Underground carry-scraper climbing fuel tank abnormity early warning method and system

Abstract

The invention relates to the technical field of oil tank abnormity detection, in particular to an underground carry-scraper climbing oil tank abnormity early warning method and system, and the method comprises the steps that the initial hydraulic oil amount contained in a hydraulic oil tank is obtained, and the initial hydraulic oil amount is the sum of the oil amount of hydraulic oil in the hydraulic oil tank and the oil amount of hydraulic oil in oil cylinders; and calculating the oil quantity in the hydraulic oil tank at the moment # imgabs0 # in the operation process of the carry-scraper and the sum of the oil quantity of the hydraulic oil in each oil cylinder to obtain the actual hydraulic oil quantity at the moment # imgabs1 #, and calculating the difference value between the initial hydraulic oil quantity and the actual hydraulic oil quantity as the difference value between the actual hydraulic oil quantity and the initial hydraulic oil quantity at the moment # imgabs2 #. The abnormal state score of the hydraulic oil tank can be accurately calculated according to the running speed, the inclination angle of the hydraulic oil tank, the liquid level height of the hydraulic oil and the stroke of each oil cylinder which are detected in real time in the working process of the carry-scraper, so that the corresponding abnormal grade of the hydraulic oil tank is accurately judged, and abnormal early warning is carried out.

Description

Technical Field

[0001] The present invention relates to the technical field of oil tank anomaly detection, and more specifically, to an abnormality early warning method and system for an oil tank of an underground scraper climbing a slope. Background Art

[0002] In mining and underground engineering, underground scrapers are an important equipment responsible for the handling and transportation of materials. Underground scrapers usually include power systems, hydraulic systems, transmission systems and operating systems. The hydraulic oil tank is an important part of the hydraulic system, responsible for storing and supplying hydraulic oil to drive the various functions of the scraper. The supply and pressure changes of hydraulic oil will affect the performance of the equipment. If the hydraulic oil tank is insufficient due to oil leakage or long-term lack of oil, it will directly affect the working stability of the scraper and even cause equipment failure or accidents. Therefore, it is particularly important to warn of abnormal oil level in the hydraulic oil tank when the scraper is working.

[0003] In the related technology, for example, a Chinese patent document with a publication number of CN105570234B discloses a device and method for detecting hydraulic oil leakage. In the patent document, a liquid level monitoring module is used to read the liquid level value of the liquid level detection unit of the hydraulic oil tank when it is determined that the legs have been folded or the working state has been prohibited, to obtain a first liquid level value, and to store the first liquid level value; the liquid level monitoring module is also used to read the liquid level value of the liquid level detection unit when the controller is powered on next time to obtain a second liquid level value.

[0004] At present, the liquid level of the current hydraulic oil level in the hydraulic oil tank can be detected by the liquid level gauge sensor. The system calculates the remaining hydraulic oil in the tank based on the detected liquid level and the oil volume corresponding to the preset liquid level. However, in underground climbing operations with complex environments, scrapers often need to work on steep slopes. The scraper's movement amplitude and overall inclination are large. The hydraulic oil tank is in a tilted state most of the time, and the power demand for the scraper is higher when working on a slope, which causes the scraper itself to shake more. The oil level in the hydraulic oil tank fluctuates greatly, making it impossible for the liquid level sensor to timely and accurately reflect the real-time status of the hydraulic oil tank, and thus unable to accurately issue an early warning. Summary of the invention

[0005] The present invention provides an abnormal warning method and system for the climbing oil tank of an underground scraper loader, aiming to solve the problem in the related art that when the scraper loader is climbing uphill or shaking, the oil level in the hydraulic oil tank fluctuates greatly, making it impossible for the liquid level sensor to timely and accurately reflect the real-time status of the hydraulic oil tank, and thus unable to accurately issue a warning.

[0006] In the first aspect, the present invention provides an abnormal early warning method for a climbing oil tank of an underground scraper, comprising: obtaining an initial hydraulic oil volume contained in the hydraulic oil tank, wherein the initial hydraulic oil volume is the sum of the hydraulic oil volume in the hydraulic oil tank and the hydraulic oil volume in each oil cylinder; calculating the time at which the scraper is running; The sum of the amount of oil in the hydraulic oil tank and the amount of hydraulic oil in each cylinder at time The actual hydraulic oil volume is calculated, and the difference between the initial hydraulic oil volume and the actual hydraulic oil volume is used as the time The difference between the actual hydraulic oil volume and the initial hydraulic oil volume ; Calculate time Time difference credibility, said credibility and the moment The acceleration, driving speed and tilt angle of the hydraulic oil tank of the scraper are negatively correlated; the average value of the product of the difference value at multiple moments in the current time period and the credibility corresponding to the difference value is used as the abnormal state score of the hydraulic oil tank at the current moment, and an early warning is issued according to the magnitude of the abnormal state score of the hydraulic oil tank at the current moment. The difference value between the initial hydraulic oil volume and the actual hydraulic oil volume reflects the abnormal state of the hydraulic oil tank, and the difference value is weighted by the credibility corresponding to the difference value, so that the abnormal state score of the hydraulic oil tank can be accurately calculated, and an early warning of the corresponding level can be issued according to the abnormal state score of the hydraulic oil tank.

[0007] Furthermore, according to the magnitude of the abnormal state score of the hydraulic oil tank at the current moment, an early warning is issued, including: in response to the abnormal state score of the hydraulic oil tank at the current moment being greater than a threshold, an early warning is issued; in response to the abnormal state score of the hydraulic oil tank at the current moment being less than or equal to the threshold, no early warning is required. In this way, the abnormal state of the hydraulic oil tank can be accurately detected, and an early warning can be issued in time when the hydraulic oil tank is abnormal.

[0008] Furthermore, the abnormal state score of the hydraulic oil tank at the current moment is calculated using the following formula: ; In the formula, Indicates the abnormal status score of the hydraulic oil tank at the current moment, N indicates the number of moments in the current time period, Indicates the time in the current time period The difference value of Indicates time Time difference credibility, Represents the standard normalization function.

[0009] Furthermore, the calculation time The actual hydraulic oil volume in the hydraulic oil tank is calculated as follows: ; In the formula, Indicates time The amount of oil in the hydraulic tank of the scraper is , , and Respectively indicate at time The liquid levels at four locations in the hydraulic oil tank are collected at the time, A and B represent the length and width of the hydraulic oil tank respectively, wherein radar level gauges are installed at the top four corners of the hydraulic oil tank, and the radar level gauges are used to collect the liquid level of the hydraulic oil from the bottom of the hydraulic tank. When the scraper is on a slope, the hydraulic oil tank is in an inclined state as a whole. The average value of the hydraulic oil liquid level obtained by the four radar level gauges can accurately calculate the amount of oil in the hydraulic oil tank.

[0010] Furthermore, the credibility of the difference value is calculated using the following formula: ; In the formula, Indicates time Time difference credibility, and Respectively indicate time The forward or backward tilt angle and the left or right tilt angle of the hydraulic oil tank are Indicates time The acceleration of the scraper is Indicates time The travel speed of the scraper is is the preset parameter, is an exponential function with the natural constant e as the base. According to the current state of the hydraulic oil tank, it can reflect the credibility of the current calculated oil volume in the hydraulic oil tank. The credibility is used to weight the calculated oil volume in the hydraulic oil tank, so that the final calculation of the abnormal state score of the hydraulic oil tank is more accurate.

[0011] Further, obtaining the tilt angle of the hydraulic oil tank includes: using a dual-axis tilt sensor to collect the tilt angle of the hydraulic oil tank, wherein the dual-axis tilt sensor is installed at the middle position of the bottom of the hydraulic oil tank. The dual-axis tilt sensor can accurately obtain the tilt angle of the hydraulic oil tank.

[0012] Furthermore, issuing a warning based on the abnormal state score of the hydraulic oil tank at the current moment also includes: confirming the abnormal level based on the abnormal state score, the abnormal level including low, medium and high levels; issuing warnings of different degrees based on the abnormal level corresponding to the hydraulic oil tank at the current moment.

[0013] Furthermore, the empirical value of the threshold is 0.85.

[0014] In a second aspect of the present invention, there is also provided an underground loader climbing oil tank abnormality warning system, comprising a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to implement any of the above-mentioned underground loader climbing oil tank abnormality warning methods.

[0015] Beneficial effect: According to the real-time detection of the driving speed, the tilt angle of the hydraulic oil tank, the liquid level of the hydraulic oil and the stroke of each cylinder during the operation of the scraper, the abnormal state score of the hydraulic oil tank can be accurately calculated, so as to accurately judge the abnormal level corresponding to the hydraulic oil tank and issue an abnormal warning. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The following detailed description is read with reference to the accompanying drawings, which illustrate several embodiments of the present invention in an exemplary and non-limiting manner, and in which like or corresponding reference numerals represent like or corresponding parts, wherein: Figure 1 is a flowchart schematically illustrating a method of calculating an abnormal state score of a hydraulic oil tank according to an embodiment of the present invention. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0018] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0019] In one embodiment, the hydraulic system of the scraper is mainly composed of a hydraulic oil tank, a hydraulic pump, a hydraulic motor, a cylinder, and other parts and pipelines. When the scraper is working, the hydraulic oil in the hydraulic oil tank will flow to each of the above-mentioned devices and parts. During the entire working process of the scraper, the hydraulic oil will always exist in each of the above-mentioned devices and parts. The hydraulic oil flows out of the hydraulic oil tank, passes through various devices, and then flows into the hydraulic oil tank, circulating between these devices and parts. The amount of hydraulic oil in the hydraulic pump, hydraulic motor, other parts and pipelines is stable during the working process of the scraper, and the amount of hydraulic oil in the cylinder is increasing or decreasing with the working of the hydraulic actuator (such as bucket, boom, etc.). Therefore, the amount of hydraulic oil in the hydraulic oil tank will also increase or decrease with the change of the amount of hydraulic oil in the cylinder. Therefore, during the normal working process of the scraper, the change of the amount of oil in the hydraulic oil tank is only caused by the change of the hydraulic oil in each cylinder.

[0020] Therefore, during the operation of the scraper, the total amount of hydraulic oil in the hydraulic oil tank and the oil cylinder remains basically unchanged. If the total amount of hydraulic oil in the hydraulic oil tank and the oil cylinder decreases more, the possibility of abnormality in the hydraulic oil tank is higher. Therefore, the abnormal situation of the hydraulic oil tank can be judged based on this characteristic.

[0021] like Figure 1 As shown, S101: obtaining the initial amount of hydraulic oil contained in the hydraulic oil tank.

[0022] In one embodiment, after the scraper is started and before it starts to operate, the sum of the amount of hydraulic oil in the hydraulic oil tank and the amount of hydraulic oil in each cylinder is obtained as the initial amount of hydraulic oil contained in the hydraulic oil tank. The amount of oil in the hydraulic oil tank is obtained by a radar level gauge in the hydraulic oil tank on the scraper, and the amount of oil in the cylinder is obtained by an existing calculation method.

[0023] In one embodiment, the oil volume in the hydraulic oil tank is obtained, including: radar level gauges are installed at the four corners of the top of the hydraulic oil tank, the radar level gauges are used to collect the liquid level height of the hydraulic oil from the bottom of the hydraulic box body, and the average value of the liquid level heights measured by the four radar level gauges is multiplied by the length and width of the hydraulic oil tank to obtain the oil volume of the hydraulic oil in the hydraulic oil tank.

[0024] In one embodiment, obtaining the sum of the amounts of hydraulic oil in each oil cylinder includes: ,in It indicates the total amount of hydraulic oil in all cylinders of the scraper. Indicates the number of oil cylinders of the scraper. Indicates The diameter of the cylinder, Indicates The stroke of the cylinder.

[0025] S102: Calculate the difference between the initial hydraulic oil volume and the actual hydraulic oil volume at any moment.

[0026] In one embodiment, during the operation of the scraper, the amount of oil in the hydraulic oil tank plus the amount of oil in each cylinder at any time should be equal to the initial hydraulic oil amount. When the actual hydraulic oil amount at a certain time is not equal to the initial hydraulic oil amount, it means that the hydraulic oil tank may be abnormal. Therefore, it is necessary to calculate the difference between the initial hydraulic oil amount and the actual hydraulic oil amount at any time. The larger the difference, the greater the possibility of abnormality.

[0027] In one embodiment, the method for calculating the difference value includes: calculating the difference between the initial hydraulic oil volume and the actual hydraulic oil volume at the current moment as the difference between the actual hydraulic oil volume at the current moment and the initial hydraulic oil volume. The calculation formula is: , where Indicates time The difference between the actual hydraulic oil volume and the maximum hydraulic oil volume of the scraper is is the initial hydraulic oil volume, Indicates time The amount of oil in the hydraulic tank of the scraper is Indicates time The total amount of hydraulic oil in each cylinder of the scraper.

[0028] S103: Calculate the credibility of the difference value at any moment.

[0029] In one embodiment, when the acceleration and driving speed of the scraper are greater when working on a slope, the fluctuation of the hydraulic oil level in the hydraulic oil tank is greater, and the credibility of the difference value calculated at that moment is smaller; and the greater the slope inclination, the greater the inclination of the hydraulic oil tank, and the smaller the credibility of the difference value calculated at that moment. Thus, according to the driving speed of the scraper and the inclination angle of the hydraulic oil tank (the inclination angle of forward or backward inclination and the inclination angle of left or right inclination) at each moment during the operation of the scraper, the credibility of the difference value corresponding to each moment is calculated.

[0030] In one embodiment, the tilt angle of the hydraulic oil tank is obtained, including: a dual-axis tilt sensor is installed in the middle position of the bottom of the hydraulic oil tank, which is used to obtain the front and rear tilt angles and left and right tilt angles of the hydraulic oil tank when the scraper is working. When the hydraulic oil tank is in a horizontal position, the front and rear tilt angles and the left and right tilt angles are both 0, and when the hydraulic oil tank is tilted, the forward tilt, backward tilt, left tilt and right tilt angles of the hydraulic oil tank range from 0 degrees to 90 degrees.

[0031] In one embodiment, the reliability of the difference value is calculated using the following formula: ; In the formula, Indicates at time The difference calculated when credibility, and Respectively indicate time The forward or backward tilt angle and the left or right tilt angle of the hydraulic oil tank are Indicates time The acceleration of the scraper is Indicates time The travel speed of the scraper is is a preset parameter. In this embodiment, The default value of is 0.5. The preset value of is 0.1. In other embodiments, The value of can be adjusted according to the specific implementation. It is an exponential function with the natural constant e as its base.

[0032] Among them, when , and and The larger the value, the greater the fluctuation and inclination of the hydraulic oil tank liquid level, and the corresponding difference value of k at the moment Credibility The smaller it is; when the scraper speed and the tank tilt angle are both 0, it means that the hydraulic tank is in a horizontal position and the hydraulic oil level is relatively stable. At this time, the difference value of the corresponding moment k is calculated is the true value, then the corresponding credibility value is 1.

[0033] S104: Calculate the abnormal state score of the hydraulic oil tank at the current moment.

[0034] In one embodiment, during the operation of the shovel loader, the state of the hydraulic oil tank is detected once at regular intervals, and the abnormal state score of the hydraulic oil tank in the current time period is calculated. Specifically, the average value of the product of the difference values ​​at multiple moments in the current time period and the credibility corresponding to the difference values ​​is calculated as the abnormal state score of the hydraulic oil tank at the current moment.

[0035] In one embodiment, the abnormal state score of the hydraulic oil tank at the current moment is calculated using the following formula: ; In the formula, Indicates the abnormal status score of the hydraulic oil tank at the current moment. Indicates the number of moments in the current time period. Indicates the time in the current time period The difference value of Indicates time Time difference credibility, Represents the standard normalization function.

[0036] S105: issuing a warning according to the abnormal status score of the hydraulic oil tank at the current moment.

[0037] In one embodiment, if the abnormal state score of the hydraulic oil tank at the current moment is greater than a threshold, an early warning is issued; if the abnormal state score of the hydraulic oil tank at the current moment is less than or equal to the threshold, no early warning is required. In this embodiment, the empirical value of the threshold is 0.85. In other embodiments, the empirical value of the threshold can be set to 0.9 or 0.6, etc., which can be adjusted according to specific implementation conditions.

[0038] In another embodiment, the abnormal level of the hydraulic oil tank corresponding to the abnormal state score of the hydraulic oil tank in different intervals can also be preset, and the abnormal level includes low level, medium level and high level; according to the abnormal level corresponding to the hydraulic oil tank at the current moment, different degrees of warning are performed. Specifically, when the abnormal state score is in the interval from the first preset value to the second preset value, it is a low level; when the abnormal state score is in the interval from the second preset value to the third preset value, it is a medium level; when the abnormal state score is greater than the third preset value, it is a high level. Among them, the empirical value of the first preset value is 0.15, the empirical value of the second preset value is 0.5, and the empirical value of the third preset value is 0.7. In other embodiments, the first preset value, the second preset value and the third preset value can be adjusted according to specific circumstances.

[0039] The present invention also provides an underground scraper loader climbing oil tank abnormality warning system. The system includes a processor and a memory, the memory stores computer program instructions, and when the computer program instructions are executed by the processor, an underground scraper loader climbing oil tank abnormality warning method according to the first aspect of the present invention is implemented.

[0040] The system also includes other components well known to those skilled in the art, such as a communication bus and a communication interface, whose configuration and functions are known in the art and thus will not be described in detail here.

[0041] In the present invention, the aforementioned memory may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, apparatus or device. For example, a computer-readable storage medium may be any appropriate magnetic storage medium or magneto-optical storage medium, such as a resistive random access memory RRAM (Resistive Random Access Memory), a dynamic random access memory DRAM (Dynamic Random Access Memory), a static random access memory SRAM (Static Random-Access Memory), an enhanced dynamic random access memory EDRAM (Enhanced Dynamic Random Access Memory), a high-bandwidth memory HBM (High-Bandwidth Memory), a hybrid memory cube HMC (Hybrid Memory Cube), etc., or any other medium that can be used to store the required information and can be accessed by an application, a module, or both. Any such computer storage medium may be part of a device or accessible or connectable to a device. Any application or module described in the present invention may be implemented using computer-readable / executable instructions that may be stored or otherwise maintained by such a computer-readable medium.

[0042] In the description of this specification, "plurality" or "several" means at least two, such as two, three or more, etc., unless otherwise clearly and specifically defined.

[0043] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0044] The above-mentioned embodiments only express several implementation methods of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent application. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A method for warning abnormality of a climbing oil tank of an underground scraper, characterized in that: include: Obtaining an initial amount of hydraulic oil contained in the hydraulic oil tank, wherein the initial amount of hydraulic oil is the sum of the amount of hydraulic oil in the hydraulic oil tank and the amount of hydraulic oil in each oil cylinder; Calculate the time when the scraper is running The total amount of oil in the hydraulic oil tank and the amount of hydraulic oil in each cylinder at the time is taken as the The actual hydraulic oil volume is calculated, and the difference between the initial hydraulic oil volume and the actual hydraulic oil volume is used as the time The difference between the actual hydraulic oil volume and the initial hydraulic oil volume ; Calculation time Time difference credibility, said credibility and the moment The acceleration, travel speed, and tilt angle of the hydraulic oil tank of the scraper are all negatively correlated; The average value of the product of the difference values ​​at multiple moments in the current time period and the credibility corresponding to the difference values ​​is used as the abnormal state score of the hydraulic oil tank at the current moment, and an early warning is issued according to the size of the abnormal state score of the hydraulic oil tank at the current moment.

2. The method for warning abnormality of the oil tank of a downhole scraper according to claim 1, characterized in that: According to the abnormal state score of the hydraulic oil tank at the current moment, an early warning is issued, including: In response to the abnormal state score of the hydraulic oil tank at the current moment being greater than a threshold, an early warning is issued; In response to the abnormal state score of the hydraulic oil tank at the current moment being less than or equal to the threshold, no early warning is required.

3. The method for warning abnormality of the oil tank of a downhole scraper according to claim 1, characterized in that: Calculate the abnormal status score of the hydraulic oil tank at the current moment. The calculation formula is: ； In the formula, Indicates the abnormal status score of the hydraulic oil tank at the current moment, N indicates the number of moments in the current time period, Indicates the time in the current time period The difference value of Indicates time Time difference credibility, Represents the standard normalization function.

4. The method for warning abnormality of the oil tank of a downhole scraper according to claim 3 is characterized in that: Calculation time The actual hydraulic oil volume in the hydraulic oil tank is calculated as follows: ； In the formula, Indicates time The amount of oil in the hydraulic tank of the scraper is , , and Respectively indicate at time The liquid level heights at four locations in the hydraulic oil tank collected at the time, and They respectively represent the length and width of the hydraulic oil tank, wherein radar level gauges are installed at the four corners of the top of the hydraulic oil tank, and the radar level gauges are used to collect the liquid level height of the hydraulic oil from the bottom of the hydraulic box.

5. The method for warning abnormality of the oil tank of a downhole scraper according to claim 4, characterized in that: Calculate the credibility of the difference value, the calculation formula is: ； In the formula, Indicates time Time difference credibility, and Respectively indicate time The forward or backward tilt angle and the left or right tilt angle of the hydraulic oil tank are Indicates time The acceleration of the scraper is Indicates time The travel speed of the scraper is is the preset parameter, It is an exponential function with the natural constant e as its base.

6. The method for warning abnormality of the oil tank of a downhole scraper according to claim 1, characterized in that: Get the tilt angle of the hydraulic tank, including: The inclination angle of the hydraulic oil tank is collected by using a dual-axis inclination sensor, wherein the dual-axis inclination sensor is installed at the middle position of the bottom of the hydraulic oil tank.

7. The method for warning abnormality of the oil tank of a downhole scraper according to claim 1, characterized in that: According to the magnitude of the abnormal state score of the hydraulic oil tank at the current moment, an early warning is issued, which further includes: Determine the abnormality level according to the abnormality status score, wherein the abnormality level includes low level, medium level and high level; Different degrees of early warning are given according to the abnormality level corresponding to the hydraulic oil tank at the current moment.

8. The method for warning abnormality of the oil tank of a downhole scraper according to claim 2, characterized in that: The empirical value of the threshold is 0.

85.

9. An abnormal warning system for the oil tank of an underground scraper, comprising a processor and a memory, characterized in that: The memory stores a computer program, and the processor executes the computer program to implement the underground scraper loader climbing tank abnormality warning method as described in any one of claims 1-8.

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