A power winch early warning method and system based on radar detection

Abstract

The application relates to the technical field of winch early warning, and particularly discloses a power winch early warning method and system based on radar detection, which calculates the comprehensive operation abnormal value of the winch, then carries out fault early warning judgment, realizes winch fault early warning prompt, and detects obstacle information around the power winch through a laser detector in a winch capstan area protection system; when the laser detector monitors that foreign matters enter the protection area, the winch is protected and a safety early warning prompt is given; the application can reduce the false alarm phenomenon of the early warning system, can identify the factors causing the power winch to give an early warning in advance, can help reduce the accident rate of the power winch, can protect and give an alarm early warning on the safety of the monitoring areas in front of and behind the winch, and can eliminate the hidden safety hazards.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of winch early warning, in particular to a power winch early warning method and system based on radar detection. BACKGROUND

[0002] At present, the power winch is applied to many technical fields such as agricultural technology, industrial safety and construction, and how to improve the work efficiency in the related fields while protecting the safety of the relevant staff has become one of the problems to be solved at present. As an important part of the operation of the power winch, if the power winch is not monitored and warned in time, the possibility of accidents will be increased, and the safety of the relevant staff will also be threatened. Therefore, it is necessary to accurately judge the early warning information of the power winch so as to identify the factors causing the power winch to cause early warning in advance and then take measures for repair in time.

[0003] For example, the patent application with the publication number CN109231044A discloses a self-propelled winch skidding machine and a skidding method thereof. The self-propelled winch skidding machine mainly comprises a main machine, a rear reduction box assembly and two groups of cable winch assemblies. The rear reduction box assembly is arranged at the rear of the main machine, and one group of cable winch assemblies is arranged on the two sides of the rear reduction box assembly. The cable winch assembly is composed of a drum winch mechanism and a drum clutch control mechanism. The skidding method is to first anchor the self-propelled winch skidding machine through a taut cable, then set a guide pulley according to the terrain, pass the cable pulled out of the drum through the guide pulley, hook the hook on the cable to the wood, rotate the drum of the skidding machine to pull the wood to the skidding point, and then pull the hook back to the skidding area through the empty cable for the next round of skidding operation after the wood is unloaded.

[0004] The above-mentioned technology at least has the following technical problems: according to the set self-propelled winch skidding machine, the mechanization level of forest skidding operation can be fundamentally improved, the labor intensity of personnel can be reduced, and the skidding efficiency can be improved, but the overall operation of the machine is relatively lacking in analysis, and the operation information of the winch in the machine is not comprehensive enough, so that there is a great error in the final identification and analysis result, the early warning function of the machine may appear false alarm, which not only brings unnecessary interference to the relevant staff, but also negatively affects the overall work efficiency of the machine. At the same time, the winch cannot protect and alarm the safety of the monitoring area in front and behind the winch during work, which has a safety hazard. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides a power winch early warning method and system based on radar detection, which can effectively solve the problems involved in the background art.

[0006] To achieve the above object, the present application is realized by the following technical solutions: the present application provides a power winch early warning method based on radar detection, comprising: obtaining a operation abnormality early warning trigger value of the winch; detecting and analyzing the mechanical transmission layer of the winch and the energy consumption layer of the winch, and calculating a comprehensive operation abnormality value of the winch; judging the fault early warning according to the comprehensive operation abnormality value of the winch, if the comprehensive operation abnormality value of the winch is higher than the set operation abnormality early warning trigger value of the winch, the winch is prompted for fault early warning; the laser detector in the winch capstan area protection system detects the obstacle information around the winch, when the laser detector detects that a foreign matter enters the protection area, the winch is prompted for protection safety early warning.

[0007] According to some embodiments of the present disclosure, the operation abnormality early warning trigger value of the winch is obtained, specifically including: constructing a loss model of the winch, and comprehensively calculating loss characteristic values of the winch; matching the loss characteristic values of the winch with the operation abnormality early warning trigger values corresponding to the set loss characteristic value intervals, to obtain the operation abnormality early warning trigger value of the winch.

[0008] According to some embodiments of the present disclosure, the tire abnormality influence coefficient of the winch is specifically calculated by the following method: the tires of the winch are counted, the set detection period is divided into detection time points, sampling points are arranged on the tires of the winch, the tire pressure values and load values of the sampling points corresponding to the tires of the winch at the detection time points are obtained, the adaptive tire pressure corresponding to the tires of the winch is extracted from the detection database, the tire pressure evaluation values corresponding to the tires of the winch and the load evaluation values corresponding to the tires of the winch are calculated, the running temperature values of the sampling points corresponding to the tires of the winch at the detection time points are obtained, the running permission temperature corresponding to the tires of the winch is extracted from the detection database, and the temperature evaluation values corresponding to the tires of the winch are calculated; a tire abnormality influence coefficient model of the winch is constructed according to the tire pressure evaluation values corresponding to the tires of the winch, the load evaluation values corresponding to the tires of the winch, and the temperature evaluation values corresponding to the tires of the winch.

[0009] According to some embodiments of the present disclosure, the protection safety early warning prompt of the winch is specifically analyzed by the following process: target information of the obstacles is obtained, the target information including the number of early warning targets; the distance and angle values between the winch and each early warning target are obtained according to the number of early warning targets of the winch; the protection early warning degree values corresponding to each early warning target are calculated according to the target information, the protection early warning degree values corresponding to each early warning target of the winch are compared with the set protection early warning degree threshold value, if the protection early warning degree value corresponding to a certain early warning target is higher than the set protection early warning degree threshold value, the winch is prompted for protection safety early warning.

[0010] According to another aspect of the present disclosure, a radar detection-based power winch early warning system is also provided, comprising: a data acquisition module configured to acquire an operation abnormality early warning trigger value of the winch; a comprehensive calculation module configured to detect and analyze a mechanical transmission layer of the winch and an energy consumption layer of the winch, and calculate a comprehensive operation abnormality value of the winch; a fault early warning module configured to make a warning judgment according to the comprehensive operation abnormality value of the winch, and if the comprehensive operation abnormality value of the winch is higher than the set operation abnormality early warning trigger value of the winch, the winch is prompted for fault early warning; and a protection safety early warning module configured to detect obstacle information around the winch through a laser detector in a winch capstan area protection system, and if the laser detector detects that a foreign matter enters the protection area, the winch is prompted for protection safety early warning.

[0011] Compared with the prior art, the embodiments of the present application have at least the following advantages or beneficial effects:

[0012] (1) The present application provides a radar detection-based power winch early warning method and system, which sequentially detects and analyzes the mechanical transmission layer, energy consumption layer and historical operation information of the winch, provides more scientific and reliable data basis for subsequent early warning of the winch, helps to screen out abnormal conditions of the power winch, and at the same time perceives the protection area of the winch and provides early warning and protection prompts for the winch, so as to protect the life safety of the driver and the relevant staff in the surrounding area.

[0013] (2) The present application detects and analyzes the mechanical transmission layer of the winch, and evaluates the mechanical transmission abnormality index of the winch, respectively evaluates the tire, winch blade and terrain information of the winch, provides more accurate data basis for subsequent evaluation of the mechanical transmission abnormality index of the winch, can analyze the mechanical transmission layer of the winch in detail, and provides high convenience for implementing corresponding control measures for the operation condition of the mechanical transmission layer.

[0014] (3) The present application extracts and analyzes the historical operation information of the winch, and evaluates the loss characteristic value of the winch, evaluates the number of sudden accelerations, the number of sudden brake times and the average speed of each historical driving in the historical operation information, so that the loss characteristic value of the winch is evaluated in more detail, which helps to improve the accuracy of the operation abnormality early warning trigger value of the winch, and to a certain extent, can reduce the possibility of accidents.

[0015] (4) The present application comprehensively analyzes the abnormal values of the comprehensive operation of the winch, and performs early warning prompt, comprehensively analyzes the mechanical transmission abnormal index and the energy consumption abnormal index of the winch, is beneficial to provide data support for subsequent early warning prompt, can not only reduce the false alarm phenomenon of the early warning system, but also can identify the factors causing the power winch to cause early warning in advance, and is helpful to reduce the accident rate of the power winch. BRIEF DESCRIPTION OF DRAWINGS

[0016] The present application will be further described with the help of the accompanying drawings, but the embodiments in the drawings do not constitute any limitation on the present application. For ordinary skilled in the art, other drawings can be obtained without creative labor on the basis of the following drawings.

[0017] Figure 1 The present application is a method flowchart.

[0018] Figure 2 The present application is a system connection diagram. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0020] Referring to Figure 1 The present application provides a power winch early warning method based on radar detection, which comprises the following steps: S1. Setting a detection period, detecting and analyzing the mechanical transmission layer of the winch, and evaluating the mechanical transmission abnormal index of the winch.

[0021] Specifically, the detection and analysis of the mechanical transmission layer of the winch is as follows:

[0022] The tires of the winch are counted, the set detection period is divided into each detection time point, the sampling points of each tire of the winch are arranged, and the tire pressure values and load values of each sampling point of each tire of the winch at each detection time point are obtained . Wherein i represents the number of each tire, m represents the number of tires, j represents the number of each sampling point, n represents the number of sampling points, and p represents the number of each detection time point, q represents the number of detection time points.

[0023] It needs to be explained that the above-mentioned acquisition of the tire pressure value and the load value of each sampling point of each tire of the winch at each detection time point is obtained by using a pressure sensor and a load sensor, respectively.

[0024] Extracting the corresponding adaptive tire pressure of each tire of the winch from the detection database Calculating the tire pressure evaluation value of each tire of the winch The calculation formula is: Wherein represents the evaluation factor corresponding to the preset tire pressure value.

[0025] It needs to be explained that the above-mentioned tire pressure evaluation value of each tire of the winch, the tire hardens and the grip decreases, and the machine control may be poor, and the tire deforms and the grip decreases, and the machine stability may be reduced, which may increase the risk of sliding and tilting of the electric winch on the road, and the central tire wear is aggravated by the tire pressure that is too high, and the tire wear is aggravated by the tire pressure that is too low, and the tire wear is serious, which may affect the operation and safety performance of the electric winch, therefore, the tire pressure of the winch tire needs to be analyzed in order to ensure the stable operation of the electric winch.

[0026] According to the expression:

[0027] The load evaluation value of each tire of the winch is obtained , wherein represents the corresponding adaptive load of each tire of the winch defined in the detection database, represents the evaluation factor corresponding to the preset load value.

[0028] It needs to be explained that the above-mentioned load evaluation value of each tire of the winch, the tire tread contact area is reduced and the grip is weakened, which may affect the control of the electric winch, and the tire deforms and the contact area is reduced, which may affect the stability of the electric winch, which may increase the risk of sliding and tilting of the electric winch on the road, and the tire wear is aggravated by the tire load that is too large or too small, which may affect the accuracy of the early warning system, therefore, the appropriate tire load needs to be selected in order to ensure the normal work of the early warning system and the safe operation of the electric winch.

[0029] Acquiring the running temperature value of each sampling point of each tire of the winch at each detection time point At the same time, the corresponding running permission temperature of each tire of the winch is extracted from the detection database .

[0030] It needs to be explained that the above-mentioned running temperature value of each tire of the winch at each sampling point at each detection time point is obtained by a temperature sensor.

[0031] Calculate the temperature evaluation value of each tire of the winch The calculation formula is: , wherein represents the correction factor corresponding to the predefined temperature, and e represents the natural constant.

[0032] It needs to be explained that the above-mentioned temperature evaluation value of each tire of the winch, the tire temperature is too high, which may cause the tread to harden and deform, thereby changing the shape and ground contact condition of the tire, and also causing the internal structure of the tire to be damaged, increasing the risk of tire rupture, which will have a serious impact on the stability and safety of the electric winch, and reduce its grip performance and durability, therefore, the temperature of the tire needs to be analyzed to ensure the stable operation of the electric winch.

[0033] Comprehensive calculation of the abnormal influence coefficient of the tire of the winch The calculation formula is: , wherein , and respectively represent the weight factor corresponding to the predefined tire pressure evaluation value, load evaluation value and temperature evaluation value.

[0034] Statistical analysis of each winch blade of the winch, and the abnormal influence coefficient of the winch blade of the winch is obtained by analysis.

[0035] It needs to be explained that the above-mentioned statistical analysis of each winch blade of the winch, wherein the winch blade refers to the blade used for winching and removing trees and other vegetation, which is usually made of solid metal and has a sharp cutting edge, which can effectively break and cut vegetation, and the electric winch is usually equipped with multiple winch blades, which are arranged in a ring or fan shape.

[0036] Further, the abnormal influence coefficient of the winch blade of the winch, the specific analysis process is:

[0037] Obtain the number of rotations and the number of vibrations of each winch blade of the winch within a set detection period, wherein v represents the number of each winch blade, , and w represents the number of winch blades.

[0038] Calculate the running characteristic evaluation value of each winch blade of the winch The calculation formula is: , wherein and respectively represent the reference rotational speed and the permitted vibration frequency of the winch blade in the detection database, represents the length of the detection period, and respectively represent the correction factors corresponding to the predefined rotational speed and vibration frequency.

[0039] It needs to be explained that the above-mentioned running characteristic evaluation value of each winch blade of the winch, the excessively high rotational speed and vibration frequency may cause the instability of the winch to increase, affect the handling performance of the vehicle, and the winch blade rotating at high speed and vibrating frequently will produce high-frequency noise, which will interfere with the attention and reaction ability of the driver, thereby reducing the awareness and response ability to the early warning information, and further increasing the false alarm possibility of the early warning system, so it is necessary to analyze the rotational speed and vibration frequency of the winch blade in order to more accurately evaluate the early warning system of the electric winch.

[0040] Obtain the torque value of each winch blade of the winch at each detection time point At the same time, extract the blade radius of each winch blade of the winch from the detection database .

[0041] It needs to be explained that the above-mentioned torque value of each winch blade of the winch at each detection time point is obtained by using a torque sensor.

[0042] Calculate the load evaluation value of each winch blade of the winch The calculation formula is: , wherein represents the reference load of the winch blade in the detection database, represents the correction factor corresponding to the predefined load of the winch blade.

[0043] It needs to be explained that the above-mentioned load evaluation value of each winch blade of the winch, the winch blade load is too large to increase the wear and stress of the blade, increase the risk of blade fracture, and the instability of the winch increases, while the load that is too small may cause the blade to not generate enough power during the vegetation winching process, reduce the winching effect, and cause the blade to break or fly out, which poses a threat to the surrounding environment and personnel, therefore it is necessary to analyze the load value of the winch blade, which helps to provide more accurate data basis for subsequent analysis of the early warning prompt of the electric winch, and ensures the stable operation of the electric winch.

[0044] It further needs to be explained that the above-mentioned reference load of the winch blade of the winch, wherein the load refers to the force applied to the winch blade for cutting and winching vegetation, a common calculation method is to divide the torque by the blade radius, this calculation formula can analyze the size of the force borne by the winch blade.

[0045] Comprehensive calculation of the abnormal influence coefficient of the winch blade of the winch The calculation formula is: In the formula, and respectively represent the preset weight values corresponding to the operation characteristic evaluation value and the load evaluation value.

[0046] Deploy the fixed detection position point of the winch, and obtain the vertical height of the fixed detection position point of the winch from the ground at each detection time point Meanwhile, the ground information of the winch in the set detection period is obtained, wherein the ground information includes the distance traveled and the number of obstacles .

[0047] It needs to be explained that the above deployment of the fixed detection position point of the winch, and the vertical height of the fixed detection position point of the winch from the ground at each detection time point, the specific detection process is as follows: install a radar sensor on the electric winch, fixed on the upper part of the vehicle, that is, the fixed position point of the winch, emit a radar signal through the radar sensor, emit a beam of electromagnetic wave, and record the time of emission, at the same time, the radar sensor will receive the reflected signal, these signals are returned after reflecting on the ground, the radar sensor records the time of receiving the reflected signal, by calculating the time difference between the emission and reception signals, the time of signal round trip can be determined, according to the speed of light and the time difference, the propagation distance of the signal can be calculated, and the propagation distance of the signal is converted into the vertical height value, which is recorded as the vertical height of the fixed position point of the winch from the ground at each detection time point.

[0048] Further need to explain is that the above ground information of the winch in the set detection period is obtained, the specific acquisition process is as follows: by analyzing the reflected signal received by the radar sensor, the existence of obstacles can be detected, because the obstacles usually cause the reflection intensity of the signal to change, thereby the number of obstacles is counted, and at the same time, according to the measured distance and the scanning range of the radar sensor, the ground is divided into small blocks, and the area of each small block is calculated, then the areas of all small blocks are added to obtain the total area, thereby obtaining the ground area of the winch in the set detection period.

[0049] Calculate the ground influence degree coefficient of the winch The calculation formula is: Wherein, represents the vertical height reference adaptation value of the winch stored in the detection database, represents the reference obstacle frequency of the winch in the detection database, and respectively represent the influence factor corresponding to the predefined unit vertical height deviation value and the correction factor corresponding to the obstacle frequency.

[0050] It needs to be explained that the ground impact degree coefficient of the above winch, if the ground height is uneven or there are large obstacles, the vehicle may produce bumping or shaking, increase the operation difficulty and safety risk of the driver, at the same time, the winch blade may be subjected to additional impact and wear, resulting in shortened service life, the need to replace the blade more frequently, increase the maintenance cost, and pose a threat to the surrounding environment and personnel, therefore, it is necessary to analyze the influence of ground information on the electric winch to ensure the stable operation of the machine.

[0051] Specifically, the mechanical transmission abnormality index of the winch is specifically calculated by the following formula: , wherein represents the mechanical transmission abnormality index of the winch, , and respectively represent the weight factors corresponding to the preset tire abnormality influence coefficient, the winch blade abnormality influence coefficient and the ground impact degree coefficient.

[0052] In one specific embodiment, the present application analyzes the mechanical transmission layer of the winch by detecting and evaluating the mechanical transmission abnormality index of the winch, and evaluates the tire, winch blade and terrain information of the winch, respectively, to provide more accurate data basis for subsequent evaluation of the mechanical transmission abnormality index of the winch, which can analyze the mechanical transmission layer of the winch in detail, and provides higher convenience for implementing corresponding control measures for the running condition of the mechanical transmission layer.

[0053] S2. Detecting and analyzing the energy consumption layer of the winch, and evaluating the energy consumption abnormality index of the winch.

[0054] Specifically, the detection and analysis of the energy consumption layer of the winch is specifically analyzed by the following process:

[0055] According to the set detection period , the total discharge amount of the battery of the winch in the set detection period is obtained , and the reference battery discharge rate of the winch stored in the detection database is extracted .

[0056] It needs to be explained that the total discharge amount of the battery of the winch in the set detection period is obtained by using the intelligent battery monitoring device.

[0057] It further needs to be explained that the reference battery discharge rate stored in the detection database is extracted, wherein the battery discharge rate refers to the discharge rate of the battery from the full charge state to the empty charge state, which represents the electric energy released by the battery per unit time.

[0058] The battery influence coefficient of the winch is calculated , and the calculation formula is: , wherein represents the correction factor corresponding to the preset battery discharge rate.

[0059] It needs to be explained that the above-mentioned battery influence coefficient of the winch, if the battery discharge rate is too large, the early warning system may predict that the battery will be depleted in advance, thereby reminding the user to replace the battery or take corresponding measures, at the same time, the electric winch will suddenly stop working before the early warning alarm, resulting in power supply interruption, on the contrary, if the battery discharge rate is too small, the early warning system may delay the prediction and alarm of the battery life problem, which may affect the work progress and efficiency, therefore, it is necessary to analyze the battery discharge condition of the electric winch, so as to ensure the accuracy and reliability of the early warning system of the electric winch, and ensure the normal work of the electric winch.

[0060] The initial oil level and the terminal oil level of the hydraulic oil of the winch in the set detection period are positioned, and the corresponding consumption oil level height of the hydraulic oil of the winch is obtained through numerical processing .

[0061] It needs to be explained that the above-mentioned initial oil level and terminal oil level of the hydraulic oil of the winch in the set detection period are positioned, and the specific analysis process is as follows: a radar sensor suitable for liquid measurement is installed in the hydraulic oil tank of the electric winch, the radar sensor sends wireless signal, and receives the echo of the signal in the set detection period, after the time delay of receiving the echo, it is converted into the oil level height of the hydraulic oil, so as to obtain the initial oil level and the terminal oil level of the hydraulic oil of the winch in the set detection period.

[0062] The hydraulic oil flow influence coefficient of the winch is calculated , and the calculation formula is: , wherein represents the set reference substantial flow value of the hydraulic oil consumption unit height, represents the hydraulic oil flow reference consumption rate of the winch in the detection database, represents the correction factor corresponding to the preset hydraulic oil flow consumption rate.

[0063] It needs to be explained that the hydraulic oil flow influence coefficient of the above winch, if the hydraulic oil flow consumption rate is too large, the hydraulic system may run out of hydraulic oil before the early warning system alarm, causing the hydraulic system of the electric winch to malfunction, causing work interruption, which will affect its work progress and efficiency, if the hydraulic oil flow consumption rate is too small, the early warning system may not be able to timely discover the lack of hydraulic oil, delay the prediction and alarm of the hydraulic oil consumption problem, therefore, the hydraulic oil flow consumption rate needs to be properly monitored and controlled, in order to timely discover the hydraulic oil consumption anomaly, and take corresponding measures, thereby guaranteeing the normal operation of the electric winch.

[0064] Further, the energy consumption anomaly index of the winch, the specific calculation formula is: , wherein represents the energy consumption anomaly index of the winch, and respectively represent the weight factors corresponding to the preset battery influence coefficient and the hydraulic oil flow influence coefficient.

[0065] S3. Extract the historical operation information of the winch for analysis, thereby evaluating the wear characteristic value of the winch.

[0066] Specifically, the wear characteristic value of the winch, the specific analysis process is:

[0067] According to the historical operation information of the winch, wherein the historical operation information includes the number of sudden accelerations , the number of sudden stops and the average speed of each historical driving , wherein A represents the number of each historical driving, , G represents the total number of historical driving.

[0068] Calculate the acute driving influence coefficient of the winch , the calculation formula is: , wherein and respectively represent the number of sudden accelerations and sudden stops of the winch in the detection database, and respectively represent the correction factors corresponding to the predefined number of sudden accelerations and sudden stops.

[0069] It needs to be explained that the acute driving influence coefficient of the winch above, if the number of sudden accelerations and the number of sudden brakes is large, the early warning system may misinterpret these actions as emergency situations or abnormal operations, leading to false alarms, which will reduce the trust of the driver on the early warning system, at the same time, frequent sudden acceleration and sudden brake not only increases the load of mechanical and electrical parts of the electric winch, but also increases the possibility of accidents such as vehicle out of control and equipment damage, therefore, it is necessary to analyze the number of sudden accelerations and the number of sudden brakes of the electric winch to ensure the accuracy and reliability of the early warning system of the electric winch, and to ensure the safety and normal operation of the electric winch.

[0070] Calculate the driving speed influence coefficient of the winch , the calculation formula is: , wherein represents the reference driving average speed of the winch in the detection database, represents the correction factor corresponding to the predefined driving average speed.

[0071] It needs to be explained that the driving speed influence coefficient of the winch above, if the historical driving average speed is low, the early warning system may consider that the electric winch is in a low load or stagnant state, thereby reducing the triggering of the alarm, and ignoring some potential problems that need timely alarm, increasing the risk of the electric winch operation, therefore, analyzing the change of the historical driving average speed of the electric winch makes the early warning system can adjust its sensitivity to better adapt to the use demand of the electric winch under different working conditions and environments.

[0072] Synthetically calculate the loss characteristic value of the winch , the specific calculation formula is: , wherein and represent the weight values corresponding to the predefined acute driving influence coefficient and driving speed influence coefficient.

[0073] In a specific embodiment, the present application analyzes the historical operation information of the winch by extracting the historical operation information, and evaluates the loss characteristic value of the winch, evaluates the number of sudden accelerations, the number of sudden brakes and the historical driving average speed of each time in the historical operation information, so that the loss characteristic value of the winch gets more detailed parameter evaluation results, and helps to improve the accuracy of the subsequent matching of the operation abnormality early warning trigger value of the winch, and to a certain extent, can reduce the possibility of accidents.

[0074] S4. Early warning prompt for the winch.

[0075] Specifically, the early warning prompt for the winch, the specific analysis process is:

[0076] According to the mechanical transmission abnormality index of the winch and an energy consumption anomaly index , calculate the comprehensive operation anomaly value of the winch , the calculation formula is: , wherein and respectively represent the preset mechanical transmission anomaly index and the corresponding weight factor of the energy consumption anomaly index.

[0077] The wear characteristic value of the winch is matched with the operation anomaly early warning trigger value corresponding to the set wear characteristic value interval, to obtain the operation anomaly early warning trigger value of the winch.

[0078] If the comprehensive operation anomaly value of the winch is higher than the set operation anomaly early warning trigger value of the winch, the winch is prompted.

[0079] The protection area of the winch is perceived, the number of early warning targets of the winch is counted, and the protection early warning degree value corresponding to each early warning target of the winch is analyzed, thereby prompting the winch for early warning protection.

[0080] It needs to be explained that the above-mentioned perception of the protection area of the winch uses a laser detector, which detects the obstacle information around the winch through the laser detector in the winch capstan area protection system. When the laser detector detects that a foreign object enters the protection area, the winch is prompted for protection and safety early warning.

[0081] Further, the above-mentioned prompting the winch for early warning protection has the following specific analysis process:

[0082] Obtain the target information of the obstacle, wherein the target information includes the number of early warning targets, and according to the number of early warning targets of the winch, the distance between the winch and each early warning target and the angle value , wherein g represents the number of each early warning target, , and r represents the number of early warning targets.

[0083] It needs to be explained that the above-mentioned acquisition of the distance and angle value between the winch and each early warning target has the following specific process: the reflected light is generated by monitoring the laser irradiation to the surface of the early warning target, and then the distance of the measured early warning target is calculated according to the time difference between the emitted light and the reflected light. The angle value is the distribution of the measuring points in the surrounding space measured by the laser detector at the same time of laser ranging, thereby obtaining the angle between the power winch and the early warning target.

[0084] Calculate the protection early warning degree value corresponding to each early warning target of the winch , the calculation formula is: , wherein and respectively represent the distance and angle limit values corresponding to each early warning target in the detection database, and respectively represent the correction factors corresponding to the preset distance and angle values.

[0085] The protection early warning degree value corresponding to each early warning target of the winch is compared with the set protection early warning degree threshold value, and if the protection early warning degree value corresponding to a certain early warning target is higher than the set protection early warning degree threshold value, the winch is warned and protected.

[0086] In a specific embodiment, the present application analyzes the comprehensive operation abnormal value of the winch and provides a warning prompt, and the mechanical transmission abnormal index and the energy consumption abnormal index of the winch are comprehensively analyzed, which is beneficial to provide data support for subsequent warning prompt, not only can reduce the false alarm phenomenon of the warning system, but also can identify the factors that cause the power winch to trigger the warning in advance, and is helpful to reduce the accident rate of the power winch.

[0087] Referring to Figure 2 , the second aspect of the present application provides a power winch warning system based on radar detection, which comprises a data acquisition module, a comprehensive calculation module, a fault warning module and a protection safety warning module.

[0088] The data acquisition module and the comprehensive calculation module are connected with the fault warning module, and the data acquisition module and the comprehensive calculation module are connected with the detection database, and the detection database is connected with the protection safety warning module.

[0089] The data acquisition module is used to acquire the operation abnormal early warning trigger value of the winch.

[0090] The comprehensive calculation module is used to detect and analyze the mechanical transmission layer of the winch and the energy consumption layer of the winch, and calculate the comprehensive operation abnormal value of the winch.

[0091] The fault warning module is used to make a warning judgment according to the comprehensive operation abnormal value of the winch, and if the comprehensive operation abnormal value of the winch is higher than the set operation abnormal early warning trigger value of the winch, the winch is warned and protected.

[0092] The protection safety warning module is used to detect the obstacle information around the winch through the laser detector in the winch capstan area protection system, and when the laser detector detects that a foreign matter enters the protection area, the winch is warned and protected.

[0093] The power winch early warning system based on radar detection further comprises a detection database, wherein the detection database is used to store the adaptive tire pressure, adaptive load and operation permission temperature corresponding to each tire of the winch, and further store the reference rotation speed, permission vibration frequency and reference load corresponding to the winch blade of the winch, store the blade radius corresponding to each winch blade of the winch, and store the vertical height reference adaptive value, reference obstacle frequency and reference battery discharge rate of the winch, and further store the hydraulic oil flow reference consumption rate, sudden acceleration definition times, sudden brake definition times and reference average driving speed of the winch, and store the distance definition value and angle definition value corresponding to each early warning target.

[0094] In a specific embodiment, the present application provides a power winch early warning method and system based on radar detection, which successively detects and analyzes the mechanical transmission layer, energy consumption layer and historical operation information of the winch, and provides more scientific and reliable data basis for subsequent early warning of the winch, which is helpful to screen out abnormal conditions of the power winch, and further perceives the protection area of the winch and provides early warning and protection prompt for the winch, so as to protect the life safety of the driver and the relevant staff in the surrounding area.

[0095] The above is only an example and description of the structure of the present application, and those skilled in the art can make various modifications or supplements or use similar ways to replace the described specific embodiments, as long as they do not deviate from the structure of the present application or exceed the scope defined by the present claims, which shall belong to the protection scope of the present application.

Claims

1. A power winch early warning method based on radar detection, characterized in that, The method comprises the following steps: Obtaining an operation abnormality early warning trigger value of the winch; The operation abnormality early warning trigger value of the winch is obtained by constructing a wear model of the winch, comprehensively calculating a wear characteristic value of the winch, and matching the wear characteristic value of the winch with an operation abnormality early warning trigger value corresponding to a set wear characteristic value interval. The wear characteristic value of the winch is calculated by using the following formula: In the formula, represents the loss characteristic value of the winch, and represents the weight value corresponding to the pre-defined acute driving influence coefficient and the driving speed influence coefficient, represents the acute driving influence coefficient of the winch, represents the driving speed influence coefficient of the winch; The mechanical transmission layer of the winch and the energy consumption layer of the winch are detected and analyzed to calculate a comprehensive operation abnormality value of the winch. The comprehensive operation abnormality value of the winch is calculated by using the following formula: In the formula, represents the comprehensive operation abnormal value of the winch, and respectively represent the preset weight factors corresponding to the mechanical transmission abnormal index and the energy consumption abnormal index, represents the mechanical transmission abnormal index of the winch, represents the energy consumption abnormal index of the winch, represents a natural constant; According to the comprehensive operation abnormality value of the winch, if the comprehensive operation abnormality value of the winch is higher than the set operation abnormality early warning trigger value of the winch, a fault early warning prompt is given to the winch. The laser detector in the winch winch area protection system detects the obstacle information around the winch, and when the laser detector detects that a foreign object enters the protection area, a protection safety early warning prompt is given to the winch.

2. The radar detection based power winch pre-warning method of claim 1, wherein: The calculation formulae of the acute driving influence coefficient and the driving speed influence coefficient of the winch are as follows: wherein and respectively represent the number of times of jerk acceleration and jerk braking of the winch in the detection database, and respectively represent the correction factors corresponding to the pre-defined number of times of jerk acceleration and jerk braking, represents the reference average travel speed of the winch in the detection database, represents the correction factor corresponding to the pre-defined average travel speed, represents the number of times of jerk acceleration, represents the number of times of jerk braking, represents the average travel speed of each historical travel, A represents the number of each historical travel, A = 1, 2, 3…, G, and G represents the total number of historical travels.

3. The radar detection based power winch pre-warning method of claim 2, wherein: The calculation formula of the mechanical transmission abnormality index of the winch is as follows: The calculation formula of the winch blade abnormality influence coefficient is as follows: The calculation formula of the ground influence degree coefficient of the winch is as follows: wherein, , and respectively represent preset weight factors corresponding to the tire abnormality influence coefficient, the winch blade abnormality influence coefficient, and the ground influence degree coefficient, represents the tire abnormality influence coefficient of the winch, represents the winch blade abnormality influence coefficient of the winch, represents the ground influence degree coefficient of the winch, represents the running characteristic evaluation value to which each winch blade of the winch belongs, represents the load evaluation value to which each winch blade of the winch belongs, and respectively represent preset weight values corresponding to the running characteristic evaluation value and the load evaluation value, v represents the number of each winch blade, v = 1, 2, 3, …, w, and w represents the number of winch blades. CG' represents a vertical height reference adaptation value of the winch stored in the detection database, CG represents a reference obstacle frequency of the winch in the detection database, and respectively represent an influence factor corresponding to a predefined unit vertical height deviation value and a correction factor corresponding to an obstacle frequency, CG represents a vertical height of the winch at each detection time point with respect to the ground, CG represents a distance of the winch in the set detection period, CG represents the number of obstacles of the winch in the set detection period.

4. The radar detection based power winch pre-warning method of claim 3, wherein: The specific calculation method of the tire abnormality influence coefficient of the winch comprises the following steps: The tires of the winch are counted, a set detection period is divided into detection time points, sampling points are arranged on the tires of the winch, and the tire pressure value and the load value of each sampling point of each tire of the winch at each detection time point are obtained. The corresponding adaptive tire pressure of each tire of the winch is extracted from the detection database, the tire pressure evaluation value of each tire of the winch and the load evaluation value of each tire of the winch are calculated, the running temperature value of each sampling point of each tire of the winch at each detection time point is obtained, and the running permission temperature corresponding to each tire of the winch is extracted from the detection database. The tire abnormality influence coefficient model of the winch is constructed according to the tire pressure evaluation value of each tire of the winch, the load evaluation value of each tire of the winch, and the temperature evaluation value of each tire of the winch. The calculation formula of the tire pressure evaluation value of each tire of the winch is as follows: The calculation formula of the load evaluation value of each tire of the winch is as follows: wherein represents a tire pressure evaluation value to which each tire of the winch belongs, represents a load evaluation value to which each tire of the winch belongs, represents a temperature evaluation value to which each tire of the winch belongs, , and respectively represent a weight factor corresponding to a predefined tire pressure evaluation value, a load evaluation value, and a temperature evaluation value.

5. The radar detection based power winch pre-warning method of claim 4, wherein: The calculation formula of the temperature evaluation value of each tire of the winch is as follows: The specific analysis process of the protection safety early warning prompt for the winch is as follows: The target information of the obstacle is obtained, and the target information comprises the number of early warning targets. In the formula, and respectively represent the tire pressure value and the load value of each sampling point of each tire of the winch at each detection time point, wherein i represents the number of each tire, i = 1, 2, 3, …, m, m represents the number of tires, j represents the number of each sampling point, j = 1, 2, 3, …, n, n represents the number of sampling points, p represents the number of each detection time point, p = 1, 2, 3, …, q, q represents the number of detection time points, represents the corresponding adaptive tire pressure of each tire of the winch, represents the evaluation factor corresponding to the preset tire pressure value; represents the corresponding adaptive load of each tire of the winch defined in the detection database, represents the evaluation factor corresponding to the preset load value, represents the correction factor corresponding to the predefined temperature, represents the running temperature value of each sampling point of each tire at each detection time point, represents the corresponding running permission temperature of each tire.

6. The radar detection based power winch pre-warning method of claim 1, wherein, The distance and the angle value between the winch and each early warning target are obtained according to the number of early warning targets of the winch. ​ ​ According to the target information, a protection early warning degree value corresponding to each early warning target is calculated, the protection early warning degree value corresponding to each early warning target of the winch is compared with a set protection early warning degree threshold value, if the protection early warning degree value corresponding to a certain early warning target is higher than the set protection early warning degree threshold value, the winch is given a protection safety early warning prompt; The calculation formula of the protection early warning degree value is: In the formula, denotes the protection warning degree value corresponding to each early warning target, and denote the distance and angle limit values corresponding to each early warning target in the detection database respectively, and denote the correction factors corresponding to the preset distance and angle values respectively, denotes the distance of the obstacle, denotes the angle value of the obstacle, g denotes the number of each early warning target, g = 1, 2, 3, … r, and r denotes the number of early warning targets.

7. A power winch early warning system based on radar detection, characterized by: It comprises: A data acquisition module is configured to acquire an operation abnormality early warning trigger value of the winch. The operation abnormality early warning trigger value of the winch is acquired by constructing a wear model of the winch, comprehensively calculating a wear characteristic value of the winch, and matching the wear characteristic value of the winch with an operation abnormality early warning trigger value corresponding to each wear characteristic value interval set by the system to obtain the operation abnormality early warning trigger value of the winch. The wear characteristic value of the winch is calculated by the following formula: In the formula, denotes the loss characteristic value of the winch, and denotes the weight value corresponding to the predefined acute driving influence coefficient and the driving speed influence coefficient, denotes the acute driving influence coefficient of the winch, denotes the driving speed influence coefficient of the winch; A comprehensive calculation module is configured to detect and analyze a mechanical transmission layer of the winch and an energy consumption layer of the winch, and calculate a comprehensive operation abnormality value of the winch. The comprehensive operation abnormality value of the winch is calculated by the following formula: In the formula, represents the comprehensive operation abnormal value of the winch, and respectively represent the preset weight factors corresponding to the mechanical transmission abnormal index and the energy consumption abnormal index, represents the mechanical transmission abnormal index of the winch, represents the energy consumption abnormal index of the winch, represents a natural constant; A fault early warning module is configured to make an early warning judgment according to the comprehensive operation abnormality value of the winch, if the comprehensive operation abnormality value of the winch is higher than the set operation abnormality early warning trigger value of the winch, the winch is given a fault early warning prompt. A protection safety early warning module is configured to detect obstacle information around the winch by a laser detector in the winch capstan area protection system, when the laser detector detects that a foreign matter enters the protection area, the winch is given a protection safety early warning prompt.

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