Hydraulic system fault location method, device, and working machine

Abstract

The application provides a hydraulic system fault positioning method, device and working machine. The method determines the maximum output power of a power system and the maximum output power of a hydraulic system. According to the size relationship between the maximum output power of the power system, the maximum output power of the hydraulic system and a preset power threshold, it is determined whether to perform health detection of the hydraulic system. When it is determined to perform health detection of the hydraulic system, the hydraulic efficiency index of the hydraulic system is determined, which includes a single-action efficiency index and a composite-action efficiency index. When the single-action efficiency index is less than the corresponding preset single-action target efficiency index, the single-action corresponding circuit fault is determined. When the composite-action efficiency index is less than the corresponding preset composite-action target efficiency index, the composite-action corresponding circuit fault is determined. Through the power comparison and hydraulic efficiency index mode, the fault positioning of the hydraulic system can be more accurately realized.

Description

Technical Field

[0001] This invention relates to the field of fault detection technology, and in particular to a method, device and working machinery for locating faults in hydraulic systems. Background Technology

[0002] Various large-scale construction machinery, such as excavators, operate in diverse environments and under various conditions. The hydraulic system is fundamental for excavators to operate under complex conditions and perform automatic control; its performance directly affects the overall operating efficiency. Therefore, fault detection and localization of excavator hydraulic systems under complex operating conditions are of great significance. Currently, the industry primarily focuses on detecting the main pump pressure in excavator hydraulic systems. By measuring the main pump pressure, it is determined whether a fault has occurred in the excavator's hydraulic system.

[0003] However, detecting the pressure of the main pump cannot accurately pinpoint the specific location of the hydraulic system fault. Summary of the Invention

[0004] This invention provides a method, device, and machine for locating hydraulic system faults, which solves the problem that existing technologies cannot accurately locate the fault location of hydraulic systems. By comparing power and hydraulic efficiency indicators, the fault location of the hydraulic system can be located more accurately.

[0005] This invention provides a method for locating faults in a hydraulic system, comprising:

[0006] Determine the maximum output power of the power system and the maximum output power of the hydraulic system;

[0007] Based on the relationship between the maximum output power of the power system, the maximum output power of the hydraulic system, and a preset power threshold, it is determined whether to perform a health check on the hydraulic system.

[0008] When it is determined to perform a health check on a hydraulic system, the hydraulic efficiency index of the hydraulic system is determined, including the single-action efficiency index and the compound-action efficiency index.

[0009] When the single action efficiency index is less than the corresponding preset single action target efficiency index, the loop corresponding to the single action is determined to be faulty.

[0010] When the efficiency index of the composite action is less than the corresponding preset target efficiency index of the composite action, a circuit fault is determined to be the one corresponding to the composite action.

[0011] According to a hydraulic system fault location method provided by the present invention, determining the maximum output power of the power system includes:

[0012] Obtain the engine speed and engine torque of the power system;

[0013] The engine output power is obtained by multiplying the engine speed by the engine torque.

[0014] The output power of all engines within a unit time is sorted by size, and the average value of the output power of the engines with a preset proportion is calculated as the maximum output power of the power system.

[0015] According to a hydraulic system fault location method provided by the present invention, determining the maximum output power of the hydraulic system includes:

[0016] Obtain the pump speed and pump output torque in the hydraulic system;

[0017] Multiplying the pump speed by the pump output torque yields the pump output power;

[0018] The pump input power is determined based on the pump output power, pump volumetric efficiency, and pump mechanical efficiency.

[0019] The pump input power of all pumps within a unit time is sorted by size, and the average value of the pump input power of a preset proportion is calculated as the maximum output power of the hydraulic system.

[0020] According to a hydraulic system fault location method provided by the present invention, the step of determining whether to perform a health check of the hydraulic system based on the relationship between the maximum output power of the power system and the maximum output power of the hydraulic system and a preset power threshold includes:

[0021] If the maximum output power of the power system reaches a preset power threshold, then a health check of the hydraulic system is performed.

[0022] According to a hydraulic system fault location method provided by the present invention, determining the hydraulic efficiency index of the hydraulic system includes:

[0023] Determine the output power at the outlet of the main pump of the hydraulic system;

[0024] Determine the actual output power of each actuator in the hydraulic system;

[0025] The ratio of the actual output power of each actuator to the output power at the outlet of the main pump is calculated and used as the hydraulic efficiency index of the hydraulic system.

[0026] According to a hydraulic system fault location method provided by the present invention, determining the output power at the outlet of the main pump of the hydraulic system includes:

[0027] Obtain the flow rate and pressure at the outlet of the main pump of the hydraulic system;

[0028] The output power at the main pump outlet is obtained by multiplying the flow rate at the main pump outlet by the pressure at the main pump outlet.

[0029] According to a hydraulic system fault location method provided by the present invention, the various actuators include: boom, stick, bucket, and slewing mechanism;

[0030] Determining the actual output power of each actuator in the hydraulic system includes:

[0031] The actual flow information of the boom, the stick, the bucket, and the slewing mechanism is determined respectively;

[0032] Determine the pressure information of the boom, the stick, the bucket, and the slewing mechanism respectively;

[0033] The actual flow information of the boom, stick, bucket, and slewing mechanism is multiplied by the corresponding pressure information to obtain the actual output power of each actuator. The actual output power of each actuator includes the actual output power of the boom, stick, bucket, and slewing mechanism.

[0034] According to a hydraulic system fault location method provided by the present invention, determining the actual flow information of the boom, the stick, and the bucket respectively includes:

[0035] The extension of the hydraulic cylinders corresponding to the boom, stick, and bucket during operation is measured respectively.

[0036] Based on the cylinder extension, cylinder diameter, and rod diameter, the actual flow rate information of the boom, stick, and bucket is determined respectively.

[0037] According to a hydraulic system fault location method provided by the present invention, determining the actual flow information of the rotary mechanism includes:

[0038] Determine the rotational angular velocity of the rotary mechanism;

[0039] The motor speed is determined based on the rotational angular velocity.

[0040] The actual flow information of the rotary mechanism is determined based on the slewing reduction ratio, motor displacement, and motor speed.

[0041] According to a hydraulic system fault location method provided by the present invention, after determining the circuit fault corresponding to the compound action, the method further includes:

[0042] Execute each individual action in the compound action;

[0043] Determine the hydraulic efficiency index of each individual action in the compound action;

[0044] Based on the hydraulic efficiency index of each individual action, locate the faulty circuit in the compound action.

[0045] The present invention also provides a hydraulic system fault location device, comprising:

[0046] The first determining module is used to determine the maximum output power of the power system and the maximum output power of the hydraulic system;

[0047] The comparison module is used to determine whether to perform a health check on the hydraulic system based on the relationship between the maximum output power of the power system, the maximum output power of the hydraulic system, and a preset power threshold.

[0048] The second determining module is used to determine the hydraulic efficiency index of the hydraulic system when it is determined to perform a health test on the hydraulic system. The hydraulic efficiency index includes a single-action efficiency index and a compound-action efficiency index.

[0049] The positioning module is used to determine the loop fault corresponding to the single action when the single action efficiency index is less than the corresponding preset single action target efficiency index; and to determine the loop fault corresponding to the composite action when the composite action efficiency index is less than the corresponding preset composite action target efficiency index.

[0050] The present invention also provides a working machine for performing the hydraulic system fault location method as described in any of the preceding claims, or including the hydraulic system fault location device described above.

[0051] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the hydraulic system fault location method as described above.

[0052] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the hydraulic system fault location method as described above.

[0053] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the hydraulic system fault location method as described above.

[0054] This invention provides a hydraulic system fault location method, device, and operating machinery. The method involves determining the maximum output power of the power system and the maximum output power of the hydraulic system; determining whether to perform a health check on the hydraulic system based on the relationship between the maximum output power of the power system, the maximum output power of the hydraulic system, and a preset power threshold; when a health check is determined, determining the hydraulic efficiency index of the hydraulic system, including single-action efficiency index and compound-action efficiency index; when the single-action efficiency index is less than the corresponding preset single-action target efficiency index, identifying a circuit fault corresponding to the single action; when the compound-action efficiency index is less than the corresponding preset compound-action target efficiency index, identifying a circuit fault corresponding to the compound action. By determining the need for a health check through power comparison, and then using the hydraulic efficiency index to determine the specific fault location of the hydraulic system, more accurate fault location of the hydraulic system can be achieved, thereby improving the operating efficiency of the operating machinery. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0056] Figure 1 This is a flowchart illustrating the hydraulic system fault location method provided by the present invention;

[0057] Figure 2 This is a schematic diagram of the hydraulic system fault location device provided by the present invention;

[0058] Figure 3 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0060] The following is combined Figures 1-3 The present invention describes a hydraulic system fault location method, apparatus, and working machinery.

[0061] Figure 1 This is a flowchart illustrating the hydraulic system fault location method provided by the present invention.

[0062] like Figure 1 As shown in the figure, the hydraulic system fault location method provided by this embodiment of the invention can be executed by an on-board control system or a separate control terminal, etc., and the method mainly includes the following steps:

[0063] 101. Determine the maximum output power of the power system and the maximum output power of the hydraulic system.

[0064] When the operation of the machinery slows down, there are two possible causes: either a malfunction in the power system or a malfunction in the hydraulic system. The power required for normal operation is determined by the hydraulic system. The required power is based on the pilot pressure and the load on the machinery. The engine output power is matched to the hydraulic system by the conversion relationship between the pump's mechanical efficiency and volumetric efficiency.

[0065] The power of the hydraulic system in hydraulic work machinery comes from the mechanical energy generated by the engine. According to the principle of energy conservation, the maximum power that the hydraulic system can generate is less than the theoretical power provided by the engine. The control of hydraulic work machinery uses a constant power control method, meaning that the maximum power output of the engine is consistent at a fixed gear. After conversion based on pump volumetric efficiency and pump mechanical efficiency, the maximum power provided by the hydraulic system is also within a certain range. Therefore, when the work machinery exhibits slow operation, the power output of the engine and hydraulic system can be monitored over a certain period, thereby achieving the effect of locating the faulty system.

[0066] The primary purpose of determining the maximum output power of the power system and the hydraulic system is to determine whether the slow operation of the machinery is due to the hydraulic system or the power system. For example, the maximum output power of the power system can be determined by directly reading the relevant data from the engine's output report. The maximum output power of the hydraulic system, however, is typically calculated based on the output pressure and speed of the hydraulic actuators.

[0067] 102. Determine whether to perform a health check on the hydraulic system based on the relationship between the maximum output power of the power system, the maximum output power of the hydraulic system, and the preset power threshold.

[0068] After determining the maximum output power of the power system and the maximum output power of the hydraulic system, we can analyze and judge the relationship between the two and the preset power threshold to determine whether a health check of the hydraulic system is needed.

[0069] Specific methods include: comparing the maximum output power of the power system and the maximum output power of the hydraulic system per unit time with preset power thresholds. If neither the maximum output power of the power system nor the maximum output power of the hydraulic system reaches the preset power threshold, then when the working machinery slows down or loses power, the first step is to check whether the power system has malfunctioned. If the maximum output power of the power system reaches the preset power threshold, then a health check of the hydraulic system is required. This includes two scenarios: one, if the maximum output power of the power system reaches the preset power threshold, but the maximum output power of the hydraulic system does not, then the first step is to check whether the hydraulic system has malfunctioned; two, if the maximum output power of both the power system and the hydraulic system reaches the preset power threshold, then the hydraulic system needs a health check. In this case, the specific health status of the hydraulic system is accurately determined by subsequent hydraulic efficiency indicators.

[0070] 103. When it is determined to conduct a health test on the hydraulic system, the hydraulic efficiency index of the hydraulic system shall be determined. The hydraulic efficiency index includes the single action efficiency index and the compound action efficiency index.

[0071] By comparing the maximum output power of the power system and the maximum output power of the hydraulic system with the preset power threshold, it is determined that when the hydraulic system needs to undergo health testing, the hydraulic efficiency index of the hydraulic system needs to be determined, and the specific fault circuit of the hydraulic system can be determined by using the hydraulic efficiency index.

[0072] Hydraulic efficiency is defined as an indicator of the health of the entire hydraulic circuit from the hydraulic pump to the hydraulic actuator (from the source to the execution end), essentially performing a comprehensive health check on the excavator's hydraulic system. Hydraulic efficiency is expressed as the ratio of the actual power of the hydraulic system's actuators to the power at the main pump outlet. Each actuator in the hydraulic system has its own single-action efficiency index. However, since operating machinery rarely performs single actions in actual work, often engaging in complex actions, the hydraulic efficiency index also includes a composite action efficiency index. A composite action refers to an action composed of multiple single actions combined.

[0073] Single-action efficiency indicators are used to determine whether a fault has occurred in the hydraulic circuit corresponding to a single action, while compound-action efficiency indicators are used to determine whether a fault has occurred in the hydraulic circuit corresponding to a compound action. Therefore, accurately determining the hydraulic system efficiency indicators can more accurately pinpoint the location of faults in the hydraulic system.

[0074] 104. When the efficiency index of a single action is less than the corresponding preset target efficiency index of a single action, determine the circuit fault corresponding to the single action.

[0075] After determining the calculated single-action efficiency index, the real-time calculated single-action efficiency index can be compared with the preset single-action target efficiency index. If the real-time calculated single-action efficiency index is less than the corresponding preset single-action target efficiency index, it indicates that the current single action has malfunctioned, causing the current efficiency to be lower than the output power. If the real-time calculated single-action efficiency index is greater than or equal to the corresponding preset single-action target efficiency index, it indicates that the current single action is in a normal state.

[0076] The preset single-action target efficiency index can be pre-calibrated, that is, calculated by averaging the target efficiency of each single-action actuator when the hydraulic system is working normally within a preset time period. For example, for a single action of the bucket, the target efficiency of a preset number of single actions of the bucket can be calculated by averaging the target efficiency of the bucket's single actions when the hydraulic system is working normally within a preset time period, and the average value can be used as the single-action target efficiency value of the bucket.

[0077] 105. When the efficiency index of the composite action is less than the corresponding preset target efficiency index of the composite action, determine the circuit fault corresponding to the composite action.

[0078] Similar to determining whether a single-action loop is faulty using the efficiency index of a single action, determining whether a loop corresponding to a compound action is faulty involves comparing the real-time calculated efficiency index of the compound action with the preset target efficiency index of the compound action. If the real-time calculated efficiency index of the compound action is less than the corresponding preset target efficiency index, the loop corresponding to the compound action is determined to be faulty. If the real-time calculated efficiency index of the compound action is greater than or equal to the corresponding preset target efficiency index, the loop corresponding to the compound action is determined to be in a normal state.

[0079] The preset target efficiency index for compound actions can also be pre-calibrated. That is, when the hydraulic system is working normally within a preset time period, the average value of the target efficiency corresponding to different compound actions is calculated and used as the target efficiency value of the compound action. For example, for rotary compound actions, the average value of the target efficiency of a preset number of rotary compound actions can be calculated when the hydraulic system is working normally within a preset time period, and the average value is used as the target efficiency value of the rotary compound action.

[0080] This embodiment provides a hydraulic system fault location method. It determines the maximum output power of the power system and the hydraulic system; based on the relationship between the maximum output power of the power system, the maximum output power of the hydraulic system, and preset power thresholds, it determines whether to perform a health check on the hydraulic system; when a health check is determined, it determines the hydraulic efficiency index of the hydraulic system, including single-action efficiency index and compound-action efficiency index; when the single-action efficiency index is less than the corresponding preset single-action target efficiency index, a circuit fault corresponding to the single action is identified; when the compound-action efficiency index is less than the corresponding preset compound-action target efficiency index, a circuit fault corresponding to the compound action is identified. By determining the need for a health check through power comparison, and then using the hydraulic efficiency index to determine the specific fault location of the hydraulic system, it can more accurately locate hydraulic system faults, thereby improving the operating efficiency of the machinery.

[0081] Furthermore, based on the above embodiments, this embodiment determines the maximum output power of the power system by: obtaining the engine speed and engine torque in the power system; multiplying the engine speed and engine torque to obtain the engine output power; sorting all engine output power within a unit time, selecting a preset proportion of engine output power, and calculating the average value as the maximum output power of the power system.

[0082] Specifically, the maximum output power of the powertrain can be calculated not only by directly reading data from the data stream but also through computation. The calculation method involves first acquiring the engine speed and torque from sensors. After obtaining these values, the engine speed and torque are multiplied to obtain the engine output power. Then, the maximum output power of the powertrain can be derived from this engine output power by sorting the engine output power over a given time period. The average of the top-ranked engines within a predetermined percentage is then calculated as the maximum output power of the powertrain. Thus, the maximum output power of the powertrain can be accurately calculated using engine speed and torque.

[0083] Furthermore, based on the above embodiments, determining the maximum output power of the hydraulic system in this embodiment includes: obtaining the pump speed and pump output torque in the hydraulic system; multiplying the pump speed and pump output torque to obtain the pump output power; determining the pump input power based on the pump output power, pump volumetric efficiency, and pump mechanical efficiency; sorting all pump input power per unit time by size, selecting a preset proportion of pump input power, and calculating the average value as the maximum output power of the hydraulic system.

[0084] Specifically, the pump speed and output torque in the hydraulic system are first obtained. These parameters can be acquired through message reading or sensor data collection. The pump speed and output torque are then multiplied to obtain the pump output power. Based on the pump output power, pump volumetric efficiency, and pump mechanical efficiency, the pump input power is calculated by dividing the pump output power by the corresponding volumetric efficiency and mechanical efficiency. The maximum output power of the hydraulic system is determined using a power ranking method. This involves ranking all pump input power per unit time, selecting a preset proportion of pump input power, and averaging the average value as the maximum output power of the hydraulic system.

[0085] Furthermore, based on the above embodiments, the determination of the hydraulic efficiency index of the hydraulic system in this embodiment includes: determining the output power at the outlet of the main pump of the hydraulic system; determining the actual output power of each actuator of the hydraulic system; and calculating the ratio of the actual output power of each actuator to the output power at the outlet of the main pump as the hydraulic efficiency index of the hydraulic system.

[0086] Specifically, hydraulic efficiency indicators directly reflect the working efficiency of a hydraulic system. There are hydraulic efficiency indicators for the entire hydraulic system, for each individual actuator, and for composite actions consisting of multiple single actions. Hydraulic efficiency indicators are determined through power comparison; that is, the hydraulic efficiency indicator is a power ratio, which is the ratio of the actual output power of the actuator to the output power at the main pump outlet.

[0087] Therefore, determining the hydraulic efficiency index of a hydraulic system requires first determining the output power at the main pump outlet, then determining the actual output power of each actuator, and finally calculating the ratio of the actual output power of each actuator to the output power at the main pump outlet. This yields the hydraulic efficiency index of the hydraulic system.

[0088] Furthermore, based on the above embodiments, determining the output power at the outlet of the hydraulic system main pump in this embodiment includes: obtaining the flow rate and pressure at the outlet of the hydraulic system main pump; multiplying the flow rate and pressure at the outlet of the main pump to obtain the output power at the outlet of the main pump.

[0089] Specifically, power = flow rate × pressure. Therefore, to determine the output power at the outlet of the hydraulic system's main pump, it is necessary to first determine the flow rate at the outlet of the hydraulic system's main pump. This can be done by detecting the flow rate at the outlet of the main pump using a flow meter or flow sensor, and obtaining the pressure at the outlet of the main pump using a pressure sensor. Then, the output power at the outlet of the main pump can be calculated by multiplying the flow rate at the outlet of the main pump by the pressure at the outlet of the main pump.

[0090] Furthermore, based on the above embodiments, the actuators in this embodiment include: boom, stick, bucket, and slewing mechanism; determining the actual output power of each actuator in the hydraulic system includes: determining the actual flow information of the boom, stick, bucket, and slewing mechanism respectively; determining the pressure information of the boom, stick, bucket, and slewing mechanism respectively; multiplying the actual flow information of the boom, stick, bucket, and slewing mechanism by the corresponding pressure information to obtain the actual output power of each actuator, wherein the actual output power of each actuator includes the actual output power of the boom, the actual output power of the stick, the actual output power of the bucket, and the actual output power of the slewing mechanism.

[0091] Specifically, the actual output power of each actuator in the hydraulic system needs to be determined, namely, the actual output power of the boom, stick, bucket, and slewing mechanism. First, the actual flow rate and corresponding pressure information for the boom, stick, bucket, and slewing mechanism are determined separately. Then, the actual flow rate information is multiplied by the pressure information to obtain the actual output power of each actuator. The pressure information can be obtained by reading pressure sensors.

[0092] The methods for determining actual flow rate information differ for the boom, stick, bucket, and slewing mechanism. One method is to determine the actual flow rate information for the boom, stick, and bucket by separately detecting the cylinder extension amounts during operation. Alternatively, the boom, stick, and bucket cylinder extension amounts can be determined separately by calculating angles using angle sensors installed on the corresponding actuators. Then, based on the cylinder extension amounts, cylinder diameters, and rod diameters, the corresponding actual flow rate information for the boom, stick, and bucket is determined.

[0093] The actual flow rate information of the slewing mechanism is determined by measuring its angular velocity; then, based on the angular velocity, the motor speed is determined; and finally, the actual flow rate information is determined based on the slewing reduction ratio, motor displacement, and motor speed. The angular velocity can be obtained using an angle sensor, then converted to motor speed using a conversion relationship. Finally, the actual flow rate information of the slewing mechanism is calculated using the slewing reduction ratio, motor displacement, and motor speed.

[0094] Furthermore, based on the above embodiments, this embodiment, after determining the circuit fault corresponding to the composite action, further includes: executing each individual action in the composite action; determining the hydraulic efficiency index of each individual action in the composite action; and locating the faulty circuit in the composite action based on the hydraulic efficiency index of each individual action.

[0095] Specifically, when calculating the efficiency index of a hydraulic system and identifying a fault based on that index, precise fault location is crucial. If the fault is determined by the efficiency index of a single action, the corresponding circuit for that single action can be directly located. However, if the efficiency index of a compound action is abnormal, it only indicates the presence of a faulty actuator within the compound action, but it doesn't pinpoint which specific actuator is faulty. Therefore, it's necessary to accurately locate the faulty actuator using the hydraulic efficiency index.

[0096] It can be executed manually, such as by the operator performing individual actions within a compound action, thereby outputting the hydraulic efficiency index corresponding to each individual action in the compound action. Based on the hydraulic efficiency index of each individual action, it can be determined whether a fault has occurred in that individual action, thus accurately locating the faulty circuit. If a fault exists in every individual action, then the main circuit of the hydraulic system should be checked first to ensure accurate fault location.

[0097] This invention, as a whole, locates the health status of the hydraulic system from the perspective of power, ensuring the stability of the hydraulic system's power source. It determines the health status of the hydraulic system's hydraulic efficiency by assessing the power loss from the pump outlet to the actuator. If an abnormality is found in the hydraulic system's hydraulic efficiency, the specific faulty circuit is located based on the power at the pump outlet and the power of the actuator in a single operation. Therefore, this invention meticulously covers the overall health status of the hydraulic system from three levels: the hydraulic system's power source, the hydraulic system's hydraulic efficiency indicators, and the actual faulty circuit located based on the hydraulic system's hydraulic efficiency indicators, achieving the goal of real-time overall health monitoring of the hydraulic system.

[0098] Based on the same general inventive concept, this invention also protects a hydraulic system fault location device. The hydraulic system fault location device provided by this invention will be described below. The hydraulic system fault location device described below can be referred to in correspondence with the hydraulic system fault location method described above.

[0099] Figure 2 This is a schematic diagram of the hydraulic system fault location device provided by the present invention.

[0100] like Figure 2As shown, an embodiment of the present invention provides a hydraulic system fault location device, comprising:

[0101] The first determining module 201 is used to determine the maximum output power of the power system and the maximum output power of the hydraulic system;

[0102] The comparison module 202 is used to determine whether to perform a health check on the hydraulic system based on the relationship between the maximum output power of the power system, the maximum output power of the hydraulic system and the preset power threshold.

[0103] The second determining module 203 is used to determine the hydraulic efficiency index of the hydraulic system when it is determined to perform a health test on the hydraulic system. The hydraulic efficiency index includes single action efficiency index and compound action efficiency index.

[0104] The positioning module 204 is used to determine the loop fault corresponding to a single action when the efficiency index of a single action is less than the corresponding preset target efficiency index of a single action; and to determine the loop fault corresponding to a composite action when the efficiency index of a composite action is less than the corresponding preset target efficiency index of a composite action.

[0105] This embodiment provides a hydraulic system fault location device. It determines the maximum output power of the power system and the hydraulic system; based on the relationship between the maximum output power of the power system, the maximum output power of the hydraulic system, and preset power thresholds, it determines whether to perform a health check on the hydraulic system. When a health check is determined, the hydraulic efficiency index of the hydraulic system is determined, including single-action efficiency index and compound-action efficiency index. When the single-action efficiency index is less than the corresponding preset single-action target efficiency index, a circuit fault corresponding to the single action is identified; when the compound-action efficiency index is less than the corresponding preset compound-action target efficiency index, a circuit fault corresponding to the compound action is identified. By determining the need for a health check through power comparison and then using the hydraulic efficiency index to determine the specific fault location of the hydraulic system, more accurate fault location of the hydraulic system can be achieved, thereby improving the operating efficiency of the machinery.

[0106] Furthermore, the first determining module 201 in this embodiment is specifically used for:

[0107] Obtain the engine speed and engine torque of the power system;

[0108] The engine output power is obtained by multiplying the engine speed by the engine torque.

[0109] The output power of all engines within a unit time is sorted by size, and the average value of the output power of the engines with a preset proportion is calculated as the maximum output power of the power system.

[0110] Furthermore, the first determining module 201 in this embodiment is specifically used for:

[0111] Obtain the pump speed and pump output torque in the hydraulic system;

[0112] Multiplying the pump speed by the pump output torque yields the pump output power;

[0113] The pump input power is determined based on the pump output power, pump volumetric efficiency, and pump mechanical efficiency.

[0114] The pump input power of all pumps within a unit time is sorted by size, and the average value of the pump input power of a preset proportion is calculated as the maximum output power of the hydraulic system.

[0115] Furthermore, the comparison module 202 in this embodiment is specifically used for:

[0116] If the maximum output power of the power system reaches a preset power threshold, then a health check of the hydraulic system is performed.

[0117] Furthermore, the second determining module 203 in this embodiment is specifically used for:

[0118] Determine the output power at the outlet of the main pump of the hydraulic system;

[0119] Determine the actual output power of each actuator in the hydraulic system;

[0120] The ratio of the actual output power of each actuator to the output power at the outlet of the main pump is calculated and used as the hydraulic efficiency index of the hydraulic system.

[0121] Furthermore, the second determining module 203 in this embodiment is specifically used for:

[0122] Obtain the flow rate and pressure at the outlet of the main pump of the hydraulic system;

[0123] The output power at the main pump outlet is obtained by multiplying the flow rate at the main pump outlet by the pressure at the main pump outlet.

[0124] Furthermore, the various actuators in this embodiment include: boom, stick, bucket, and slewing mechanism;

[0125] The second determining module 203 is specifically used for:

[0126] The actual flow information of the boom, the stick, the bucket, and the slewing mechanism is determined respectively;

[0127] Determine the pressure information of the boom, the stick, the bucket, and the slewing mechanism respectively;

[0128] The actual flow information of the boom, stick, bucket, and slewing mechanism is multiplied by the corresponding pressure information to obtain the actual output power of each actuator. The actual output power of each actuator includes the actual output power of the boom, stick, bucket, and slewing mechanism.

[0129] Furthermore, the second determining module 203 in this embodiment is specifically used for:

[0130] The extension of the hydraulic cylinders corresponding to the boom, stick, and bucket during operation is measured respectively.

[0131] Based on the cylinder extension, cylinder diameter, and rod diameter, the actual flow rate information of the boom, stick, and bucket is determined.

[0132] Furthermore, the second determining module 203 in this embodiment is specifically used for:

[0133] Determine the rotational angular velocity of the rotary mechanism;

[0134] The motor speed is determined based on the rotational angular velocity.

[0135] The actual flow information of the rotary mechanism is determined based on the slewing reduction ratio, motor displacement, and motor speed.

[0136] Furthermore, this embodiment also includes: a composite motion positioning module, used for:

[0137] Execute each individual action in the compound action;

[0138] Determine the hydraulic efficiency index of each individual action in the compound action;

[0139] Based on the hydraulic efficiency index of each individual action, locate the faulty circuit in the compound action.

[0140] Based on the same general inventive concept, the present invention also protects a working machine, which is used to perform the hydraulic system fault location method of any of the above embodiments, or includes the hydraulic system fault location device described in any of the above embodiments, and the working machine includes an excavator, etc.

[0141] Figure 3 This is a schematic diagram of the structure of the electronic device provided by the present invention.

[0142] like Figure 3As shown, the electronic device may include a processor 310, a communication interface 320, a memory 330, and a communication bus 340, wherein the processor 310, the communication interface 320, and the memory 330 communicate with each other via the communication bus 340. The processor 310 can call logical instructions in the memory 330 to execute a hydraulic system fault location method. This method includes: determining the maximum output power of the power system and the maximum output power of the hydraulic system; determining whether to perform a health check of the hydraulic system based on the relationship between the maximum output power of the power system, the maximum output power of the hydraulic system, and a preset power threshold; when it is determined to perform a health check of the hydraulic system, determining the hydraulic efficiency index of the hydraulic system, which includes a single-action efficiency index and a compound-action efficiency index; when the single-action efficiency index is less than the corresponding preset single-action target efficiency index, determining a circuit fault corresponding to the single action; when the compound-action efficiency index is less than the corresponding preset compound-action target efficiency index, determining a circuit fault corresponding to the compound action.

[0143] Furthermore, the logical instructions in the aforementioned memory 330 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0144] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the hydraulic system fault location method provided by the above methods. The method includes: determining the maximum output power of the power system and the maximum output power of the hydraulic system; determining whether to perform a health check of the hydraulic system based on the relationship between the maximum output power of the power system, the maximum output power of the hydraulic system, and a preset power threshold; when it is determined to perform a health check of the hydraulic system, determining the hydraulic efficiency index of the hydraulic system, which includes a single-action efficiency index and a compound-action efficiency index; when the single-action efficiency index is less than the corresponding preset single-action target efficiency index, determining a circuit fault corresponding to the single action; when the compound-action efficiency index is less than the corresponding preset compound-action target efficiency index, determining a circuit fault corresponding to the compound action.

[0145] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program is implemented to perform the hydraulic system fault location method provided by the above methods. The method includes: determining the maximum output power of a power system and the maximum output power of a hydraulic system; determining whether to perform a health check of the hydraulic system based on the relationship between the maximum output power of the power system, the maximum output power of the hydraulic system, and a preset power threshold, respectively; when it is determined to perform a health check of the hydraulic system, determining the hydraulic efficiency index of the hydraulic system, the hydraulic efficiency index including a single-action efficiency index and a compound-action efficiency index; when the single-action efficiency index is less than the corresponding preset single-action target efficiency index, determining a circuit fault corresponding to the single action; when the compound-action efficiency index is less than the corresponding preset compound-action target efficiency index, determining a circuit fault corresponding to the compound action.

[0146] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0147] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0148] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for locating faults in a hydraulic system, characterized in that, include: Determine the maximum output power of the power system and the maximum output power of the hydraulic system; Based on the relationship between the maximum output power of the power system, the maximum output power of the hydraulic system, and a preset power threshold, it is determined whether to perform a health check on the hydraulic system. When it is determined to perform a health check on a hydraulic system, the hydraulic efficiency index of the hydraulic system is determined, including the single-action efficiency index and the compound-action efficiency index. When the single action efficiency index is less than the corresponding preset single action target efficiency index, the loop corresponding to the single action is determined to be faulty. When the efficiency index of the composite action is less than the corresponding preset target efficiency index of the composite action, a circuit fault is determined to be the one corresponding to the composite action.

2. The hydraulic system fault location method according to claim 1, characterized in that, Determining the maximum output power of the power system includes: Obtain the engine speed and engine torque of the power system; The engine output power is obtained by multiplying the engine speed by the engine torque. The output power of all engines within a unit time is sorted by size, and the average value of the output power of the engines with a preset proportion is calculated as the maximum output power of the power system.

3. The hydraulic system fault location method according to claim 1, characterized in that, Determining the maximum output power of the hydraulic system includes: Obtain the pump speed and pump output torque in the hydraulic system; Multiplying the pump speed by the pump output torque yields the pump output power; The pump input power is determined based on the pump output power, pump volumetric efficiency, and pump mechanical efficiency. The pump input power of all pumps within a unit time is sorted by size, and the average value of the pump input power of a preset proportion is calculated as the maximum output power of the hydraulic system.

4. The hydraulic system fault location method according to claim 1, characterized in that, The step of determining whether to perform a health check on the hydraulic system based on the relationship between the maximum output power of the power system, the maximum output power of the hydraulic system, and a preset power threshold includes: If the maximum output power of the power system reaches a preset power threshold, then a health check of the hydraulic system is performed.

5. The hydraulic system fault location method according to claim 1, characterized in that, Determining the hydraulic efficiency index of the hydraulic system includes: Determine the output power at the outlet of the main pump of the hydraulic system; Determine the actual output power of each actuator in the hydraulic system; The ratio of the actual output power of each actuator to the output power at the outlet of the main pump is calculated and used as the hydraulic efficiency index of the hydraulic system.

6. The hydraulic system fault location method according to claim 5, characterized in that, Determining the output power at the outlet of the main pump of the hydraulic system includes: Obtain the flow rate and pressure at the outlet of the main pump of the hydraulic system; The output power at the main pump outlet is obtained by multiplying the flow rate at the main pump outlet by the pressure at the main pump outlet.

7. The hydraulic system fault location method according to claim 5, characterized in that, The various actuators include: boom, stick, bucket, and slewing mechanism; Determining the actual output power of each actuator in the hydraulic system includes: The actual flow information of the boom, the stick, the bucket, and the slewing mechanism is determined respectively; Determine the pressure information of the boom, the stick, the bucket, and the slewing mechanism respectively; The actual flow information of the boom, stick, bucket, and slewing mechanism is multiplied by the corresponding pressure information to obtain the actual output power of each actuator. The actual output power of each actuator includes the actual output power of the boom, stick, bucket, and slewing mechanism.

8. The hydraulic system fault location method according to claim 7, characterized in that, The determination of the actual flow rate information of the boom, the stick, and the bucket includes: The extension of the hydraulic cylinders corresponding to the boom, stick, and bucket during operation is measured respectively. Based on the cylinder extension, cylinder diameter, and rod diameter, the actual flow rate information of the boom, stick, and bucket is determined respectively.

9. The hydraulic system fault location method according to claim 7, characterized in that, Determining the actual flow information of the slewing mechanism includes: Determine the rotational angular velocity of the rotary mechanism; The motor speed is determined based on the rotational angular velocity. The actual flow information of the rotary mechanism is determined based on the slewing reduction ratio, motor displacement, and motor speed.

10. The hydraulic system fault location method according to any one of claims 1-9, characterized in that, After determining the circuit fault corresponding to the composite action, the method further includes: Execute each individual action in the compound action; Determine the hydraulic efficiency index of each individual action in the compound action; Based on the hydraulic efficiency index of each individual action, locate the faulty circuit in the compound action.

11. A hydraulic system fault location device, characterized in that, include: The first determining module is used to determine the maximum output power of the power system and the maximum output power of the hydraulic system; The comparison module is used to determine whether to perform a health check on the hydraulic system based on the relationship between the maximum output power of the power system, the maximum output power of the hydraulic system, and a preset power threshold. The second determining module is used to determine the hydraulic efficiency index of the hydraulic system when it is determined to perform a health test on the hydraulic system. The hydraulic efficiency index includes a single-action efficiency index and a compound-action efficiency index. The positioning module is used to determine the loop fault corresponding to the single action when the single action efficiency index is less than the corresponding preset single action target efficiency index; and to determine the loop fault corresponding to the composite action when the composite action efficiency index is less than the corresponding preset composite action target efficiency index.

12. A type of operating machinery, characterized in that, The operating machinery is used to perform the hydraulic system fault location method as described in any one of claims 1 to 10, or includes the hydraulic system fault location device as described in claim 11.

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