Fault detection method and device

Abstract

The embodiment of the invention discloses a fault detection method and device, relates to the technical field of detection, and improves the fault detection accuracy of a speed reducer. The method comprises the following steps: acquiring operation data of the speed reducer; and determining a target feature according to the operation data and the reference data of the operation data. And fault information of the speed reducer is determined according to the target characteristics. Wherein the operation data comprises a first rotating speed and a first vibration signal, the first rotating speed is the rotating speed of the input end of the speed reducer, the first vibration signal comprises a plurality of vibration amplitudes corresponding to the first rotating speed, and the target feature is used for indicating the difference quantity of the operation data and the reference data; the fault information is used for indicating whether the speed reducer fails or not.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of detection technology, and in particular, to a fault detection method and device. Background Art

[0002] The reducer is an independent component consisting of a gear drive, worm drive, or gear-worm drive enclosed in a rigid housing. It is often used as a reduction transmission device between the prime mover and the working machine. It plays the role of matching the speed and transmitting torque between the prime mover and the working machine or actuator. Reducers are often used in industrial equipment with heavy load and variable load requirements. For example, mining belt conveyors, hoists, rolling mills, and other equipment are equipped with reducers. In harsh on-site environments and unstable load conditions, reducer failures often occur, which has a great impact on the continuity of production and the safety of operators.

[0003] In the related art, the reducer is usually monitored for abnormalities using vibration signals, but various factors can cause the signal to be non-stationary, resulting in deviations and fluctuations in the characteristic statistical data of the vibration signal, leading to missed reports or false reports of equipment abnormalities.

[0004] Therefore, how to improve the detection accuracy of reducer faults is one of the problems that technical personnel in this field need to solve urgently. Summary of the invention

[0005] The embodiment of the present application provides a fault detection method and device, which relates to the field of detection technology and improves the detection accuracy of reducer faults. To achieve the above purpose, the embodiment of the present application adopts the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a fault detection method, the method comprising: obtaining operating data of a reducer. Determining a target feature based on the operating data and reference data of the operating data. Determining fault information of the reducer based on the target feature. The operating data comprises a first rotational speed and a first vibration signal, the first rotational speed being the input end rotational speed of the reducer, the first vibration signal comprising a plurality of vibration amplitudes corresponding to the first rotational speed, the target feature being used to indicate the difference between the operating data and the reference data, and the fault information being used to indicate whether the reducer is faulty.

[0007] It can be seen that the method provided in the embodiment of the present application obtains the real-time operation data of the reducer to match the reference data in the normal reference data of the reducer with the reference data of the real-time operation data, and obtains the target feature for indicating the difference between the above operation data and the above reference data through the real-time operation data and the reference data. This feature is highly sensitive to the abnormality of the reducer and does not strictly limit the type of fault feature. It is a weak mechanism feature that can characterize the degradation trend of the reducer and can cover a variety of fault types. Therefore, by determining whether the reducer is faulty through the target feature, the detection accuracy of the reducer fault can be improved.

[0008] In a possible implementation, the first vibration signal may be obtained. A second rotational speed and a target transmission ratio may be obtained, wherein the second rotational speed is a driving machine rotational speed of the reducer, and the target transmission ratio is a ratio of the driving machine rotational speed to the input end rotational speed. The first rotational speed may be determined according to the second rotational speed and the target transmission ratio.

[0009] It can be seen that the method provided in the embodiment of the present application determines the input speed of the reducer by the ratio of the driving machine speed of the reducer and the driving machine speed to the above-mentioned input speed, and then uses the input speed of the reducer and the vibration signal corresponding to the input speed to match the reference data of the normal reference data of the reducer with the real-time operation data, and obtains the target feature indicating the difference between the above-mentioned operation data and the above-mentioned reference data through the real-time operation data and the reference data. This feature is highly sensitive to the abnormality of the reducer and does not strictly limit the type of fault feature. It is a weak mechanism feature that can characterize the degradation trend of the reducer and can cover a variety of fault types. Therefore, by determining whether the reducer is faulty through the target feature, the detection accuracy of the reducer fault can be improved.

[0010] In a possible implementation, the reference data includes a plurality of second vibration signals and a plurality of third rotational speeds, and the plurality of second vibration signals and the plurality of third rotational speeds correspond one to one.

[0011] In a possible implementation, the first rotational speed can be calibrated according to the first vibration signal to obtain a first calibration rotational speed; a synchronization spectrum can be determined according to the first calibration rotational speed, the multiple third rotational speeds and the multiple second vibration signals, and the synchronization spectrum is a spectrum constructed based on the multiple second vibration signals; and the target feature can be determined according to the synchronization spectrum and the spectrum of the multiple second vibration signals.

[0012] It can be seen that the method provided in the embodiment of the present application obtains the real-time operation data of the reducer to match the reference data in the normal reference data of the reducer with the reference data of the real-time operation data, calibrates the above-mentioned first speed through the first vibration signal in the real-time operation data to obtain the first calibration speed, and determines the target feature indicating the difference between the above-mentioned operation data and the above-mentioned reference data through the obtained first calibration speed, the multiple third speeds in the reference data, and the multiple second vibration signals in the reference data. This feature is highly sensitive to the abnormality of the reducer and does not strictly limit the type of fault feature. It is a weak mechanism feature that can characterize the degradation trend of the reducer and can cover a variety of fault types. Therefore, by determining whether the reducer is faulty through the target feature, the detection accuracy of the reducer fault can be improved.

[0013] In a possible implementation, an envelope signal of the first vibration signal may be determined according to the first vibration signal; an envelope spectrum of the first vibration signal may be determined according to the envelope signal and the first rotational speed; and the first rotational speed may be calibrated according to the envelope spectrum to obtain the first calibrated rotational speed.

[0014] It can be seen that the method provided in the embodiment of the present application obtains the real-time operation data of the reducer to match the reference data in the normal reference data of the reducer with the reference data of the real-time operation data, calibrates the above-mentioned first speed through the first vibration signal in the real-time operation data to obtain the first calibration speed, and determines the target feature indicating the difference between the above-mentioned operation data and the above-mentioned reference data through the obtained first calibration speed and the reference data. This feature is highly sensitive to the abnormality of the reducer and does not strictly limit the type of fault feature. It is a weak mechanism feature that can characterize the degradation trend of the reducer and can cover a variety of fault types. Therefore, determining whether the reducer is faulty through the target feature can improve the detection accuracy of the reducer fault.

[0015] In a possible implementation, a plurality of characteristic values ​​may be determined according to the synchronous spectrum and the spectrum of the plurality of second vibration signals; and a median of the plurality of characteristic values ​​may be determined as the target feature.

[0016] It can be seen that the method provided in the embodiment of the present application obtains the real-time operation data of the reducer to match the reference data in the normal reference data of the reducer with the reference data of the real-time operation data, and constructs a synchronous spectrum through the vibration signal in the real-time operation data and the vibration signal in the reference data to determine multiple characteristic values, and determines the target feature indicating the difference between the above operation data and the above reference data through the obtained multiple characteristic values. This feature is highly sensitive to the abnormality of the reducer and does not strictly limit the type of fault feature. It is a weak mechanism feature that can characterize the degradation trend of the reducer and can cover a variety of fault types. Therefore, by determining whether the reducer is faulty through the target feature, the detection accuracy of the reducer fault can be improved.

[0017] In a possible implementation, a difference threshold may be acquired; and the fault information may be determined according to the target feature and the difference threshold.

[0018] It can be seen that the method provided in the embodiment of the present application obtains the real-time operation data of the reducer to match the reference data in the normal reference data of the reducer with the reference data of the real-time operation data, and obtains the target feature for indicating the difference between the above operation data and the above reference data through the real-time operation data and the reference data. This feature is highly sensitive to the abnormality of the reducer and does not strictly limit the type of fault feature. It is a weak mechanism feature that can characterize the degradation trend of the reducer and can cover a variety of fault types. Therefore, by determining whether the reducer is faulty through the target feature and the difference threshold, the detection accuracy of the reducer fault can be improved.

[0019] In a possible implementation manner, a plurality of difference values ​​may be determined according to the frequency spectra of the plurality of second vibration signals; and the difference threshold may be determined according to the plurality of difference values.

[0020] It can be seen that the method provided in the embodiment of the present application obtains the real-time operation data of the reducer to match the reference data in the normal reference data of the reducer with the reference data of the real-time operation data, and obtains the target feature for indicating the difference between the above operation data and the above reference data through the real-time operation data and the reference data. This feature is highly sensitive to the abnormality of the reducer and does not strictly limit the type of fault feature. It is a weak mechanism feature that can characterize the degradation trend of the reducer and can cover a variety of fault types. Therefore, by determining whether the reducer is faulty through the target feature and the difference threshold obtained from multiple second vibration signals of the reference data, the detection accuracy of the reducer fault can be improved.

[0021] In a possible implementation manner, reference data corresponding to the operating data may be determined from a plurality of reference data according to the operating data.

[0022] It can be seen that the method provided by the embodiment of the present application obtains the real-time operation data of the reducer, determines the reference data corresponding to the above operation data from multiple reference data based on the above operation data, and obtains the target feature indicating the difference between the above operation data and the above reference data through the real-time operation data and the reference data. This feature is highly sensitive to the abnormality of the reducer and does not strictly limit the type of fault feature. It is a weak mechanism feature that can characterize the degradation trend of the reducer and can cover multiple fault types. Therefore, determining whether the reducer is faulty by using the target feature and the difference threshold can improve the detection accuracy of the reducer fault.

[0023] In a possible implementation manner, the above-mentioned operating data also includes at least one of load, current or working mode.

[0024] In the second aspect, the present application implements a fault detection device, which includes: a transceiver unit and a processing unit. The transceiver unit is used to obtain the operating data of the reducer, and the operating data includes a first rotational speed and a first vibration signal. The first rotational speed is the input end rotational speed of the reducer, and the first vibration signal includes multiple vibration amplitudes corresponding to the first rotational speed. The feature is used to indicate the difference between the operating data and the reference data. The processing unit is also used to determine the fault information of the reducer according to the target feature, and the fault information is used to indicate whether the reducer is faulty.

[0025] In a possible implementation, the transceiver unit is specifically used to: obtain the first vibration signal; obtain a second speed and a target transmission ratio, wherein the second speed is the driving motor speed of the reducer, and the target transmission ratio is the ratio of the driving motor speed to the input end speed; determine the first speed based on the second speed and the target transmission ratio.

[0026] In a possible implementation, the reference data includes a plurality of second vibration signals and a plurality of third rotational speeds, and the plurality of second vibration signals and the plurality of third rotational speeds correspond one to one.

[0027] In a possible implementation, the processing unit is specifically used to: calibrate the first rotational speed according to the first vibration signal to obtain a first calibration rotational speed; determine a synchronization spectrum according to the first calibration rotational speed, the multiple third rotational speeds and the multiple second vibration signals, wherein the synchronization spectrum is a spectrum constructed based on the multiple second vibration signals; determine the target feature according to the synchronization spectrum and the spectrum of the multiple second vibration signals.

[0028] In a possible implementation, the processing unit is specifically used to: determine an envelope signal of the first vibration signal according to the first vibration signal; determine an envelope spectrum of the first vibration signal according to the envelope signal and the first rotational speed; calibrate the first rotational speed according to the envelope spectrum to obtain the first calibrated rotational speed;

[0029] In a possible implementation, the processing unit is specifically configured to: determine a plurality of characteristic values ​​according to the synchronization spectrum and the spectrum of the plurality of second vibration signals; and determine a median of the plurality of characteristic values ​​as the target feature.

[0030] In a possible implementation, the processing unit is specifically used to: obtain a difference threshold; and determine the fault information according to the target feature and the difference threshold.

[0031] In a possible implementation manner, the processing unit is specifically configured to: determine a plurality of difference values ​​according to frequency spectra of a plurality of second vibration signals; and determine the difference threshold according to the plurality of difference values.

[0032] In a possible implementation manner, the processing unit is further configured to: determine reference data corresponding to the operating data from a plurality of reference data according to the operating data.

[0033] In a possible implementation manner, the above-mentioned operating data also includes at least one of load, current or working mode.

[0034] In a third aspect, an embodiment of the present application further provides a fault detection device, which comprises: at least one processor, and when the at least one processor executes program code or instructions, it implements the method described in the above first aspect or any possible implementation method thereof.

[0035] Optionally, the fault detection device may further include at least one memory, and the at least one memory is used to store the program code or instruction.

[0036] In a fourth aspect, an embodiment of the present application further provides a chip, comprising: an input interface, an output interface, and at least one processor. Optionally, the chip further comprises a memory. The at least one processor is used to execute the code in the memory, and when the at least one processor executes the code, the chip implements the method described in the first aspect or any possible implementation thereof.

[0037] Optionally, the above chip may also be an integrated circuit.

[0038] In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium for storing a computer program, wherein the computer program includes methods for implementing the method described in the above-mentioned first aspect or any possible implementation thereof.

[0039] In a sixth aspect, an embodiment of the present application further provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to implement the method described in the first aspect or any possible implementation thereof.

[0040] The fault detection device, computer storage medium, computer program product and chip provided in this embodiment are all used to execute the method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the method provided above and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0042] Figure 1 A schematic diagram of the structure of a fault detection system provided in an embodiment of the present application;

[0043] Figure 2 A flowchart of a fault detection method provided in an embodiment of the present application;

[0044] Figure 3 A schematic diagram of operating data provided by an embodiment of the present application;

[0045] Figure 4 A schematic diagram of an envelope spectrum provided in an embodiment of the present application;

[0046] Figure 5 A schematic diagram of a sample characteristic value distribution result provided in an embodiment of the present application;

[0047] Figure 6 A schematic diagram of another sample characteristic value distribution result provided in an embodiment of the present application;

[0048] Figure 7 A schematic diagram of another sample characteristic value distribution result provided in an embodiment of the present application;

[0049] Figure 8 A schematic diagram of the structure of a fault detection device provided in an embodiment of the present application;

[0050] Fig. 9 A schematic diagram of the structure of a chip provided in an embodiment of the present application;

[0051] Fig.10 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0052] Fig.11 A schematic diagram of the structure of another fault detection device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the embodiments of the present application.

[0054] The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0055] The terms "first" and "second" and the like in the description and drawings of the embodiments of the present application are used to distinguish different objects, or to distinguish different processing of the same object, rather than to describe a specific order of objects.

[0056] In addition, the terms "including" and "having" and any variations thereof mentioned in the description of the embodiments of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but may optionally include other steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0057] It should be noted that in the description of the embodiments of the present application, words such as "exemplarily" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplarily" or "for example" in the embodiments of the present application should not be interpreted as having priority or advantage over other embodiments or designs. Specifically, the use of words such as "exemplarily" or "for example" is intended to present related concepts in a specific way.

[0058] The reducer is an independent component consisting of a gear drive, worm drive, or gear-worm drive enclosed in a rigid housing. It is often used as a reduction transmission device between the prime mover and the working machine. It plays the role of matching the speed and transmitting torque between the prime mover and the working machine or actuator. Reducers are often used in industrial equipment with heavy load and variable load requirements. For example, mining belt conveyors, hoists, rolling mills, and other equipment are equipped with reducers. In harsh on-site environments and unstable load conditions, reducer failures often occur, which has a great impact on the continuity of production and the safety of operators.

[0059] In the related art, the reducer is usually monitored for abnormalities using vibration signals, but various factors can cause the signal to be non-stationary, resulting in deviations and fluctuations in the characteristic statistical data of the vibration signal, leading to missed reports or false reports of equipment abnormalities.

[0060] To this end, an embodiment of the present application provides a fault detection method, which can be applied to a fault detection system. Figure 1 1 is a functional block diagram of a fault detection system 10 provided in an embodiment of the present application. Figure 1The fault detection system 10 shown may include various sub-modules, such as a communication module 11 , a processing module 12 , a storage module 13 and an interface module 14 .

[0061] Optionally, the fault detection system 10 may include more or fewer submodules, and each submodule may include multiple components. In addition, each submodule and component of the fault detection system 10 may be interconnected in a wired or wireless manner.

[0062] The communication module 11 may include a wireless communication system, which can communicate wirelessly with one or more devices directly or via a communication network. For example, the wireless communication system can use a third generation mobile communication technology (3G) cellular communication, such as code division multiple access (CDMA), global system for mobile communications (GSM) or general packet radio service (GPRS), or a fourth generation mobile communication technology (4G) cellular communication, such as long term evolution (LTE). Or a fifth generation mobile communication technology (5G) cellular communication. The wireless communication system can communicate with a wireless local area network (WLAN) using wireless fidelity (WiFi). In some embodiments, the wireless communication system can communicate directly with the device using an infrared link, Bluetooth or zigbee.

[0063] The processing module 12 may be any conventional processor, such as a commercially available CPU. Alternatively, the processing module 12 may also include a graphics processor (Graphic Process Unit: GPU), a field programmable gate array (Field Programmable Gate Array: FPGA), a system on chip (System on Chip: SOC), an application specific integrated circuit (Application Specific Integrated Circuit: ASIC) or a combination thereof.

[0064] The storage module 13 is used to store instructions, wherein the instructions may be computer programs.

[0065] The storage module 13 may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. The non-volatile memory may be a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM) and direct rambus RAM (DRRAM). The storage module 13 may also be a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, etc. It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0066] The interface module 14 can be used to send or receive data, instructions or information. The processing module 12 can use the data, instructions or other information received by the interface module 14 to process, and can send the processing completion information through the interface module 14.

[0067] Optionally, the above components are only examples. In actual applications, the components in the above modules may be added or deleted according to actual needs. Figure 1 It should not be understood as limiting the embodiments of the present invention.

[0068] Figure 2A fault detection method provided by an embodiment of the present application is shown, the method comprising:

[0069] S201. Obtain the operating data of the reducer.

[0070] The operating data include a first rotational speed and a first vibration signal. The first rotational speed is the input end rotational speed of the reducer. The first vibration signal includes a plurality of vibration amplitudes corresponding to the first rotational speed.

[0071] In a possible implementation, the first vibration signal may be obtained, a second rotational speed and a target transmission ratio may be obtained, and the first rotational speed may be determined according to the second rotational speed and the target transmission ratio. The second rotational speed is the driving machine rotational speed of the reducer, and the target transmission ratio is the ratio of the driving machine rotational speed to the input end rotational speed.

[0072] Exemplarily, the first vibration signal x=(x1, x2, ..., x N ), driving machine control speed signal (second speed) v mc and the transmission ratio between the drive machine and the reducer input (target transmission ratio) R T According to the second speed v mc and target transmission ratio R T Calculate the control speed (first speed) v at the reducer input end gc =v mc / R T .

[0073] In a possible implementation manner, the above-mentioned operating data also includes at least one of load, current or working mode.

[0074] S202: Determine target features according to the operating data and reference data of the operating data.

[0075] The target feature is used to indicate the difference between the operating data and the reference data.

[0076] In a possible implementation, the reference data includes a plurality of second vibration signals and a plurality of third rotational speeds, and the plurality of second vibration signals and the plurality of third rotational speeds correspond one to one.

[0077] Exemplarily, the reference data may include N third rotation speeds and N second vibration signals. The N second vibration signals are respectively x c1 , ..., N third speeds are respectively Wherein, N is a positive integer.

[0078] In a possible implementation, the first rotation speed may be calibrated according to the first vibration signal to obtain a first calibration rotation speed. A synchronization spectrum is determined according to the first calibration rotation speed, the plurality of third rotation speeds and the plurality of second vibration signals. The target feature is determined according to the synchronization spectrum and the spectrum of the plurality of second vibration signals. The synchronization spectrum is a spectrum constructed based on the plurality of second vibration signals.

[0079] Exemplarily, the first vibration signal x=(x1, x2, ..., x N ) for the first speed v gc Calibrate to obtain a first calibration speed (also called a first calibration rotation frequency) f r According to the first calibration speed, the N third speeds and the N second vibration signals, the N synchronous frequency spectra of the first vibration signal constructed with the N second vibration signals as references are determined. According to the N synchronous frequency spectra and the frequency spectra of the N second vibration signals, the target features are determined.

[0080] In a possible implementation, an envelope signal of the first vibration signal may be determined according to the first vibration signal, an envelope spectrum of the first vibration signal may be determined according to the envelope signal and the first rotational speed, and the first rotational speed may be calibrated according to the envelope spectrum to obtain the first calibrated rotational speed.

[0081] For example, the first vibration signal x=(x1, x2, ..., x N )’s envelope signal x env =(e1,e2,…,e N ). At a frequency of v gc / 60 in the neighborhood of the envelope signal x env The envelope spectrum is refined to obtain an envelope spectrum (refined envelope spectrum), and the peak frequency of the extracted envelope spectrum (refined envelope spectrum) is used as the rotational frequency (first calibration rotational speed) of the reducer after calibration.

[0082] Optionally, the first calibration speed f r Can satisfy:

[0083]

[0084] Wherein, ESpec(f) represents the envelope spectrum (refined envelope spectrum), α is the bandwidth coefficient used to determine the refinement range of the envelope spectrum, and M represents the number of points after refinement.

[0085] In a possible implementation, multiple characteristic values ​​may be determined according to the synchronous spectrum and the spectrum of the multiple second vibration signals, and the median of the multiple characteristic values ​​may be determined as the target characteristic.

[0086] For example, the spectrum of each of the N second vibration signals can be constructed, and the synchronous spectrum of the first vibration signal can be constructed based on the spectrum of each second vibration signal. N characteristic values ​​(df1, df2, ..., df N ). From the relative spectrum difference index sequence DF composed of N eigenvalues ​​= (df1, df2, ..., df r ) will be the median DF of N eigenvalues median as the target feature mentioned above.

[0087] Optionally, the second vibration signal The spectrum can meet:

[0088]

[0089] Among them, f s represents the sampling frequency, and j represents the imaginary part.

[0090] Optionally, the second vibration signal As a reference, construct the first vibration signal x=(x1,x2,…,x N ) can satisfy the following requirements:

[0091]

[0092] in, Indicates the phase ratio.

[0093] Optionally, the above eigenvalues ​​may satisfy:

[0094]

[0095] Among them, F c (f) is the frequency spectrum of the second vibration signal, F s (f) is a synchronous spectrum of the first vibration signal constructed based on the spectrum of the second vibration signal, st o p is the upper cutoff frequency. st o p The value can be 1.5 times the maximum meshing frequency of the reducer.

[0096] S203. Determine the fault information of the reducer according to the target characteristics.

[0097] The fault information is used to indicate whether the reducer is faulty.

[0098] In a possible implementation, a difference threshold may be obtained, and the fault information may be determined according to the target feature and the difference threshold.

[0099] For example, the difference threshold th can be obtained m In the target feature DF median ≥ Difference threshold th m In the case of , it is determined that the above reducer has a fault; in the target feature DF median <Difference threshold th m In this case, make sure the above reducer is normal.

[0100] In a possible implementation, a plurality of difference values ​​may be determined according to the frequency spectra of the plurality of second vibration signals, and the difference threshold may be determined according to the plurality of difference values.

[0101] For example, each vibration signal in the N second vibration signals in the reference data can be cyclically designated as a reference signal, and the relative spectrum difference index between the remaining N-1 second vibration signals in the reference data and the reference signal is calculated to construct a relative spectrum difference index sequence in the reference data. Calculate the relative spectrum difference index sequence DF within the reference data m The mean value of the distribution MDF m and variance DDF m According to the above distribution mean MDF m and the above variance DDF m Determine the above difference threshold th m .

[0102] Optionally, the relative spectrum difference index sequence DF in the reference data m The mean value of the distribution MDF m Can satisfy:

[0103]

[0104] Optionally, the relative spectrum difference index sequence DF in the reference data m The variance DDF m Can satisfy:

[0105]

[0106] Optionally, the difference threshold th m Can satisfy:

[0107] th m =aMDF m +bDDF m

[0108] Wherein, a and b are weighting coefficients. For example, the difference threshold can be constructed using the 3sigma principle, that is, a=1, b=3.

[0109] In a possible implementation, multiple target features may be determined based on multiple groups of operation data of the reducer and reference data of the multiple groups of operation data of the reducer, and the fault information of the reducer may be determined based on the multiple target features.

[0110] For example, 20 sets of continuous operation data of the reducer and 20 sets of reference data of the operation data can be obtained to determine 20 target features DF median . Determine 20 difference thresholds based on the reference data of 20 sets of operating data m According to the above 20 target features DF median the median of and the above 20 difference thresholds th m the median of Determine the fault information of the above reducer. For example, In the case of , it is determined that the above reducer is faulty; In this case, make sure the above reducer is normal.

[0111] It can be understood that, compared with determining the fault information of the reducer through a single operation data of the reducer, determining the fault information of the reducer through multiple groups of operation data of the reducer can improve the robustness of the fault judgment result.

[0112] It can be seen that the method provided in the embodiment of the present application obtains the real-time operation data of the reducer to match the reference data in the normal reference data of the reducer with the reference data of the real-time operation data, and obtains the target feature for indicating the difference between the above operation data and the above reference data through the real-time operation data and the reference data. This feature is highly sensitive to the abnormality of the reducer and does not strictly limit the type of fault feature. It is a weak mechanism feature that can characterize the degradation trend of the reducer and can cover a variety of fault types. Therefore, by determining whether the reducer is faulty through the target feature, the detection accuracy of the reducer fault can be improved.

[0113] Optionally, the method provided in the embodiment of the present application may further include:

[0114] S204: Determine reference data corresponding to the operating data from a plurality of reference data according to the operating data.

[0115] For example, P working condition data of each historical data (historical vibration signal) can be extracted from the reference data set of the device, and the working condition vector C of each historical data can be constructed according to the P working condition data of each historical data. P ). Divide the historical data into M reference data groups according to the working condition vector of the historical data, and set the working condition vector range of each reference data group According to the comparison between the working condition vector of the acquired operating data and the working condition vector range of M reference data groups, if the working condition vector of the acquired operating data is within the working condition vector range of a certain reference data group, the reference data group is determined to be the reference data corresponding to the operating data. If the working condition vector of the acquired operating data is not within the working condition vector range of the M reference data groups, it is determined that the data does not meet the monitoring requirements. Among them, the reference data set of the equipment is composed of multiple historical data under the fault-free operating state of the equipment. The above P working condition data include operating data (working condition information) such as speed, drive machine control signal data, load, current and working mode in the vibration signal. and They respectively represent the center value and maximum deviation of the operating condition vector range of the mth group of reference data.

[0116] It is worth mentioning that if the operating condition vector of the acquired operating data is within the operating condition vector range of multiple reference data groups, the reference data group whose center value of the operating condition vector range in the multiple reference data groups is closest to the operating condition vector of the operating data can be determined as the reference data corresponding to the operating data.

[0117] It can be seen that the method provided by the embodiment of the present application obtains the real-time operation data of the reducer, determines the reference data corresponding to the above operation data from multiple reference data based on the above operation data, and obtains the target feature indicating the difference between the above operation data and the above reference data through the real-time operation data and the reference data. This feature is highly sensitive to the abnormality of the reducer and does not strictly limit the type of fault feature. It is a weak mechanism feature that can characterize the degradation trend of the reducer and can cover multiple fault types. Therefore, determining whether the reducer is faulty by using the target feature and the difference threshold can improve the detection accuracy of the reducer fault.

[0118] It should be noted that the frequency domain characteristic distribution of the reducer is strongly correlated with the operating conditions. The embodiment of the present application matches the historical operating parameters through the operating parameters of the reducer, and calculates the synchronous spectrum based on the calibrated speed to eliminate the influence of speed fluctuations, and has good working condition generalization capabilities.

[0119] In addition, the relative spectral difference characteristics of the synchronous spectrum are used as the reducer degradation characteristics. The feature form is not strictly restricted and it belongs to a weak mechanism feature. It can capture the significant spectral differences caused by different fault characteristics and has good feature generalization ability.

[0120] The method provided in the embodiment of the present application is described below using a mining belt conveyor reducer as an example.

[0121] Figure 3The operation data of the mining belt conveyor reducer for three consecutive months are shown. The above operation data has a total of 700 samples, the single sample signal length is 131071 sampling points, the sampling frequency is 51200Hz, and the normal operating speed of the reducer belt conveyor motor during this time period is between 1345rpm and 1450rpm. The starting point of the fault occurrence of the above operation data is sample No. 447. The abnormal working state samples with speeds other than 1345rpm to 1435rpm are removed from samples No. 1-400, and some samples in the remaining samples are used to construct a reference data set. The operation data (operating condition information) obtained from the driving machine uses the speed as the data grouping basis, and the above operation data are divided into 1-4 groups. The speed centers of each group are 1345rpm, 1375rpm, 1405rpm, and 1435rpm, respectively. To ensure speed compatibility, the maximum speed deviation is set to 20rpm, and the sample capacity of each group of reference data is 32, 138, 265, and 125, respectively. 30 samples are randomly extracted from each group of reference data to construct a reference data set.

[0122] The real-time operation data of the reducer is obtained, and the first speed extracted from it is 1433rpm, that is, 23.88Hz. Taking the first speed as the reference, the bandwidth coefficient is set to 0.1. The envelope spectrum refinement range is 21.49Hz to 26.27Hz. There are many methods for spectrum refinement, such as generalized Fourier transform, polynomial fitting, etc. The generalized Fourier transform is used as an example to refine the spectrum and extract the peak frequency as the speed frequency f after the reducer is calibrated. r , the specific process is as follows:

[0123]

[0124] in, Refine the envelope spectrum as Figure 4 As shown, the first calibration speed is 1374 rpm obtained by maximum value search, and the rotation frequency of the first calibration speed is 22.9 Hz.

[0125] Since the center difference between the first calibration speed and the speed of the second group of reference data in the reference data set is less than the set maximum deviation, that is, the first calibration speed is within the speed range (operating condition vector range) of the second group of reference data in the reference data set, it is determined that the second group of reference data in the above reference data set is the reference data of the above real-time operation data.

[0126] Calculate the spectrum of the reference data of the above real-time operation data Synchronous spectrum F with real-time running data s (f).

[0127] Spectrum of reference data based on real-time operating data Synchronous spectrum F with real-time running data s(f) Determine multiple eigenvalues, and convert the relative spectrum difference index sequence DF composed of the multiple eigenvalues ​​into (df1, df2, ..., df r ) is determined as the target feature of the real-time operation data.

[0128] The above eigenvalue df r satisfy:

[0129]

[0130] Among them, the above cut-off frequency f stop It can be 1000Hz.

[0131] like Figure 5 As shown, taking the above 700 samples as real-time running data, the characteristic value of each sample can be obtained. Figure 5 The characteristic value distribution results of the above 700 samples are shown. It can be seen that the relative spectrum difference characteristics (characteristic values) trend changes starting from the fault occurrence point.

[0132] According to the 30 data samples contained in each group of operating data in the above reference data set, each vibration signal is cyclically designated as the reference signal in the reference data group, the relative spectral difference index between the remaining vibration signal of this group of reference data and the reference signal is calculated, and the relative spectral difference index sequence within the file is constructed. The mean and variance of the sequence are calculated, and the mean values ​​of the relative spectral difference indicators of reference data groups 1-4 in the reference data set are 0.304, 0.2574, 0.2529, and 0.1615, respectively, and the variances of the relative spectral difference indicators are 0.045, 0.0483, 0.0308, and 0.0561, respectively.

[0133] The characteristic thresholds of the reference data groups 1-4 were calculated using the 3sigma criterion, and the results were 0.4389, 0.4022, 0.3453, and 0.3298, respectively. The characteristic values ​​and characteristic thresholds of samples 1-700 were associated with each other, and the results are as follows: Figure 6 As shown, some individual samples were falsely reported, with a false alarm rate of 2.05%, an underreporting rate of 1.2%, and an overall monitoring accuracy of 98.26%.

[0134] Through continuous multi-sample joint judgment, the number of continuous samples is set to T = 10, and the joint feature value (that is, the median of the continuous sample feature value) and the joint feature threshold (that is, the median of the continuous sample feature threshold) of samples 1-700 are calculated respectively. The results are as follows Figure 7 As shown in the figure, the false alarm rate is 0, the missed alarm rate is 2%, and the missed alarms are concentrated near the fault starting point, and the overall monitoring accuracy is 99.28%. Although the missed alarm rate has increased slightly, the false alarms have been eliminated, and the practicality of the technology has been greatly improved.

[0135] The following will be combined Figure 8 A fault detection device for executing the above fault detection method is introduced.

[0136] It is understandable that, in order to realize the above functions, the fault detection device includes hardware and / or software modules corresponding to the execution of each function. In combination with the algorithm steps of each example described in the embodiments disclosed herein, the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application in combination with the embodiments, but such implementation should not be considered to exceed the scope of the embodiments of the present application.

[0137] The embodiment of the present application can divide the functional modules of the fault detection device according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0138] In the case of dividing each functional module into corresponding functional modules, Figure 8 A possible schematic diagram of the fault detection device involved in the above embodiment is shown. Figure 8 As shown, the fault detection device 800 may include: a transceiver unit 801 and a processing unit 802 .

[0139] The transceiver unit 801 is used to obtain the operating data of the reducer, the operating data includes a first rotational speed and a first vibration signal, the first rotational speed is the input end rotational speed of the reducer, and the first vibration signal includes multiple vibration amplitudes corresponding to the first rotational speed.

[0140] The processing unit 802 is used to determine a target feature according to the operating data and the reference data of the operating data, where the target feature is used to indicate a difference between the operating data and the reference data.

[0141] The processing unit 802 is further used to determine fault information of the reducer according to the target feature, and the fault information is used to indicate whether the reducer is faulty.

[0142] In a possible implementation, the transceiver unit 801 is specifically used to: obtain the first vibration signal; obtain a second speed and a target transmission ratio, wherein the second speed is the driving motor speed of the reducer, and the target transmission ratio is the ratio of the driving motor speed to the input end speed; determine the first speed according to the second speed and the target transmission ratio.

[0143] In a possible implementation, the reference data includes a plurality of second vibration signals and a plurality of third rotational speeds, and the plurality of second vibration signals and the plurality of third rotational speeds correspond one to one.

[0144] In a possible implementation, the processing unit 802 is specifically used to: calibrate the first rotational speed according to the first vibration signal to obtain a first calibration rotational speed; determine a synchronization spectrum according to the first calibration rotational speed, the multiple third rotational speeds and the multiple second vibration signals, wherein the synchronization spectrum is a spectrum constructed based on the multiple second vibration signals; determine the target feature according to the synchronization spectrum and the spectrum of the multiple second vibration signals.

[0145] In a possible implementation, the processing unit 802 is specifically configured to: determine an envelope signal of the first vibration signal according to the first vibration signal; determine an envelope spectrum of the first vibration signal according to the envelope signal and the first rotational speed; calibrate the first rotational speed according to the envelope spectrum to obtain the first calibrated rotational speed;

[0146] In a possible implementation, the processing unit 802 is specifically configured to: determine a plurality of characteristic values ​​according to the synchronization spectrum and the spectrum of the plurality of second vibration signals; and determine a median of the plurality of characteristic values ​​as the target feature.

[0147] In a possible implementation, the processing unit 802 is specifically configured to: obtain a difference threshold; and determine the fault information according to the target feature and the difference threshold.

[0148] In a possible implementation, the processing unit 802 is specifically configured to: determine a plurality of difference values ​​according to frequency spectra of a plurality of second vibration signals; and determine the difference threshold according to the plurality of difference values.

[0149] In a possible implementation, the processing unit 802 is further configured to: determine reference data corresponding to the operating data from a plurality of reference data according to the operating data.

[0150] In a possible implementation manner, the above-mentioned operating data also includes at least one of load, current or working mode.

[0151] The embodiment of the present application also provides a chip. Fig. 9The schematic diagram of the structure of a chip 900 is shown. The chip 900 includes one or more processors 901 and an interface circuit 902. Optionally, the chip 900 may also include a bus 903.

[0152] The processor 901 may be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above fault detection method may be completed by an integrated logic circuit of hardware in the processor 901 or by instructions in the form of software.

[0153] Optionally, the processor 901 may be a general purpose processor, a digital signal processing (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods and steps disclosed in the embodiments of the present application may be implemented or executed. The general purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0154] The interface circuit 902 can be used to send or receive data, instructions or information. The processor 901 can use the data, instructions or other information received by the interface circuit 902 to process, and can send the processing completion information through the interface circuit 902.

[0155] Optionally, the chip also includes a memory, which may include a read-only memory and a random access memory, and provides operation instructions and data to the processor. A portion of the memory may also include a non-volatile random access memory (NVRAM).

[0156] Optionally, the memory stores executable software modules or data structures, and the processor can perform corresponding operations by calling operation instructions stored in the memory (the operation instructions can be stored in the operating system).

[0157] Optionally, the chip can be used in the fault detection device involved in the embodiment of the present application. Optionally, the interface circuit 902 can be used to output the execution result of the processor 901. The fault detection method provided by one or more embodiments of the embodiment of the present application can refer to the above-mentioned embodiments, which will not be repeated here.

[0158] It should be noted that the functions corresponding to the processor 901 and the interface circuit 902 can be implemented through hardware design, software design, or a combination of hardware and software, and there is no limitation here.

[0159] Fig.10 1 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device 1000 may be a processor or a chip or a functional module in a processor. Fig.10 As shown, the electronic device 1000 includes a processor 1001 , a transceiver 1002 and a communication line 1003 .

[0160] Among them, the processor 1001 is used to execute any step in the fault detection method provided in the embodiment of the present application, and in the process of executing any step in the fault detection method provided in the embodiment of the present application, the transceiver 1002 and the communication line 1003 can be selectively called to complete the corresponding operation.

[0161] Furthermore, the electronic device 1000 may also include a memory 1004. The processor 1001, the memory 1004 and the transceiver 1002 may be connected via a communication line 1003.

[0162] The processor 1001 is a processor, a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The processor 1001 may also be other devices with processing functions, such as circuits, devices, or software modules, without limitation.

[0163] The transceiver 1002 is used to communicate with other devices or other communication networks, and other communication networks may be Ethernet, radio access network (RAN), wireless local area network (WLAN), etc. The transceiver 1002 may be a module, a circuit, a transceiver or any device capable of achieving communication.

[0164] The transceiver 1002 is mainly used for sending and receiving commands and information, etc., and may include a transmitter and a receiver, which respectively send and receive commands and information, etc.; operations other than sending and receiving commands and information, etc. are implemented by the processor.

[0165] The communication line 1003 is used to transmit information between the components included in the electronic device 1000.

[0166] In one design, the processor may be considered as the logic circuit and the transceiver may be considered as the interface circuit.

[0167] The memory 1004 is used to store instructions, where the instructions may be computer programs.

[0168] The memory 1004 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. The nonvolatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM) and direct RAM bus DRAM (DRRAM). The memory 1004 may also be a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, etc. It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0169] It should be noted that the memory 1004 can exist independently of the processor 1001, or can be integrated with the processor 1001. The memory 1004 can be used to store instructions or program codes or some data, etc. The memory 1004 can be located inside the electronic device 1000, or outside the electronic device 1000, without limitation. The processor 1001 is used to execute the instructions stored in the memory 1004 to implement the method provided in the above embodiment of the present application.

[0170] In one example, the processor 1001 may include one or more processors, such as Fig.10 Processor 0 and processor 1 in.

[0171] As an optional implementation, the electronic device 1000 includes multiple processors, for example, Fig.10 In addition to the processor 1001, a processor 1007 may also be included.

[0172] As an optional implementation, the electronic device 1000 further includes an output device 10010 and an input device 1006. Exemplarily, the input device 1006 is a keyboard, a mouse, a microphone, a joystick, and the like, and the output device 10010 is a display screen, a speaker, and the like.

[0173] It should be noted that the electronic device 1000 may be a chip system or a Fig.10 Devices with similar structures in the chip system. Among them, the chip system can be composed of chips, or it can include chips and other discrete devices. The actions, terms, etc. involved in the various embodiments of this application can refer to each other without limitation. The message name or parameter name in the message exchanged between the various devices in the embodiment of this application is only an example, and other names can also be used in the specific implementation without limitation. In addition, Fig.10 The components shown in the figure do not constitute a limitation on the electronic device 1000. Fig.10 In addition to the components shown, the electronic device 1000 may include Fig.10 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0174] The processor and transceiver described in the present application can be implemented in an integrated circuit (IC), an analog IC, a radio frequency integrated circuit, a mixed signal IC, an application specific integrated circuit (ASIC), a printed circuit board (PCB), an electronic device, etc. The processor and transceiver can also be manufactured using various IC process technologies, such as complementary metal oxide semiconductor (CMOS), N-type metal oxide semiconductor (NMOS), P-type metal oxide semiconductor (positive channel metal oxide semiconductor, PMOS), bipolar junction transistor (BJT), bipolar CMOS (BiCMOS), silicon germanium (SiGe), gallium arsenide (GaAs), etc.

[0175] Fig.11 This is a schematic diagram of the structure of a fault detection device provided in an embodiment of the present application. The fault detection device can be applied to the scenario shown in the above method embodiment. For the convenience of explanation, Fig.11 Only the main components of the fault detection device are shown, including a processor 1101, a memory 1102, a control circuit 1103, and an input-output device 1104. The processor 1101 is mainly used to process the communication protocol and communication data, execute the software program, and process the data of the software program. The memory 1102 is mainly used to store the software program and data. The control circuit 1103 is mainly used for power supply and transmission of various electrical signals. The input-output device 1104 is mainly used to receive data input by the user and output data to the user.

[0176] When the fault detection device is a processor 1101, the control circuit 1103 can be a mainboard, the memory 1102 includes a hard disk, RAM, ROM and other media with storage functions, the processor 1101 can include a baseband processor 1101 and a central processing unit, the baseband processor is mainly used to process the communication protocol and communication data, the central processing unit is mainly used to control the entire fault detection device, execute the software program, and process the data of the software program, the input and output device 1104 includes a display screen, a keyboard and a mouse, etc.; the control circuit 1103 can further include or be connected to a transceiver circuit or a transceiver, such as: a network cable interface, etc., for sending or receiving data or signals, such as data transmission and communication with other devices. Further, it can also include an antenna for sending and receiving wireless signals, and for data / signal transmission with other devices.

[0177] An embodiment of the present application also provides a fault detection device, which includes: at least one processor, when the at least one processor executes program code or instructions, the above-mentioned related method steps are implemented to implement the fault detection method in the above-mentioned embodiment.

[0178] Optionally, the device may further include at least one memory, and the at least one memory is used to store the program code or instruction.

[0179] An embodiment of the present application also provides a computer storage medium, in which computer instructions are stored. When the computer instructions are executed on a fault detection device, the fault detection device executes the above-mentioned related method steps to implement the fault detection method in the above-mentioned embodiment.

[0180] The embodiment of the present application also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement the fault detection method in the above-mentioned embodiment.

[0181] The embodiment of the present application also provides a fault detection device, which can be a chip, an integrated circuit, a component or a module. Specifically, the device may include a connected processor and a memory for storing instructions, or the device includes at least one processor for obtaining instructions from an external memory. When the device is running, the processor can execute instructions so that the chip executes the fault detection method in the above-mentioned method embodiments.

[0182] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0183] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0184] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0185] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0186] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, and may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0187] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0188] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the above methods of each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, Read Only Memory (ROM), Random Access Memory (RAM), disk or optical disk, and other media that can store program codes.

[0189] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A fault detection method, characterized in that: The method comprises: Acquire operation data of the reducer, the operation data including a first rotational speed and a first vibration signal, the first rotational speed being the input end rotational speed of the reducer, and the first vibration signal including a plurality of vibration amplitudes corresponding to the first rotational speed; determining a target feature according to the operating data and reference data of the operating data, wherein the target feature is used to indicate a difference between the operating data and the reference data; Fault information of the reducer is determined according to the target feature, where the fault information is used to indicate whether the reducer is faulty.

2. The method according to claim 1, characterized in that The obtaining of the operating data of the reducer includes: Acquire the first vibration signal; Acquire a second speed and a target transmission ratio, wherein the second speed is a driving machine speed of the reducer, and the target transmission ratio is a ratio of the driving machine speed to the input end speed; The first speed is determined according to the second speed and a target transmission ratio.

3. The method according to claim 1 or 2, characterized in that: The reference data includes a plurality of second vibration signals and a plurality of third rotational speeds, the plurality of second vibration signals and the plurality of third rotational speeds correspond to each other one by one, and determining the target feature according to the operation data and the reference data of the operation data includes: Calibrate the first rotation speed according to the first vibration signal to obtain a first calibration rotation speed; determining a synchronization spectrum according to the first calibration rotation speed, the plurality of third rotation speeds and the plurality of second vibration signals, wherein the synchronization spectrum is a spectrum constructed based on the plurality of second vibration signals; The target feature is determined based on the synchronized frequency spectrum and the frequency spectrums of the plurality of second vibration signals.

4. The method according to claim 3, characterized in that The step of calibrating the first rotation speed according to the first vibration signal to obtain a first calibration rotation speed includes: determining an envelope signal of the first vibration signal according to the first vibration signal; determining an envelope spectrum of the first vibration signal according to the envelope signal and the first rotation speed; The first rotational speed is calibrated according to the envelope spectrum to obtain the first calibrated rotational speed.

5. The method according to claim 3 or 4, characterized in that: The determining the target feature according to the synchronization spectrum and the spectrum of the plurality of second vibration signals comprises: determining a plurality of characteristic values ​​according to the synchronization spectrum and the spectrum of the plurality of second vibration signals; The median of the plurality of feature values ​​is determined as the target feature.

6. The method according to any one of claims 1 to 5, characterized in that The determining the fault information of the reducer according to the target feature includes: Get the difference threshold; The fault information is determined according to the target feature and the difference threshold.

7. The method according to claim 6, characterized in that The reference data includes a plurality of second vibration signals, and obtaining the difference threshold includes: determining a plurality of difference values ​​according to the frequency spectra of the plurality of second vibration signals; The difference threshold is determined according to the plurality of difference values.

8. The method according to any one of claims 1 to 7, characterized in that The method further comprises: Reference data corresponding to the operating data is determined from a plurality of reference data according to the operating data.

9. The method according to any one of claims 1 to 8, characterized in that The operation data also includes at least one of load, current or working mode.

10. A fault detection device, characterized in that: The device comprises a transceiver unit and a processing unit; The transceiver unit is used to obtain operating data of the reducer, wherein the operating data includes a first rotational speed and a first vibration signal, wherein the first rotational speed is an input end rotational speed of the reducer, and the first vibration signal includes a plurality of vibration amplitudes corresponding to the first rotational speed; The processing unit is used to determine a target feature according to the operating data and the reference data of the operating data, wherein the target feature is used to indicate a difference between the operating data and the reference data; The processing unit is further used to determine fault information of the reducer according to the target feature, and the fault information is used to indicate whether the reducer is faulty.

11. The device according to claim 10, characterized in that The transceiver unit is specifically used for: Acquire the first vibration signal; Acquire a second speed and a target transmission ratio, wherein the second speed is a driving machine speed of the reducer, and the target transmission ratio is a ratio of the driving machine speed to the input end speed; The first speed is determined according to the second speed and a target transmission ratio.

12. The device according to claim 10 or 11, characterized in that The reference data includes a plurality of second vibration signals and a plurality of third rotational speeds, the plurality of second vibration signals and the plurality of third rotational speeds correspond one to one, and the processing unit is specifically used for: Calibrate the first rotation speed according to the first vibration signal to obtain a first calibration rotation speed; determining a synchronization spectrum according to the first calibration rotation speed, the plurality of third rotation speeds and the plurality of second vibration signals, wherein the synchronization spectrum is a spectrum constructed based on the plurality of second vibration signals; The target feature is determined based on the synchronized frequency spectrum and the frequency spectrums of the plurality of second vibration signals.

13. The device according to claim 12, characterized in that The processing unit is specifically used for: determining an envelope signal of the first vibration signal according to the first vibration signal; determining an envelope spectrum of the first vibration signal according to the envelope signal and the first rotation speed; The first rotational speed is calibrated according to the envelope spectrum to obtain the first calibrated rotational speed.

14. The device according to claim 12 or 13, characterized in that The processing unit is specifically used for: determining a plurality of characteristic values ​​according to the synchronization spectrum and the spectrum of the plurality of second vibration signals; The median of the plurality of feature values ​​is determined as the target feature.

15. The device according to any one of claims 10 to 14, characterized in that The processing unit is specifically used for: Get the difference threshold; The fault information is determined according to the target feature and the difference threshold.

16. The device according to claim 15, characterized in that The reference data includes a plurality of second vibration signals, and the processing unit is specifically used for: determining a plurality of difference values ​​according to the frequency spectra of the plurality of second vibration signals; The difference threshold is determined according to the plurality of difference values.

17. The device according to any one of claims 10 to 16, characterized in that The processing unit is also used for: Reference data corresponding to the operating data is determined from a plurality of reference data according to the operating data.

18. The device according to any one of claims 10 to 17, characterized in that The operation data also includes at least one of load, current or working mode.

19. A fault detection device, comprising at least one processor and a memory, characterized in that: The at least one processor executes a program or instruction stored in the memory so that the fault detection device implements the method according to any one of claims 1 to 9.

20. A computer-readable storage medium for storing a computer program, characterized in that: When the computer program is executed on a computer or a processor, the computer or the processor is enabled to implement the method according to any one of claims 1 to 9.

21. A computer program product, comprising instructions, characterized in that: When the instructions are executed on a computer or a processor, the computer or the processor is enabled to implement the method according to any one of claims 1 to 9.

22. A chip comprising at least one processor and a memory, characterized in that: The at least one processor executes a program or instruction stored in the memory so that the fault detection device implements the method according to any one of claims 1 to 9.

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