil cylinder includes a normal state and a fault state, the first preset mapping relationship may record the content shown in Table 2:

[0134] Table 2

[0135]

[0136] Of course, the specific content of the operation and maintenance plan can be set based on actual application conditions, and the present invention does not limit the specific content of the operation and maintenance plan.

[0137] Based on the above content, the detection method provided in the embodiment of the present invention can further provide a reference operation and maintenance plan for operation and maintenance personnel, which helps operation and maintenance personnel to troubleshoot more quickly and thus ensure the operating efficiency of the hydraulic system.

[0138] Furthermore, the controller that executes the cylinder stroke detection method provided by each embodiment of the present invention can also be connected to a display device, which can be a display screen of an engineering vehicle or a human-computer interaction device in other application scenarios. The controller can further control the display device to display the stroke detection results obtained in the aforementioned embodiments, the current operating status of the target cylinder, and one or more of the corresponding target operation and maintenance plans, so that operation and maintenance personnel can obtain the corresponding information more conveniently and quickly.

[0139] The following is an introduction to the cylinder stroke detection device provided in an embodiment of the present invention. The cylinder stroke detection device described below can be considered as a functional module architecture that needs to be set in the controller to implement the cylinder stroke detection method provided in an embodiment of the present invention; the following description can be cross-referenced with the above.

[0140] Optional, see Figure 10 , Figure 10 : is a structural block diagram of a cylinder stroke detection device provided by an embodiment of the present invention, which may include:

[0141] An acquisition unit 10 is used to acquire a sampling data set of a target oil cylinder in a current sampling period;

[0142] The collected data set includes multiple sampling arrays, and any sampling array includes multiple sampling data representing the working process of the target cylinder;

[0143] A first determining unit 20 is configured to determine an actual stroke length of a target cylinder based on each sampling array;

[0144] a calculation unit 30 for obtaining a stroke deviation corresponding to each stroke based on each actual stroke length and a standard stroke length;

[0145] The second determining unit 40 is configured to determine a stroke detection result of each stroke based on a magnitude relationship between the stroke deviation and a preset deviation threshold.

[0146] Optionally, the multiple sampling data of any sampling array include: sampling time, cylinder displacement and operation status;

[0147] The first determining unit 20 is configured to determine the actual stroke length of the target cylinder based on each sampling array, including:

[0148] Arrange the displacements of each cylinder according to the time sequence of the sampling moments to obtain a displacement sequence;

[0149] Extract target extreme values from displacement sequence;

[0150] The target extreme value is the extreme value in the displacement sequence whose corresponding operation state is the specified operation state, and each target extreme value is arranged in the time sequence of the sampling time;

[0151] An actual stroke length of at least one stroke of the target cylinder is determined based on the target extreme value.

[0152] Optionally, the preset deviation threshold includes at least one;

[0153] The second determining unit 40 is configured to determine the stroke detection result of each stroke based on the magnitude relationship between the stroke deviation and a preset deviation threshold, including:

[0154] determining a plurality of preset deviation ranges based on each preset deviation threshold;

[0155] Determining a target deviation range corresponding to the trip deviation based on a magnitude relationship between the trip deviation and each preset deviation threshold;

[0156] According to the second preset mapping relationship, determining the detection result corresponding to the target deviation range as the stroke detection result of the stroke;

[0157] The second preset mapping relationship records the corresponding relationship between each preset deviation range and the stroke detection result.

[0158] Optional, see Figure 11 , Figure 11 A structural block diagram of a cylinder fault detection device provided by an embodiment of the present invention includes:

[0159] A third determining unit 50 is configured to determine a stroke detection result of a target cylinder according to the cylinder stroke detection method provided in any of the aforementioned embodiments;

[0160] The fourth determining unit 60 is configured to determine the current operating state of the target cylinder according to the stroke detection result.

[0161] Optionally, the fourth determining unit 60 is configured to determine the current operating state of the target cylinder according to the stroke detection result, including:

[0162] Calculate the sum of the target cylinder's pumping volume in the current sampling period and the cumulative pumping volume in the previous sampling period to obtain the current cumulative pumping volume;

[0163] If the current cumulative pumping volume is greater than or equal to the preset pumping volume threshold, the current operating state of the target cylinder is determined based on the stroke detection results of all strokes corresponding to the current cumulative pumping volume;

[0164] If the current cumulative pumping amount is less than the preset pumping amount threshold, the third determining unit 50 is triggered.

[0165] Optionally, the fourth determining unit 60 is configured to determine the current operating state of the target cylinder according to the stroke detection results of all strokes corresponding to the current cumulative pumping amount, including:

[0166] Counting the total value of the first detection result and the maximum consecutive value of the first detection result in all stroke detection results corresponding to the current pumping cumulative amount;

[0167] The first detection result is a detection result indicating that the stroke of the target cylinder has shortened;

[0168] The current operating state of the target cylinder is determined based on the magnitude relationship between the total value and the preset cumulative value threshold, and the magnitude relationship between the maximum continuous value and the preset continuity threshold.

[0169] Optional, see Figure 12 , Figure 12 A structural block diagram of another oil cylinder fault detection device provided by an embodiment of the present invention, Figure 11 Based on the embodiment shown, the present invention further includes:

[0170] a fifth determining unit 70, configured to determine a target operation and maintenance solution corresponding to the current operating state of the target cylinder according to the first preset mapping relationship;

[0171] The first preset mapping relationship records the corresponding relationship between each operating state of the target cylinder and each preset operation and maintenance plan.

[0172] Optionally, an embodiment of the present invention further provides a cylinder stroke detection system, comprising: at least one displacement acquisition device and a detection controller, wherein:

[0173] The displacement acquisition device is used to acquire the displacement of the oil cylinder;

[0174] The detection controller is connected to each displacement acquisition device respectively;

[0175] The detection controller executes the oil cylinder stroke detection method provided by any one of the aforementioned embodiments, or the oil cylinder fault detection method provided by any one of the aforementioned embodiments.

[0176] Optionally, an embodiment of the present invention further provides an operating machine, comprising: a hydraulic system and the cylinder stroke detection system provided in the above embodiment, wherein:

[0177] The cylinder stroke detection system is used to detect the operating status of the target cylinder in the hydraulic system.

[0178] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0179] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0180] It should also be noted that in the apparatus, device, and method of the present application, each component or each step can be decomposed and / or recombined, and such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0181] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0182] It should be understood that the qualifiers "first", "second", "third", "fourth", "fifth" and "sixth" used in the description of the embodiments of the present application are only used to more clearly illustrate the technical solutions and cannot be used to limit the scope of protection of the present application.

[0183] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A method for detecting a cylinder fault, characterized in that: include: Get the sampling data set of the target cylinder in the current sampling period; The sampling data set includes multiple sampling arrays, and any of the sampling arrays includes a plurality of sampling data representing the working process of the target cylinder; Determine the actual stroke length of the target cylinder based on each of the sampling arrays; Based on the actual stroke lengths and the standard stroke lengths, obtaining stroke deviations corresponding to the strokes; Determine the stroke detection result of each stroke based on the magnitude relationship between the stroke deviation and a preset deviation threshold; Determine the stroke detection result of the target cylinder; Determining the current operating state of the target cylinder according to the stroke detection result; comprising: Calculate the sum of the pumping volume of the target cylinder in the current sampling period and the cumulative pumping volume in the previous sampling period to obtain the current cumulative pumping volume; If the current cumulative pumping volume is greater than or equal to a preset pumping volume threshold, determining the current operating state of the target cylinder according to the stroke detection results of all strokes corresponding to the current cumulative pumping volume; If the current cumulative pumping volume is less than the preset pumping volume threshold, the process returns to the step of determining the stroke detection result of the target cylinder.

2. The oil cylinder fault detection method according to claim 1, characterized in that: The multiple sampling data of any of the sampling arrays include: sampling time, cylinder displacement and operation status; Determining the actual stroke length of the target cylinder based on each of the sampling arrays includes: Arranging the displacements of the oil cylinders according to the time sequence of the sampling moments to obtain a displacement sequence; extracting a target extreme value from the displacement sequence; The target extreme value is an extreme value in the displacement sequence corresponding to a specified operation state, and each of the target extreme values is arranged in a time sequence of sampling moments; An actual stroke length of at least one stroke of the target cylinder is determined based on the target extreme value.

3. The oil cylinder fault detection method according to claim 1, characterized in that: The preset deviation threshold includes at least one; The determining of the stroke detection result of each stroke based on the magnitude relationship between the stroke deviation and the preset deviation threshold includes: determining a plurality of preset deviation ranges based on each of the preset deviation thresholds; determining a target deviation range corresponding to the travel deviation of the trip based on a magnitude relationship between the travel deviation of the trip and each of the preset deviation thresholds; Determining, according to a second preset mapping relationship, a detection result corresponding to the target deviation range as a travel detection result of the travel; The second preset mapping relationship records the corresponding relationship between each preset deviation range and the stroke detection result.

4. The oil cylinder fault detection method according to claim 1, characterized in that: Determining the current operating state of the target cylinder according to stroke detection results of all strokes corresponding to the current pumping cumulative amount includes: Counting the total value of the first detection result and the maximum consecutive value of the first detection result in all stroke detection results corresponding to the current pumping cumulative amount; Wherein, the first detection result is a detection result indicating that the stroke of the target cylinder is shortened; The current operating state of the target cylinder is determined according to the magnitude relationship between the total value and a preset cumulative value threshold, and the magnitude relationship between the maximum continuous value and a preset continuity threshold.

5. The oil cylinder fault detection method according to claim 1, characterized in that: Also includes: Determining a target operation and maintenance plan corresponding to the current operating state of the target cylinder according to the first preset mapping relationship; The first preset mapping relationship records the corresponding relationship between each operating state of the target cylinder and each preset operation and maintenance plan.

6. A cylinder fault detection device, characterized in that: include: An acquisition unit, used to acquire a sampling data set of a target oil cylinder in a current sampling period; The sampling data set includes multiple sampling arrays, and any of the sampling arrays includes a plurality of sampling data representing the working process of the target cylinder; a first determining unit, configured to determine an actual stroke length of the target cylinder based on each of the sampling arrays; a calculation unit, configured to obtain a stroke deviation corresponding to each of the strokes based on the actual stroke lengths and the standard stroke lengths; a second determining unit, configured to determine a stroke detection result of each stroke based on a magnitude relationship between the stroke deviation and a preset deviation threshold; a third determining unit, configured to determine a stroke detection result of the target cylinder according to the stroke detection result; The fourth determining unit is configured to determine a current operating state of the target cylinder according to the stroke detection result.

7. A cylinder stroke detection system, characterized in that: include: At least one displacement acquisition device and detection controller, wherein, The displacement acquisition device is used to acquire the displacement of the oil cylinder; The detection controller is connected to each of the displacement acquisition devices respectively; The detection controller executes the oil cylinder fault detection method according to any one of claims 1 to 5.

8. A working machine, characterized in that: include: The hydraulic system and the cylinder stroke detection system according to claim 7, wherein: The oil cylinder stroke detection system is used to detect the operating status of the target oil cylinder in the hydraulic system.

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