An immersion type walking machine gear oil tank oil level detection system and tank

Abstract

This invention relates to an immersion-type gear oil tank level detection system and oil tank for mobile machinery. The detection system acquires the vibration acceleration of the oil tank through a vibration detection module, the tilt angle of the oil tank through a tilt angle detection module, and the distance from the center and the liquid level height through a liquid level detection module that can be set at any position on the surface of the oil tank cover. According to the formula, the oil volume of the gear oil tank at time i is calculated. When the vibration acceleration is greater than the threshold, the average oil volume measured within n vibration main frequency cycles is taken to filter out unnecessary high-frequency components, so as to obtain the actual oil volume. This solves the problem that the accuracy of liquid level detection and the unmeasurable liquid volume are affected by factors such as position changes and vibration impacts during the operation of mobile machinery. It improves the accuracy and effectiveness of liquid level detection and is applicable to the detection of gear oil tank levels in mobile machinery under more complex working conditions.

Description

Technical Field

[0001] This invention relates to the field of oil detection technology, and in particular to an immersion-type mobile machinery gear oil tank oil level detection system and oil tank. Background Technology

[0002] With the development of intelligent machinery, mobile machinery is replacing manual labor in more and more fields. During operation, mobile machinery experiences changes in the posture of its actuators and / or vibrations in the gear tank due to factors such as uneven working surfaces and external forces. This is especially true for mobile machinery, such as coal mining machines, operating underground in coal mines where the working face is rugged and subjected to impacts from coal and gangue. Operating under these high-intensity and harsh conditions for extended periods, accurate and real-time measurement of the gear tank's fluid volume is crucial for the normal operation of mobile machinery.

[0003] Conventional gear oil tank fluid level testing can only measure the height change of the corresponding test point at a fixed location, which cannot meet the flexible measurement needs under limited working space conditions. At the same time, when the gear oil tank posture changes and / or the gear oil tank vibration causes the oil surface to tilt and / or the liquid level height to fluctuate, the fixed position liquid level detection method cannot identify and filter the liquid level changes and fluctuations caused by tilting and / or vibration, thus resulting in misjudgment of liquid level.

[0004] In summary, there is an urgent need in this field for a new solution for detecting the oil volume of gear tanks to address the problems of the accuracy of liquid level detection and the unmeasurable liquid volume caused by changes in posture, vibration, and impact during the operation of mobile machinery. Summary of the Invention

[0005] The purpose of this invention is to provide an immersion-type mobile mechanical gear oil tank oil level detection system to solve, or at least partially solve, the technical problems mentioned in the background art.

[0006] In a first aspect, embodiments of the present invention provide an immersion-type mobile machinery gear oil tank oil level detection system. The detection system includes: an oil tank vibration detection module, an oil tank tilt angle detection module, a liquid level detection module, and a data processing module for calculating the actual oil volume. The data processing module includes an oil level detection parameter database, a memory storing a calculation program, and a processor. The parameter database stores historical detection data, and the detection data includes the oil tank vibration acceleration collected by the oil tank vibration detection module. The tank tilt angle is collected by the tank tilt angle detection module. And the distance from the center of the module collected by the liquid level detection module. and liquid level height ;

[0007] When the processor executes the computer program, it performs the following steps:

[0008] Step S1: Read the tank tilt angle parameter at time i. Module distance from center and liquid level height ;

[0009] Step S2: According to the formula: Calculate the oil measurement volume of the gear oil tank at time i. ,in, The cross-sectional area of ​​the gear oil tank is preset;

[0010] Step S3: Read the oil tank vibration acceleration of the walking machine at time i. The vibration acceleration of the oil tank at time i. Compared with the preset acceleration threshold If a comparison is made, Less than If the result is positive, proceed to step S4; otherwise, proceed to step S5.

[0011] Step S4, the oil measurement volume Let be the actual volume of oil at time i. Return to step S1;

[0012] Step S5: Obtain all tank vibration accelerations for the M consecutive times preceding time i-1 from the parameter database, and calculate the dominant frequency period of the gear tank vibration based on the all tank vibration accelerations for the M consecutive times preceding time i-1. ;

[0013] Step S6: Read the oil measurement volume data sequence from time i to time j. , … … According to the formula: =( + +… +… ) / ( ),in ,m< ;

[0014] The actual volume of the oil at time j is calculated. .

[0015] Furthermore, in step S5, the vibration acceleration of the oil tank is calculated based on all the vibration accelerations of the oil tank at consecutive times M before time i-1. According to the formula: =2π / , =( +…+ The vibration dominant frequency period of the gear oil tank is calculated using the formula ) / M. .

[0016] Furthermore, the oil tank vibration detection module is also equipped with a low-pass filter, and in step S6, the oil volume measurement data sequence from time i to time j is read. , … … During the process, unnecessary high-frequency vibrations are filtered out using a low-pass filter.

[0017] Furthermore, the liquid level detection module is equipped with a sensor body, an immersion sensor probe, and a sensor mounting structure. One end of the immersion sensor probe is immersed in the oil, and the other end is connected to the liquid level detection circuit to interact with the data processing module via electrical signals. The sensor body is fastened to any position on the oil tank cover by the sensor mounting structure.

[0018] Furthermore, the immersion sensor probe includes a probe housing and a capacitor plate, which are configured as two concentric conduits extending in the direction of oil immersion.

[0019] Furthermore, the liquid level detection circuit includes a square wave signal generator, a high-pass filter, a rectifier circuit, a low-pass filter, and a level conversion module. One end of the square wave signal generator is connected to the data processing module via an I / O port, and the other end is connected to the immersion sensor probe. The square wave signal generator outputs a square wave signal that flows through the capacitor plate of the immersion sensor probe. The capacitor plate changes the amplitude of the square wave signal as the oil level changes. Due to RC delay, the square wave signal becomes a triangular wave signal. The triangular wave signal flows through the high-pass filter and the rectifier circuit to be converted into a positive voltage signal. The positive voltage signal is filtered by the low-pass filter and input to the level conversion module. After being processed by the level conversion module, it is received by the AD detection port of the data processing module.

[0020] Furthermore, the sensor mounting structure is threaded onto any position on the fuel tank cover, and the distance from the mounting position of the sensor mounting structure to the central axis of the fuel tank is recorded as the module-to-center distance. .

[0021] Furthermore, the oil tank vibration detection module is configured as a miniature MEMS vibration sensor, and the oil tank tilt angle detection module is configured as a miniature MEMS tilt angle sensor. The miniature MEMS vibration sensor and the miniature MEMS tilt angle sensor are attached to the gear oil tank housing.

[0022] Furthermore, the data processing module is configured as an MCU processor, which is connected to the oil tank vibration detection module and the oil tank tilt angle detection module via an SPI interface, and obtains the liquid level height by sampling through an AD detection port.

[0023] Furthermore, the preset acceleration threshold =2g, fuel tank tilt angle <±90°.

[0024] Secondly, embodiments of the present invention provide an oil tank having the immersion-type walking mechanical gear oil tank oil level detection system described in any of the foregoing embodiments.

[0025] Through the above technical solution, the oil level detection system of the present invention determines the liquid level tilt angle of the gear oil tank under different postures according to the formula. Normalized to the horizontal tilt angle, the oil measurement volume of the gear oil tank at time i is calculated. This solves the problem of misjudgment of liquid level detection caused by changes in liquid level tilt angle due to changes in position. Furthermore, when the vibration acceleration at time i is less than the acceleration threshold, the oil measurement volume... Record the actual volume of oil at that moment. When the vibration acceleration at that moment exceeds the acceleration threshold, the dominant vibration frequency period of the gear oil tank is calculated based on the vibration acceleration of all oil tanks for M consecutive moments prior to the (i-1)th moment, and n dominant vibration frequency periods are taken. The sampling period is denoted as j = i + 1. Within the sampling period, the average oil measurement volume at consecutive times is taken, denoted as j = i + 1. Actual oil volume at time Through the above-described method, the oil level detection system of the present invention identifies and filters the influence of impact vibration on the liquid level measurement. Due to the lag in the response of liquid level fluctuations, the vibration parameters obtained from the gear tank are used as feedback parameters to correct the detected changes in liquid level in real time, thereby obtaining a more stable and accurate liquid level and oil volume. Furthermore, the liquid level detection module in the technical solution of the present invention can be set at any position on the tank cover, without being limited by the working space, thus meeting the requirements of more complex operating conditions.

[0026] In summary, this invention provides a multi-sensor fusion immersion-type gear tank oil level detection system for mobile machinery, which solves the problems of the accuracy of liquid level detection and the unmeasurable liquid volume caused by factors such as position changes and vibration impacts during the operation of mobile machinery. It improves the accuracy and effectiveness of liquid level detection and is applicable to the detection of gear tank oil levels in mobile machinery under more complex working conditions. Attached Figure Description

[0027] The above and other objects, features, and advantages of the present invention will become more apparent from the more detailed description of the embodiments of the invention in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0028] Figure 1 This is a schematic diagram of the gear oil tank of the immersion-type mobile machinery gear oil tank level detection system of the present invention under vibration conditions.

[0029] Figure 2 A schematic diagram of the gear oil tank level detection system of the immersion-type walking machinery gear oil tank of the present invention, with the liquid level height in the gear oil tank normalized to a horizontal tilt angle.

[0030] Figure 3 A schematic diagram of the data processing module in the immersion-type mobile machinery gear oil tank level detection system of the present invention;

[0031] Figure 4 A schematic diagram of the structure of the immersion sensor probe in the immersion-type walking machinery gear oil tank level detection system of the present invention;

[0032] Figure 5 A schematic diagram of the liquid level detection circuit in the immersion-type mobile machinery gear oil tank oil level detection system of the present invention;

[0033] Figure 6 Flowchart of the method for calculating the actual volume of oil in the immersion-type walking machinery gear oil tank oil level detection system of the present invention.

[0034] Reference numerals: 1-Gear oil tank; 2-Liquid level detection module; 21-Immersion sensor probe; 211-Capacitor plate; 212-Probe housing; 3-Oil tank vibration detection module; 4-Oil tank tilt angle detection module; 5-Data processing module. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Figure 1This is a schematic diagram of the gear oil tank of the immersion-type mobile machinery gear oil tank level detection system of the present invention under vibration conditions. A liquid level detection module 2 is set at any position on the surface of the cover of the gear oil tank 1. The liquid level detection module 2 is set as an immersion type sensor, which consists of a sensor body, an immersion type sensor probe 21 and a sensor mounting structure. The sensor mounting structure is fixed to the gear oil tank 1 by threads.

[0037] exist Figure 1 The detection system described herein takes a gear oil tank 1 with an oil tank vibration detection module 3, an oil tank tilt angle detection module 4, and a liquid level detection module 2 as an example. In specific embodiments, in addition to the features shown in the figures, the detection system may also include other functional parts not shown in the figures, including but not limited to a control panel, a display panel, and a power supply device, which will not be described in detail here.

[0038] according to Figure 2 The detection system in the middle, Figure 2 middle The distance from the installation position of the liquid level detection module 2 to the central axis of the gear oil tank 1. Figure 2 middle This refers to the oil level in gear oil tank 1. Figure 2 middle The angle of inclination of gear oil tank 1 relative to the horizontal plane. During the oil level detection process, the distance from the center of the liquid level detection module 2 is measured. and liquid level height The fuel tank tilt angle detection module 4 collects the fuel tank tilt angle. The fuel tank vibration detection module 3 collects the fuel tank vibration acceleration. According to the formula: Calculate the oil measurement volume of gear oil tank 1. ,in, Let be the cross-sectional area of ​​gear oil tank 1. The liquid level height collected by the liquid level detection module 2 The deviation value x from the center liquid level height of gear oil tank 1, i.e., the liquid level height is -x. Furthermore, it can detect the vibration acceleration of the fuel tank based on the data collected by the fuel tank vibration detection module 3. Determine the calculated volume Is this the actual volume? .

[0039] As mentioned above, the detection system includes: a tank vibration detection module 3, a tank tilt angle detection module 4, a liquid level detection module 2, and a data processing module 5 for calculating the actual volume of the oil.

[0040] Among them, the oil tank vibration detection module 3 and the oil tank tilt angle detection module 4 can be installed on the outer surface of the sensor body in the liquid level detection module 2.

[0041] Furthermore, the tank vibration detection module 3 can be configured as a miniature MEMS vibration sensor, and the tank tilt angle detection module 4 can be configured as a miniature MEMS tilt angle sensor. The miniature MEMS vibration sensor and the miniature MEMS tilt angle sensor can be attached to the surface of the gear tank 1 housing. Of course, in practical scenarios, other methods can also be used to fix the miniature MEMS vibration sensor and the miniature MEMS tilt angle sensor to the gear tank 1 housing, which will not be described in detail here. Additionally, the data processing module 5 can be configured as an MCU processor. The MCU processor connects to the tank vibration detection module 3 and the tank tilt angle detection module 4 via an SPI interface. The SPI interface of the MCU processor enables synchronous serial data transmission between the CPU and peripheral low-speed devices, resulting in high-speed data transfer. The MCU processor obtains the liquid level height by sampling through the AD detection port. The AD detection port of the MCU processor can convert the analog liquid level signal collected by the liquid level detection module 2 into a digital signal for processing by the MCU processor.

[0042] In addition, the immersion sensor needs to be connected to the liquid level detection circuit and the data processing module 5 for electrical signal interaction. Part of the immersion sensor will protrude from the surface of the fuel tank cover. Multiple screw holes are provided on the fuel tank cover, and the screw holes can be located at any position on the fuel tank cover. The sensor mounting structure of the liquid level detection module 2 is installed in the screw holes of the fuel tank cover by threads. That is, the immersion sensor can be fastened to any position on the fuel tank cover, without being limited by the working space, and meets the requirements of more complex working conditions.

[0043] Figure 3 This is a schematic diagram of the data processing module in the immersion-type walking machinery gear oil tank oil level detection system of the present invention.

[0044] like Figure 3 As shown in the figure, in this embodiment, the data processing module 5 includes an oil level detection parameter database, a memory storing a calculation program, and a processor. The parameter database is used to store historical detection data, and the detection data includes the oil tank vibration acceleration collected by the oil tank vibration detection module 3. The tank tilt angle is collected by the tank tilt angle detection module 4. fuel tank tilt angle <±90°, the distance from the center of the module collected by the liquid level detection module 2 and liquid level height .

[0045] Figure 4 This is a schematic diagram of the immersion sensor probe in the immersion-type mobile machinery gear oil tank level detection system of the present invention.

[0046] like Figure 4As shown in the figure, in this embodiment, the liquid level detection module 2 is provided with a sensor body, an immersion sensor probe 21 and a sensor mounting structure. One end of the immersion sensor probe 21 is immersed in the oil, and the other end is connected to the liquid level detection circuit to interact with the data processing module 5 via electrical signals. The sensor body is fastened to any position on the oil tank cover by the sensor mounting structure.

[0047] The immersion sensor probe 21 includes a probe housing 212 and a capacitor plate 211, which are configured as two concentric conduits extending in the direction of oil immersion.

[0048] Figure 5 This is a schematic diagram of the liquid level detection circuit in the immersion-type walking machinery gear oil tank oil level detection system of the present invention.

[0049] like Figure 5 As shown in the diagram, in this embodiment, the liquid level detection circuit includes a square wave signal generator, a high-pass filter, a rectifier circuit, a low-pass filter, and a level conversion module. One end of the square wave signal generator is connected to the data processing module 5 via an I / O port, and the other end is connected to the immersion sensor probe 21. The data processing module 5 outputs a signal through the I / O port. The signal is converted into a square wave signal by the square wave signal generator. The square wave signal flows through the capacitor plate 211 of the immersion sensor probe 21. When the oil level in the tank changes, the capacitor plate 211 of the probe changes the amplitude of the square wave signal accordingly. Due to RC delay, the square wave signal becomes a triangular wave signal and is transmitted back to the high-pass filter and rectifier circuit of the liquid level detection circuit. The triangular wave signal is converted into a positive voltage signal by the high-pass filter and rectifier circuit. The positive voltage signal is filtered by the low-pass filter and input to the level conversion module. After being processed by the level conversion module, it is received by the AD detection port of the data processing module 5, that is, the data processing module 5 obtains the liquid level height information.

[0050] Furthermore, the liquid level detection circuit also includes a power amplifier. The square wave signal is connected to the immersion sensor probe 21 through the power amplifier. One end of the power amplifier is connected to the square wave signal, and the other end is connected to the immersion sensor probe 21. The power amplifier amplifies the square wave signal output by the square wave signal for easy reception by the immersion sensor probe 21.

[0051] Figure 6 This is a flowchart illustrating the method for calculating the actual volume of oil in the immersion-type mobile machinery gear oil tank level detection system of the present invention.

[0052] like Figure 6 As shown, when a processor executes a computer program, it performs the following steps:

[0053] Step S1: Read the tank tilt angle parameter at time i. Module distance from center and liquid level height ;

[0054] Understandably, the module's distance from the center... The sensor mounting structure of the liquid level detection module 2 can be preset and installed in the screw hole of the oil tank cover via threads. On-site workers can measure the distance of the module from the center. and the module's distance from the center Stored in a parameter database, which the processor can directly retrieve. Module distance from center. It can also be monitored through sensors.

[0055] Fuel tank tilt angle detection module 4 collects the fuel tank tilt angle parameters at time i. The liquid level detection module 2 collects the distance from the center of the module at time i. and liquid level height The processor reads the tank tilt angle parameters at time i from the tank tilt angle detection module 4. Read the distance from the center of the module at time i from the liquid level detection module 2. and liquid level height .

[0056] Step S2: According to the formula: Calculate the oil measurement volume of gear oil tank 1 at time i. ,in, This is the preset cross-sectional area of ​​the gear oil tank 1;

[0057] Step S3: Read the oil tank vibration acceleration of the walking machine at time i. The acceleration of the oil tank vibration at time i. Compared with the preset acceleration threshold If a comparison is made, Less than If the result is positive, proceed to step S4; otherwise, proceed to step S5.

[0058] Understandably, the fuel tank vibration detection module 3 collects the fuel tank vibration acceleration. Pre-set acceleration threshold acceleration threshold The preferred weight is 2g. The fuel tank vibration acceleration collected by the fuel tank vibration detection module 3... With preset acceleration threshold The comparison results are used to determine whether the vibration of the oil tank affects the calculation of the oil volume. For example, at time i, the oil tank vibration detection module 3 collects the vibration acceleration of the oil tank. The acceleration of the oil tank vibration at time i. Compared with the preset acceleration threshold If a comparison is made, Less than If the vibration of gear tank 1 at time i is small and does not affect the calculation of the oil volume, then step S4 is executed. Greater than or equal to If the vibration of gear oil tank 1 is large at time i, it will affect the calculation of the oil measurement volume, and step S5 will be executed.

[0059] Step S4, oil volume measurement Let be the actual volume of oil at time i. Return to step S1;

[0060] It is understandable that the tank vibration acceleration at time i is... Less than the preset acceleration threshold At time i, the vibration of gear tank 1 is relatively weak and does not affect the calculation of the oil measurement volume. Let be the actual volume of oil at time i. .

[0061] Step S5: Obtain all tank vibration accelerations for the M consecutive time intervals before time i-1 from the parameter database, and calculate the dominant frequency period of gear tank 1 based on all tank vibration accelerations for the M consecutive time intervals before time i-1. ;

[0062] It is understandable that during the operation or travel of the immersion-type mobile machinery, the gear oil tank 1 will vibrate, which in turn will cause fluctuations in the oil level within the gear oil tank 1. The vibration acceleration of the oil tank at time i is... Greater than or equal to the preset acceleration threshold At that time, the vibration of gear oil tank 1 is relatively large, which will affect the calculation of the oil measurement volume. The oil measurement volume at time i is... It cannot be equated to the actual volume of oil at time i. For example, when the liquid level at the sampling point of the fuel tank vibration detection module 3 is at the crest of a wave, the fuel tank vibration detection module 3 collects the measured volume of the oil. Much larger than the actual oil volume When the liquid level at the sampling point of the fuel tank vibration detection module 3 is at a trough, the fuel volume measured by the fuel tank vibration detection module 3 is... Much smaller than the actual oil volume The method to eliminate the influence of vibration factors is as follows: based on the vibration acceleration 'a' of the oil tank for all M consecutive time steps before time i-1, according to the formula: =2π / , =( +…+ The vibration dominant frequency period of the gear oil tank 1 is calculated using the formula ) / M. .

[0063] Step S6: Read the oil measurement volume data sequence from time i to time j. , … … According to the formula: =( + +… +… ) / ( ),in ,m< ;

[0064] The actual volume of the oil at time j is calculated. .

[0065] It is understandable that the tank vibration acceleration at time i is... Greater than or equal to the preset acceleration threshold At that time, the vibration of gear oil tank 1 is relatively large, affecting the calculation of the oil measurement volume. The oil measurement volume at time i is... It cannot be equated to the actual volume of oil at time i. Take n dominant vibration frequency periods. The sampling period is denoted as j = i + 1. Within the sampling period, the average oil measurement volume at consecutive times is taken, denoted as j = i + 1. Actual oil volume at time .

[0066] Further, in step S6, the oil measurement volume data sequence from time i to time j is read { , … … During the process, unnecessary high-frequency vibrations are filtered out by a low-pass filter, and individual high-frequency vibrations are removed, which improves accuracy.

[0067] Furthermore, in steps S4 and S6, the actual volume of the oil at time i can be obtained. Furthermore, the actual volume of the oil at time j can be obtained. The processor can calculate the actual volume of the oil at time i. and the actual volume of oil at time j The data is transmitted to a display screen, allowing on-site staff to visually observe the oil level and the actual oil volume at time i. and the actual volume of oil at time j The data is transmitted to the controller that controls the movement of the mobile machinery, so that the controller can know the actual volume of the oil and better control the mobile machinery.

[0068] In conjunction with the above embodiments of the present invention, the fuel tank vibration detection module 3 collects the fuel tank vibration acceleration. Fuel tank tilt angle detection module 4 collects fuel tank tilt angle. And the distance from the center of the module is collected by the liquid level detection module 2. and liquid level height The oil level detection system measures the oil level angle of the gear tank under different orientations according to the formula... Normalized to the horizontal tilt angle, the oil measurement volume of the gear oil tank at time i is calculated. This solves the problem of misjudgment of liquid level detection caused by changes in liquid level tilt angle due to changes in position. Furthermore, when the vibration acceleration at time i is less than the acceleration threshold, the oil measurement volume... Record the actual volume of oil at that moment. When the vibration acceleration at that moment exceeds the acceleration threshold, the dominant vibration frequency period of the gear oil tank is calculated based on the vibration acceleration of all oil tanks for M consecutive moments prior to the (i-1)th moment, and n dominant vibration frequency periods are taken. The sampling period is denoted as j = i + 1. Within the sampling period, the average oil measurement volume at consecutive times is taken, denoted as j = i + 1. Actual oil volume at time Through the above methods, the oil level detection system of the present invention identifies and filters the influence of impact vibration on the liquid level measurement. Due to the lag in the response of liquid level fluctuations, the vibration parameters obtained from the gear tank are used as feedback parameters to correct the detected changes in liquid level in real time, thereby obtaining a more stable and accurate liquid level and oil volume. Furthermore, the liquid level detection module can be installed at any position on the tank cover, without being limited by the working space, meeting the requirements of more complex operating conditions.

[0069] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. A dipstick type off-highway vehicle gear oil tank level sensing system characterized by, The detection system includes: a tank vibration detection module (3), a tank tilt detection module (4), a liquid level detection module (2), and a data processing module (5) for calculating the actual volume of the oil. The data operation module (5) comprises an oil level detection parameter database, a memory storing a calculation program and a processor, the parameter database is used for storing historical detection data, the detection data comprises oil tank vibration acceleration collected by an oil tank vibration detection module (3) , oil tank inclination collected by an oil tank inclination detection module (4) , and distance from the module to the center and liquid level height collected by a liquid level detection module (2) and liquid level height ; When the processor executes the computer program, it performs the following steps: Step S1: Read the tank tilt angle parameter at time i. Module distance from center and liquid level height ; Step S2: According to the formula: Calculate the oil measurement volume of the gear oil tank (1) at time i. ,in, The cross-sectional area of ​​the gear oil tank (1) is the preset value; Step S3: Read the oil tank vibration acceleration of the walking machine at time i. The vibration acceleration of the oil tank at time i. Compared with the preset acceleration threshold If a comparison is made, Less than If the result is positive, proceed to step S4; otherwise, proceed to step S5. Step S4, the oil measurement volume Let be the actual volume of oil at time i. Return to step S1; Step S5: Obtain all tank vibration accelerations for the M consecutive times before time i-1 from the parameter database, and calculate the vibration dominant frequency period of the gear tank (1) based on all tank vibration accelerations for the M consecutive times before time i-1. ; Step S6: Read the oil measurement volume data sequence from time i to time j. , … … According to the formula: =( + +… +… ) / ( ),in ,m< ; The actual volume of the oil at time j is calculated. .

2. The detection system according to claim 1, characterized in that, In step S5, the vibration acceleration of the oil tank is calculated based on all the vibration accelerations of the oil tank at consecutive M time points preceding time i-1. main frequency According to the formula: , = ( +…+ The vibration dominant frequency period of the gear oil tank (1) is calculated by taking the ratio M / M. .

3. The detection system according to claim 1, characterized in that, The oil tank vibration detection module (3) is also equipped with a low-pass filter, and in step S6, the oil measurement volume data sequence from time i to time j is read. , … … During the process, unnecessary high-frequency vibrations are filtered out using a low-pass filter.

4. The detection system according to claim 1, characterized in that, The liquid level detection module (2) is equipped with a sensor body, an immersion sensor probe (21) and a sensor mounting structure. One end of the immersion sensor probe (21) is immersed in the oil, and the other end is connected to the liquid level detection circuit and the data processing module (5) to perform electrical signal interaction. The sensor body is fastened to any position on the oil tank cover through the sensor mounting structure.

5. The detection system according to claim 4, characterized in that, The immersion sensor probe (21) includes a probe housing (212) and a capacitor plate (211), which are configured as two concentric conduits extending in the direction of oil immersion.

6. The detection system according to claim 5, characterized in that, The liquid level detection circuit includes a square wave signal generator, a high-pass filter, a rectifier circuit, a low-pass filter, and a level conversion module. One end of the square wave signal generator is connected to the data processing module (5) through an IO port, and the other end is connected to the immersion sensor probe (21). The square wave signal generator outputs a square wave signal that flows through the capacitor plate (211) of the immersion sensor probe (21). The capacitor plate (211) changes the amplitude of the square wave signal as the liquid level changes. The square wave signal becomes a triangular wave signal due to RC delay. The triangular wave signal flows through the high-pass filter and the rectifier circuit to be converted into a positive voltage signal. The positive voltage signal is filtered by the low-pass filter and input to the level conversion module. After being processed by the level conversion module, it is received by the AD detection port of the data processing module (5).

7. The detection system according to claim 4, characterized in that, The sensor mounting structure is threaded onto any position on the fuel tank cover, and the distance from the mounting position of the sensor mounting structure to the central axis of the fuel tank is recorded as the module-to-center distance. .

8. The detection system according to claim 1, characterized in that, The oil tank vibration detection module (3) is configured as a micro MEMS vibration sensor, and the oil tank tilt angle detection module (4) is configured as a micro MEMS tilt angle sensor. The micro MEMS vibration sensor and the micro MEMS tilt angle sensor are attached to the housing of the gear oil tank (1).

9. The detection system according to claim 1, characterized in that, The data processing module (5) is set as an MCU processor. The MCU processor is connected to the oil tank vibration detection module (3) and the oil tank tilt angle detection module (4) through the SPI interface, and obtains the liquid level height by sampling through the AD detection port.

10. The detection system according to claim 1, characterized in that, The preset acceleration threshold =2g, fuel tank tilt angle <±90°.

11. A fuel tank, characterized in that, The fuel tank has a detection system as described in any one of claims 1-10.

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