Fault alarm method, device, equipment, storage medium and computer program product

Abstract

The application discloses a fault alarm method and device, equipment, storage medium and computer program product, and relates to the field of intelligent management of electrical equipment. The method is applied to an electrical equipment and comprises the following steps: acquiring N posture turning angles of the electrical equipment in a single motion process, wherein N is a positive integer; determining whether the electrical equipment is in an abnormal state according to at least one of the N posture turning angles; and outputting fault early warning information of the electrical equipment in the case that the electrical equipment is in the abnormal state. According to the fault alarm method, the health state of the electrical equipment can be controlled, and the equipment fault can be timely alarmed, so that the probability of accidents can be avoided.

Description

Technical Field

[0001] This application belongs to the field of intelligent management of electrical equipment, and in particular relates to a fault alarm method, device, equipment, storage medium and computer program product. Background Technology

[0002] Currently, in the management of electrical equipment, such as when it comes to the maintenance and repair of switching equipment, the maintenance is usually carried out in a periodic manner, and the switching equipment is replaced or repaired according to the usage condition and degree of aging and wear of the switching device as detected on site.

[0003] However, by using the aforementioned periodic inspection method, relevant personnel cannot monitor the status of the switching equipment in real time. Furthermore, in cases of severe aging of the switching device or failure of the switch, relevant personnel cannot take timely and effective countermeasures, which may lead to major accidents and serious economic losses.

[0004] Therefore, the industry urgently needs a solution that can monitor the health status of electrical equipment in real time to solve the problems existing in the current technology. Summary of the Invention

[0005] This application provides a fault alarm method, device, equipment, storage medium, and computer program product, which can determine the health status of electrical equipment based on the equipment's posture and rotation angle, and promptly alarm for equipment faults, thereby preventing accidents from occurring.

[0006] In a first aspect, embodiments of this application provide a fault alarm method, which is applied to electrical equipment and includes:

[0007] Obtain N attitude angles of the electrical equipment during a single movement, where N is a positive integer;

[0008] Determine whether the electrical equipment is in an abnormal state based on at least one of the N attitude angles.

[0009] When the electrical equipment is in an abnormal state, output the fault alarm information of the equipment.

[0010] In some possible implementations, the method further includes, before obtaining the N attitude angles of the electrical device during a single movement:

[0011] Obtain the attitude angles of the electrical equipment at time j and time j+1, where j is a positive integer;

[0012] When the attitude angle at time j+1 is not equal to the attitude angle at time j, it is determined that the electrical device is in motion at time j+1.

[0013] In some possible implementations, determining whether the electrical equipment is in an abnormal state based on at least one of N attitude angles includes:

[0014] Determine the maximum attitude angle among N attitude angles;

[0015] The maximum attitude angle is compared with the preset maximum attitude angle threshold to obtain the first comparison result;

[0016] When the first comparison result shows that the maximum attitude angle is greater than the preset maximum attitude angle threshold, the electrical equipment is determined to be in an abnormal state.

[0017] In some possible implementations, determining whether the device is in an abnormal state based on at least one of N attitude angles includes:

[0018] Determine the final attitude angle of the electrical device at the end of the single motion process among N attitude angles;

[0019] The final attitude angle is compared with a preset final attitude angle threshold to obtain a second comparison result;

[0020] When the second comparison result shows that the final attitude angle is greater than the preset final attitude angle threshold, the electrical equipment is determined to be in an abnormal state.

[0021] In some possible implementations, N attitude angles of the electrical device during a single movement are obtained, including:

[0022] Obtain the first acceleration and first angular velocity of the electrical device at time i+1, where i is a positive integer;

[0023] Based on the first acceleration, determine the first angle of the electrical device;

[0024] Based on the first angle, the first angular velocity, and the attitude angle at time i, determine the attitude angle at time i+1.

[0025] In some possible implementations, determining the first angle of the electrical device based on the first acceleration includes:

[0026] Based on the first acceleration, according to

[0027]

[0028] Determine the first angle of the electrical device, where A x A y A z The acceleration components of the first acceleration along the x-axis, y-axis, and z-axis are respectively θ. x θ y θz These are the angular components of the first angle on the x-axis, y-axis, and z-axis, respectively.

[0029] In some possible implementations, the attitude angle at time i+1 is determined based on the first angle, the first angular velocity, and the attitude angle at time i, including:

[0030] Based on the first angle, the first angular velocity, and the attitude angle at time i, the second angular velocity of the electrical device at time i is determined by data fusion using Kalman filtering.

[0031] Based on a preset time interval, the second angular velocity is integrated to determine the first angular displacement of the electrical device.

[0032] The attitude angle at time i+1 is determined based on the first angular displacement and the attitude angle at time i.

[0033] Secondly, embodiments of this application provide a fault alarm device, which includes:

[0034] The acquisition module is used to acquire N attitude angles of the electrical equipment during a single movement, where N is a positive integer;

[0035] The determination module is used to determine whether the electrical equipment is in an abnormal state based on at least one of N attitude angles.

[0036] The output module is used to output fault alarm information of the electrical equipment when the electrical equipment is in an abnormal state.

[0037] Thirdly, embodiments of this application provide a fault alarm device, which includes:

[0038] Processor and memory storing computer program instructions;

[0039] When the processor executes the computer program instructions, it implements the fault alarm method provided in any of the embodiments of this application described above.

[0040] Fourthly, embodiments of this application provide a computer storage medium storing computer program instructions, which, when executed by a processor, implement the fault alarm method provided in any of the embodiments of this application described above.

[0041] Fifthly, embodiments of this application provide a computer program product in which instructions, when executed by a processor of an electronic device, cause the electronic device to perform a fault alarm method as provided in any of the embodiments of this application described above.

[0042] The fault alarm method, apparatus, device, storage medium, and computer program product of this application can acquire multiple attitude angles of electrical equipment during a single movement, and then detect whether the equipment is abnormal based on the attitude angles during the movement. Thus, by monitoring the attitude angles of the equipment during movement, this application determines the health status of the electrical equipment based on the attitude angles, and promptly alarms for equipment faults, thereby preventing accidents from occurring. Attached Figure Description

[0043] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a flowchart illustrating a fault alarm method provided in one embodiment of this application;

[0045] Figure 2 A schematic diagram of a rotation sensing module assembled in a circuit breaker is shown.

[0046] Figure 3 A schematic diagram showing the spatial positions of the x-axis, y-axis, and z-axis is provided.

[0047] Figure 4 This is a schematic diagram of the structure of a fault alarm device provided in another embodiment of this application;

[0048] Figure 5 This is a schematic diagram of the structure of a fault alarm device provided in another embodiment of this application. Detailed Implementation

[0049] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0050] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0051] As described in the background section, current electrical equipment management, such as the maintenance and repair of switching equipment or circuit breakers, typically employs a periodic maintenance approach. This involves replacing or repairing equipment based on its condition and wear level as determined by on-site inspections. However, this method prevents personnel from monitoring the equipment's status in real time. In cases of severe aging or malfunction of switching equipment or circuit breakers, personnel are unable to take timely and effective countermeasures, thus increasing the risk of economic losses or major accidents due to equipment failure.

[0052] To address the problems of the prior art, embodiments of this application provide a fault alarm method, apparatus, device, storage medium, and computer program product. It should be noted that the embodiments provided in this application are not intended to limit the scope of the invention.

[0053] The fault alarm method provided in the embodiments of this application will be introduced first below.

[0054] Figure 1 A flowchart illustrating a fault alarm method according to an embodiment of this application is shown. This fault alarm method is applied to electrical equipment, which may be, but is not limited to, circuit breakers, switching devices, and devices involving rocker control, among others. For ease of understanding, a circuit breaker is used as an example in the following illustration; however, it should be understood that this application does not limit the specific form of the electrical equipment.

[0055] like Figure 1 As shown, the fault alarm method may include the following steps:

[0056] S110, obtain N attitude angles of the electrical equipment during a single movement, where N is a positive integer;

[0057] S120, determine whether the electrical equipment is in an abnormal state based on at least one of the N attitude angles;

[0058] S130: When the electrical equipment is in an abnormal state, output the fault alarm information of the electrical equipment.

[0059] The fault alarm method of this application embodiment is applied to electrical equipment. It can acquire multiple attitude angles of the electrical equipment during a single movement, and then detect whether the equipment is abnormal based on the attitude angles during the movement. Thus, the fault alarm method provided by this application embodiment monitors the attitude angles of the equipment during movement, determines the health status of the electrical equipment based on the attitude angles, and promptly alarms for equipment faults, thereby preventing accidents from occurring.

[0060] The specific implementation methods for each of the above steps are described below.

[0061] In S110, N attitude angles of the electrical equipment during a single movement are obtained, where N is a positive integer.

[0062] For example, the electrical equipment may specifically be a circuit breaker.

[0063] Normally, when a circuit breaker closes, the main contacts are in a closed state. However, in the event of a short circuit or severe overload, the circuit breaker's free trip mechanism will activate, causing the circuit breaker to open and thus disconnecting the faulty circuit to prevent the accident from becoming too serious.

[0064] Based on this, as an example, the circuit breaker can be equipped with a corresponding rotation sensing module, such as an accelerometer or gyroscope, to acquire the circuit breaker's motion angle in real time. Then, through corresponding hardware interfaces such as GPIO and I2C, and combined with a preset sampling rate, communication can be established with an external microcontroller unit (MCU) to enable an external fault monitoring platform to monitor the motion state of the circuit breaker each time it is opened, thereby realizing the acquisition of N attitude angles of the circuit breaker during a single motion.

[0065] Figure 2 A schematic diagram of a rotation sensing module assembled in a circuit breaker is shown.

[0066] like Figure 2As shown, the circuit breaker 10 includes a stationary contact 11 and a moving contact 12, which form a contact pair. The moving contact 12 can be mounted on a support member 13. The circuit breaker 10 also includes a rotating shaft 14, which can be connected to the support member 13 via a linkage mechanism 15. When the rotating shaft rotates, it can push the linkage mechanism 15 to drive the support member 13 to move, thereby driving the moving contact 12 to move. Specifically, when the circuit breaker 10 needs to close, the moving contact 12 moves towards the stationary contact 11, and the moving contact 12 closes with the stationary contact 11; when the circuit breaker 10 needs to open, the moving contact 12 moves away from the stationary contact 11, and the moving contact 12 separates from the stationary contact 11.

[0067] Throughout the process, the moving contact 12 of the circuit breaker 10 moves within a small range, and the rotation angle of the shaft 14 is generally small. For example, the rotation angle of the shaft 14 generally does not exceed 45°. However, the circuit breaker 10 needs to close or open in a short time. Therefore, it is necessary to ensure that the moving contact 12 moves at a relatively fast speed. The movement speed of the moving contact 12 is positively correlated with the rotation speed of the shaft 14.

[0068] In some implementations, to obtain more accurate and reliable attitude angle measurements, acquiring N attitude angles of the electrical device during a single movement may specifically include:

[0069] Obtain the first acceleration and first angular velocity of the electrical device at time i+1, where i is a positive integer;

[0070] Based on the first acceleration, determine the first angle of the electrical device;

[0071] Based on the first angle, the first angular velocity, and the attitude angle at time i, determine the attitude angle at time i+1.

[0072] For example, the first acceleration of the circuit breaker at time i+1 can be obtained by embedding an acceleration sensor on the circuit breaker's opening and closing plate and sampling it according to the corresponding sampling frequency; the first angular velocity of the circuit breaker at time i+1 can be obtained by embedding a gyroscope sensor on the circuit breaker's opening and closing plate.

[0073] Thus, based on the obtained first acceleration, the first angle of the circuit breaker's opening and closing plates at time i+1 can be calculated.

[0074] In some implementations, to obtain a more accurate first angle value, determining the first angle of the electrical device based on the first acceleration may specifically include:

[0075] Based on the first acceleration, the first angle of the electrical device is determined according to the following formula:

[0076]

[0077] Among them, A x A y A z The acceleration components of the first acceleration along the x-axis, y-axis, and z-axis are respectively θ. x θ y θ z These are the angular components of the first angle on the x-axis, y-axis, and z-axis, respectively.

[0078] Figure 3 A schematic diagram showing the spatial positions of the x-axis, y-axis, and z-axis is provided.

[0079] A x A y A z The directions of acceleration can be respectively as Figure 2 The directions of the x-axis, y-axis, and z-axis in the image. For example... Figure 3 As shown, the magnitude of the acceleration in the x-axis direction can be A. x Its angle with the horizontal line can be α1, and its angle with the gravitational acceleration can be α; the magnitude of the acceleration in the y-axis direction can be A. y Its angle with the horizontal line can be β1, and its angle with the gravitational acceleration can be β; the magnitude of the acceleration in the z-axis direction can be A. z The angle between it and the horizontal line can be γ1, and the angle between it and the gravitational acceleration can be γ.

[0080] After calculating the first angle of the circuit breaker at time i+1 based on the above acceleration, the attitude angle at time i+1 is determined by combining the first angular velocity and the attitude angle at time i.

[0081] It should be noted that in some other embodiments, other feasible calculation methods in the prior art can also be used to determine the angle value based on the acceleration, which will not be elaborated here.

[0082] In some implementations, to obtain an accurate attitude angle value, the attitude angle at time i+1 is determined based on the first angle, the first angular velocity, and the attitude angle at time i. This can include:

[0083] Based on the first angle, the first angular velocity, and the attitude angle at time i, the data is fused using Kalman filtering to obtain the second angular velocity of the electrical device at time i.

[0084] Based on a preset time interval, the second angular velocity is integrated to determine the first angular displacement of the electrical device.

[0085] The attitude angle at time i+1 is determined based on the first angular displacement and the attitude angle at time i.

[0086] The attitude angle at time i can be the historical attitude angle determined at the previous time corresponding to time i+1.

[0087] The aforementioned preset time interval can be the time interval between time i and time i+1, or it can be set based on actual experience.

[0088] It should be noted that in some other implementations, the attitude angle at time i+1 can also be determined based on the first angle, the first angular velocity, and the attitude angle at time i, with each having its own custom reference weight to achieve data fusion and calculation. This application does not impose any specific restrictions here.

[0089] In some embodiments, to ensure that the acquired attitude angle values ​​are attitude angles in the motion state of the electrical device, before acquiring N attitude angles of the electrical device in a single motion process, i.e. before step 110, the method may further include:

[0090] Obtain the attitude angles of the electrical equipment at time j and time j+1, where j is a positive integer;

[0091] When the attitude angle at time j+1 is not equal to the attitude angle at time j, it is determined that the electrical device is in motion at time j+1.

[0092] Thus, by comparing two consecutively acquired attitude angles, when the current attitude angle changes compared to the previous attitude angle, it is determined that the current electrical equipment is in motion.

[0093] S120, determine whether the electrical equipment is in an abnormal state based on at least one of the N attitude angles.

[0094] Specifically, after obtaining N attitude angles of the electrical equipment in a single movement state, it is determined whether the electrical equipment has an abnormal state during the single movement based on at least one of the N attitude angles.

[0095] In some implementations, in order to accurately detect abnormal states of electrical equipment, determining whether the electrical equipment is in an abnormal state based on at least one of N attitude angles may include:

[0096] Determine the maximum attitude angle among N attitude angles;

[0097] The maximum attitude angle is compared with the preset maximum attitude angle threshold to obtain the first comparison result;

[0098] When the first comparison result shows that the maximum attitude angle is greater than the preset maximum attitude angle threshold, the electrical equipment is determined to be in an abnormal state.

[0099] The preset maximum attitude angle threshold can be set based on practical experience and is used to characterize the upper limit of the attitude angle of electrical equipment under healthy working conditions. When the performance of the applied electrical equipment is different, or when the materials and parameters of the same type of electrical equipment are different, the preset maximum attitude angle threshold will also be adjusted accordingly.

[0100] Using a circuit breaker as an example, the maximum attitude angle is obtained through attitude movement. Different maximum attitude angles under each attitude movement correspond to different lifespans of the circuit breaker. The larger the angle, the shorter the lifespan, meaning the more severe the aging of the circuit breaker. When the lifespan is lower than the normal working lifespan, that is, when the maximum attitude angle value is greater than its corresponding aging fault angle threshold, an alarm is output.

[0101] In addition to the aging faults mentioned above, the maximum attitude angle can also be used to judge equipment abnormalities and reflect the failure of equipment components. For example, when the maximum attitude angle is greater than its corresponding failure angle threshold, that is, when the opening and closing angle is too large, it indicates that the equipment component has failed.

[0102] It should be noted that, generally speaking, the aging failure angle threshold of equipment and components can be used to characterize that although the electrical equipment can still work normally at that angle, it is already in an unhealthy working state; while the malfunction failure angle threshold can be used to characterize that the equipment can no longer work normally at that angle. Therefore, in reality, the malfunction failure angle threshold of equipment and components will be greater than its aging failure angle threshold.

[0103] In this embodiment, the preset maximum attitude angle threshold can be set as the aging fault angle threshold of the device, so that abnormal judgment can be made when the device has aging / failure faults.

[0104] Specifically, the motion trajectory of the electrical equipment during this movement can be determined by N attitude angles, and then the peak point / vertex in the motion trajectory can be determined based on the generated motion trajectory, thus obtaining the maximum attitude angle among the N attitude angles; alternatively, the size of the N attitude angles can be directly compared to determine the maximum value among the N attitude angles, which is the maximum attitude angle.

[0105] After determining the maximum attitude angle, it is compared with a preset maximum attitude angle threshold. If the first comparison result shows that the maximum attitude angle is less than the preset maximum attitude angle threshold, it indicates that the device is still in a healthy working state during this movement. If the first comparison result shows that the maximum attitude angle is greater than the preset maximum attitude angle threshold, it indicates that the device has encountered an abnormal situation during this movement. At this point, it can be determined that the device is in an abnormal state.

[0106] It should be noted that in some other embodiments, the above-mentioned determination that the device is in an abnormal state when the first comparison result is that the maximum attitude angle is greater than the preset maximum attitude angle threshold may also specifically include:

[0107] When the first comparison result is that the maximum attitude angle is greater than the preset maximum attitude angle threshold, and the difference between the maximum attitude angle and the preset maximum attitude angle threshold is within the first preset range, the electrical equipment is determined to be in an abnormal aging state.

[0108] When the first comparison result is that the maximum attitude angle is greater than the preset maximum attitude angle threshold, and the difference between the maximum attitude angle and the preset maximum attitude angle threshold is within the second preset range, the electrical equipment is determined to be in a malfunctioning abnormal state.

[0109] In some implementations, since the maximum attitude angle mentioned above is often an instantaneous value—for example, before the switch blade of a circuit breaker reaches a stable final attitude angle during automatic opening, it will generate a buffer angular displacement—the maximum attitude angle may not accurately reflect the actual operating state of the equipment. Therefore, determining whether the electrical equipment is in an abnormal state based on at least one of N attitude angles may further include:

[0110] Determine the final attitude angle of the electrical device at the end of the single motion process among N attitude angles;

[0111] The final attitude angle is compared with a preset final attitude angle threshold to obtain a second comparison result;

[0112] When the second comparison result shows that the final attitude angle is greater than the preset final attitude angle threshold, the electrical equipment is determined to be in an abnormal state.

[0113] The preset final attitude angle threshold can be set based on practical experience and is used to characterize the upper limit of the final attitude angle under healthy working conditions. When the performance of the applied electrical equipment is different, or when the materials and parameters of the same type of equipment are different, the preset final attitude angle threshold will also be adjusted accordingly.

[0114] This application does not impose specific restrictions on the method for determining the final attitude angle.

[0115] For example, the motion trajectory of the device during the motion process can be determined by N attitude angles, and then the attitude angle at the last moment in the motion trajectory can be determined by the average of the attitude angles at the last moment and the preset number of attitude angles before the last moment, thus obtaining the final attitude angle among the N attitude angles; or, based on the N attitude angles, the differences can be compared sequentially, and when the difference at a preset number of consecutive moments is less than a preset value, any moment can be selected from the preset number of consecutive moments, and the corresponding attitude angle can be the final attitude angle after stabilization.

[0116] After determining the maximum attitude angle, the final attitude angle is compared with a preset final attitude angle threshold. If the second comparison result shows that the final attitude angle is greater than the preset final attitude angle threshold, it indicates that the device has encountered an abnormal situation during this movement. At this point, it can be determined that the device is in an abnormal state. Conversely, if the second comparison result shows that the final attitude angle is less than the preset final attitude angle threshold, it indicates that the device is still in a healthy working state during this movement.

[0117] It should be noted that in some other embodiments, the above-mentioned determination that the electrical equipment is in an abnormal state when the second comparison result is that the final attitude angle is greater than the preset final attitude angle threshold may also specifically include:

[0118] When the second comparison result is that the final attitude angle is greater than the preset final attitude angle threshold and the difference between the final attitude angle and the preset final attitude angle threshold is within the third preset range, the electrical equipment is determined to be in an abnormal aging state.

[0119] When the second comparison result is that the final attitude angle is greater than the preset final attitude angle threshold, and the difference between the final attitude angle and the preset final attitude angle threshold is within the fourth preset range, the electrical equipment is determined to be in a malfunctioning abnormal state.

[0120] S130: When the electrical equipment is in an abnormal state, output the fault alarm information of the electrical equipment.

[0121] For example, when the electrical equipment is in an abnormal state, alarm information can be output in the form of fault alarms such as email, voice broadcast or SMS notification, so that relevant personnel can replace or repair the electrical equipment in a timely manner, thereby reducing the probability of accidents.

[0122] Based on the fault alarm method provided in the above embodiments, this application also provides a fault alarm device corresponding to the above fault alarm method, which will be described below. Figure 4 A detailed introduction to the fault alarm device is provided.

[0123] Figure 4A schematic diagram of the structure of a fault alarm device provided in another embodiment of this application is shown.

[0124] Figure 4 The fault alarm device 400 shown may include:

[0125] The first acquisition module 410 is used to acquire N attitude angles of the electrical equipment during a single movement, where N is a positive integer;

[0126] The first determining module 420 is used to determine whether the electrical equipment is in an abnormal state based on at least one of the N attitude angles.

[0127] The output module 430 is used to output fault alarm information of the electrical equipment when the electrical equipment is in an abnormal state.

[0128] The fault alarm device of this application embodiment can acquire multiple attitude angles of electrical equipment during a single movement through corresponding functional modules, and then detect whether the equipment is abnormal based on the attitude angles during the equipment's movement. Thus, the fault alarm device provided in this application embodiment, by real-time monitoring of the attitude angles of electrical equipment in each movement state, can control the health status of the electrical equipment, promptly alarm for equipment faults, and thereby reduce the probability of accidents.

[0129] In some embodiments, to ensure that the acquired attitude angle values ​​are attitude angles of the electrical device in motion, the device 400 may further include:

[0130] The second acquisition module can be used to acquire the attitude angle of the electrical device at time j and time j+1, where j is a positive integer;

[0131] The second determining module can be used to determine that the electrical device is in motion at time j+1 when the attitude angle at time j is not equal to the attitude angle at time j.

[0132] In some implementations, in order to accurately detect abnormal states of electrical equipment, the first determining module 420 may specifically include:

[0133] The first determining submodule can be used to determine the maximum attitude angle among N attitude angles;

[0134] The first comparison submodule can be used to compare the maximum attitude angle with a preset maximum attitude angle threshold to obtain a first comparison result;

[0135] The first determination submodule can be used to determine that the electrical device is in an abnormal state when the first comparison result is that the maximum attitude angle is greater than the preset maximum attitude angle threshold.

[0136] In some implementations, in order to more accurately detect abnormal states of the device, the first determining module 420 may further include:

[0137] The second determining submodule can be used to determine the final attitude angle of the electrical device at the end of the single motion process among N attitude angles;

[0138] The second comparison submodule can be used to compare the final attitude angle with a preset final attitude angle threshold to obtain a second comparison result.

[0139] The second determination submodule can be used to determine that the electrical equipment is in an abnormal state when the second comparison result is that the final attitude angle is greater than the preset final attitude angle threshold.

[0140] In some implementations, to obtain more accurate and reliable attitude angle measurements, the first acquisition module 410 may specifically include:

[0141] The first acquisition submodule can be used to acquire the first acceleration and first angular velocity of the electrical device at time i+1, where i is a positive integer;

[0142] The third determining submodule can be used to determine the first angle of the electrical device based on the first acceleration;

[0143] The fourth determination submodule can be used to determine the attitude angle at time i+1 based on the first angle, the first angular velocity, and the attitude angle at time i.

[0144] In some implementations, to obtain a more accurate first angle value, a third determining submodule may specifically include:

[0145] Based on the first acceleration, according to

[0146]

[0147] Determine the first angle of the electrical device, where A x A y A z The acceleration components of the first acceleration along the x-axis, y-axis, and z-axis are respectively θ. x θ y θ z These are the angular components of the first angle on the x-axis, y-axis, and z-axis, respectively.

[0148] In some implementations, to obtain accurate attitude angle values, the fourth determining submodule may specifically include:

[0149] The data fusion unit can be used to perform data fusion based on the first angle, the first angular velocity, and the attitude rotation angle at time i, and determine the second angular velocity of the electrical device at time i by Kalman filtering.

[0150] The integrator unit can be used to integrate the second angular velocity based on a preset time interval to determine the first angular displacement of the electrical device.

[0151] The determining unit can be used to determine the attitude angle at time i+1 based on the first angular displacement and the attitude angle at time i.

[0152] Figure 5 This is a schematic diagram of the structure of a fault alarm device provided in another embodiment of this application.

[0153] The fault alarm device may include a processor 501 and a memory 502 storing computer program instructions.

[0154] Specifically, the processor 501 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0155] Memory 502 may include mass storage for data or instructions. For example, and not limitingly, memory 502 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 502 may include removable or non-removable (or fixed) media. Where appropriate, memory 502 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 502 is non-volatile solid-state memory.

[0156] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the methods according to one aspect of this disclosure.

[0157] The processor 501 reads and executes computer program instructions stored in the memory 502 to implement any of the fault alarm methods in the above embodiments.

[0158] In one example, the fault alarm device may also include a communication interface 503 and a bus 510. For example, Figure 5 As shown, the processor 501, memory 502, and communication interface 503 are connected through bus 510 and complete communication with each other.

[0159] The communication interface 503 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0160] Bus 510 includes hardware, software, or both, that couples components of a fault alarm device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 510 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0161] The fault alarm device can obtain first and second transaction information from the first external data based on the database, and execute the fault alarm method in the embodiments of this application, thereby achieving a combination of... Figure 1 The described fault alarm method.

[0162] Furthermore, in conjunction with the fault alarm methods in the above embodiments, this application embodiment can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the fault alarm methods in the above embodiments.

[0163] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0164] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0165] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0166] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0167] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A failure alarm method characterized by comprising: The method is applied to an electric appliance, and comprises: obtaining N posture angles of the electric appliance in a single motion process, N being a positive integer; determining whether the electric appliance is in an abnormal state according to at least one of the N posture angles; outputting fault alarm information of the electric appliance when the electric appliance is in the abnormal state; the obtaining of the N posture angles of the electric appliance in the single motion process comprises: obtaining a first acceleration and a first angular velocity of the electric appliance at an i+1 moment, i being a positive integer; determining a first angle of the electric appliance based on the first acceleration; determining a posture angle at the i+1 moment based on the first angle, the first angular velocity and a posture angle at an i moment; the determining of the first angle of the electric appliance based on the first acceleration comprises: determining the first angle of the electric appliance according to determining a first angle of the electrical appliance, wherein the A x , A y , A z are acceleration components of the first acceleration on x-axis, y-axis, and z-axis respectively; and x , θ y , θ z are angle components of the first angle on x-axis, y-axis, and z-axis respectively. the determining of the posture angle at the i+1 moment based on the first angle, the first angular velocity and the posture angle at the i moment comprises: performing data fusion according to Kalman filtering based on the first angle, the first angular velocity and the posture angle at the i moment to determine a second angular velocity of the electric appliance at the i moment; integrating the second angular velocity based on a preset time interval to determine a first angular displacement of the electric appliance; determining the posture angle at the i+1 moment according to the first angular displacement and the posture angle at the i moment.

2. The method of claim 1, wherein, the determining of whether the electric appliance is in the abnormal state according to at least one of the N posture angles comprises: determining a maximum posture angle of the N posture angles; comparing the maximum posture angle with a preset maximum posture angle threshold to obtain a first comparison result; determining that the electric appliance is in the abnormal state when the first comparison result is that the maximum posture angle is greater than the preset maximum posture angle threshold.

3. The method of claim 1, wherein, the determining of whether the electric appliance is in the abnormal state according to at least one of the N posture angles comprises: determining a final posture angle of the electric appliance at an end moment of the single motion process among the N posture angles; comparing the final posture angle with a preset final posture angle threshold to obtain a second comparison result; determining that the electric appliance is in the abnormal state when the second comparison result is that the final posture angle is greater than the preset final posture angle threshold.

4. The method of claim 1, wherein, before the obtaining of the N posture angles of the electric appliance in the single motion process, the method further comprises: obtaining posture angles of the electric appliance at a j moment and at a j+1 moment, j being a positive integer; determining that the electric appliance is in a motion state at the j+1 moment when the posture angle at the j+1 moment is not equal to the posture angle at the j moment.

5. A fault alerting device, characterized by the device comprises: an obtaining module configured to obtain N posture angles of an electric appliance in a single motion process, N being a positive integer; The determining module is configured to determine whether the electrical appliance is in an abnormal state according to at least one of the N attitude angles; The output module is configured to output fault alarm information of the electrical appliance when the electrical appliance is in the abnormal state; The N attitude angles of the electrical appliance in a single motion process are obtained, including: The first acceleration and the first angular velocity of the electrical appliance at the i+1 moment are obtained, i being a positive integer; The first angle of the electrical appliance is determined based on the first acceleration; The attitude angle at the i+1 moment is determined based on the first angle, the first angular velocity, and the attitude angle at the i moment; The first angle of the electrical appliance is determined based on the first acceleration, including: The first angle of the electrical appliance is determined based on the first acceleration according to determining a first angle of the electrical appliance, wherein the A x , A y , A z are acceleration components of the first acceleration on x-axis, y-axis, and z-axis respectively; and x , θ y , θ z are angle components of the first angle on x-axis, y-axis, and z-axis respectively. The attitude angle at the i+1 moment is determined based on the first angle, the first angular velocity, and the attitude angle at the i moment, including: The second angular velocity of the electrical appliance at the i moment is determined by data fusion according to Kalman filtering based on the first angle, the first angular velocity, and the attitude angle at the i moment; The first angular displacement of the electrical appliance is determined by integrating the second angular velocity based on a preset time interval; The attitude angle at the i+1 moment is determined according to the first angular displacement and the attitude angle at the i moment.

6. A fault alerting device, characterized by The electrical appliance includes a processor and a memory storing computer program instructions; The processor executes the computer program instructions to implement the fault alarm method of any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer program instructions are stored on the computer readable storage medium, and the computer program instructions are executed by the processor to implement the fault alarm method of any one of claims 1-4.

8. A computer program product, characterised in that, The instructions in the computer program product are executed by the processor of the electronic device, so that the electronic device executes the fault alarm method of any one of claims 1-4.

Images