A feedback control system and method for connecting rod transmission mechanism based on internal interference detection

Abstract

The present invention relates to the technical field of connecting rod transmission mechanism detection, and discloses a connecting rod transmission mechanism feedback control system and method based on internal interference detection, the system comprises: a connecting rod transmission mechanism, a sensor group and a control module, the control module comprises a collection unit, a judgment unit, a prediction unit, and a risk level prediction unit; the collection unit is configured to collect connecting rod pressure data and joint resistance data; the judgment unit is configured to judge whether there is interference risk inside the connecting rod transmission mechanism according to the comparison result; the prediction unit is configured to determine the potential interference occurrence area according to the fusion data set; the risk level prediction unit is configured to determine the neighborhood monitoring area according to the potential interference occurrence area, analyze the load change rate and acceleration change rate in the neighborhood monitoring area, and predict the interference risk occurrence level. The present invention not only improves the operating efficiency of the connecting rod transmission mechanism, but also prolongs its service life.

Description

Technical Field

[0001] The present invention relates to the technical field of connecting rod transmission mechanism detection, and in particular to a connecting rod transmission mechanism feedback control system and method based on internal interference detection. Background Art

[0002] In traditional connecting rod transmission mechanisms, due to the lack of an effective internal interference detection mechanism, when the connecting rod or joint has abnormal temperature rise or wear, it is often difficult to detect in time, resulting in equipment failure or even damage. In addition, due to the lack of real-time monitoring and early warning systems, once interference occurs, operators may not be able to take timely measures, increasing production risks and maintenance costs.

[0003] Therefore, it is necessary to design a feedback control system and method for a connecting rod transmission mechanism based on internal interference detection to solve the technical problems existing in the prior art. Summary of the invention

[0004] In view of this, the present invention proposes a feedback control system and method for a connecting rod transmission mechanism based on internal interference detection, aiming to solve the problem in current technology that when abnormal temperature rise or wear of the connecting rod or joint occurs, it is often difficult to detect in time, resulting in equipment failure or even damage.

[0005] In one aspect, the present invention provides a feedback control system for a connecting rod transmission mechanism based on internal interference detection, comprising:

[0006] A connecting rod transmission mechanism, a sensor group and a control module, wherein the connecting rod transmission mechanism includes a plurality of connecting rods and joints for connecting the connecting rods; the sensor group is arranged on the connecting rods and inside the joints; the control module includes a collection unit, a judgment unit, a prediction unit, and a risk level prediction unit;

[0007] The acquisition unit is configured to acquire connecting rod pressure data and joint resistance data;

[0008] The judgment unit is configured to compare the connecting rod pressure data with the connecting rod pressure threshold, and compare the joint resistance data with the joint resistance threshold, and judge whether there is an interference risk inside the connecting rod transmission mechanism according to the comparison result; when it is determined that there is an interference risk inside the connecting rod transmission mechanism, the judgment unit controls the acquisition unit to acquire the connecting rod state data, and calculates the risk detection value according to the connecting rod state data, compares the risk detection value with the risk detection threshold, and judges whether to issue an interference warning according to the comparison result;

[0009] The prediction unit is configured such that when it is determined that an interference warning is to be performed, the detection unit controls the acquisition unit to acquire the pressure data and vibration data inside the connecting rod transmission mechanism to establish a fusion data set, and determines a potential interference occurrence area according to the fusion data set;

[0010] The risk level prediction unit is configured to determine a neighborhood monitoring area according to the potential interference occurrence area, analyze the load change rate and acceleration change rate in the neighborhood monitoring area, and predict the interference risk occurrence level based on the analysis result.

[0011] Further, the connecting rod pressure data is compared with the connecting rod pressure threshold, and the joint resistance data is compared with the joint resistance threshold, and judging whether there is an interference risk inside the connecting rod transmission mechanism according to the comparison result includes:

[0012] When the connecting rod pressure data is greater than or equal to the connecting rod pressure threshold, and the joint resistance data is greater than or equal to the joint resistance threshold, it is determined that there is an interference risk inside the connecting rod transmission mechanism;

[0013] When the connecting rod pressure data is greater than or equal to the connecting rod pressure threshold, and the joint resistance data is less than the joint resistance threshold, it is determined that there is an interference risk inside the connecting rod transmission mechanism;

[0014] When the connecting rod pressure data is less than the connecting rod pressure threshold, and the joint resistance data is greater than or equal to the joint resistance threshold, it is determined that there is an interference risk inside the connecting rod transmission mechanism;

[0015] When the connecting rod pressure data is smaller than the connecting rod pressure threshold, and the joint resistance data is smaller than the joint resistance threshold, it is determined that there is no interference risk inside the connecting rod transmission mechanism.

[0016] Furthermore, the connecting rod state data includes connecting rod position data, connecting rod speed data and connecting rod acceleration.

[0017] Further, a risk detection value is calculated according to the connecting rod state data, the risk detection value is compared with a risk detection threshold, and whether to perform an interference warning is determined according to the comparison result, including:

[0018] Calculating the risk detection values ​​between two different connecting rods one by one, and constructing a risk detection data set;

[0019] The risk detection values ​​in the risk detection data set are compared with the risk detection thresholds one by one, and it is determined whether to issue an interference warning according to the comparison result.

[0020] Further, judging whether to issue an interference warning according to the comparison result includes:

[0021] When there are one or more risk detection values ​​greater than the risk detection threshold in the risk detection data set, determining to perform an interference warning;

[0022] When there is no risk detection value greater than the risk detection threshold in the risk detection data set, it is determined that no interference warning is performed.

[0023] Furthermore, the risk detection value is obtained by the following formula:

[0024]

[0025] Among them, Id represents the risk detection value, PLi represents the end position coordinates of the i-th connecting rod, PLj represents the end position coordinates of the j-th connecting rod, Pr represents the standard position difference value, VLi represents the speed of the i-th connecting rod, PLj represents the speed of the j-th connecting rod, Vr represents the standard speed difference value, ALi represents the acceleration of the i-th connecting rod, ALj represents the acceleration of the j-th connecting rod, Ar represents the standard acceleration difference value, and α, β, and γ represent weight coefficients.

[0026] Furthermore, collecting the pressure data and vibration data inside the connecting rod transmission mechanism to establish a fused data set, and determining the potential interference occurrence area according to the fused data set includes:

[0027] Processing the fused data set using a machine learning algorithm to identify abnormal pressure data and abnormal vibration data;

[0028] The pressure abnormality data and the vibration abnormality data are compared with a historical interference feature database, and the potential interference occurrence area is determined according to the comparison result.

[0029] Furthermore, when determining the potential interference occurrence area according to the comparison result, it includes:

[0030] When there is historical interference feature data identical to the pressure abnormality data and the vibration abnormality data in the historical interference feature database, determining the potential interference occurrence area according to the historical interference feature data;

[0031] When there is no historical interference feature data identical to the pressure abnormality data and the vibration abnormality data in the historical interference feature database, the temperature abnormality data, the pressure abnormality data and the vibration abnormality data are processed by a data interpolation algorithm to determine the potential interference occurrence area.

[0032] Further, the load change rate and the acceleration change rate in the neighborhood monitoring area are analyzed, and the interference risk occurrence level is predicted based on the analysis results, including:

[0033] Calculate the interference risk index based on the load change rate and acceleration change rate;

[0034] Comparing the interference risk index with a first interference risk index threshold and a second interference risk index threshold, and determining the interference risk occurrence level according to the comparison result, wherein the first interference risk index threshold is less than the second interference risk index threshold;

[0035] When the interference risk index is less than or equal to the first interference risk index threshold, determining that the interference risk occurrence level is the first level;

[0036] When the interference risk index is greater than the first interference risk index threshold and less than or equal to the second interference risk index threshold, determining that the interference risk occurrence level is the second level;

[0037] When the interference risk index is greater than the second interference risk index threshold, it is determined that the interference risk occurrence level is the third level.

[0038] Compared with the prior art, the beneficial effect of the present invention is that the feedback control system of the connecting rod transmission mechanism based on internal interference detection provided by the present invention can monitor and feedback various abnormal conditions inside the connecting rod transmission mechanism in real time, thereby effectively avoiding failures and damages caused by internal interference. By collecting and analyzing various data inside the connecting rod transmission mechanism, such as pressure, vibration, etc., the system can timely discover and predict potential interference areas and the level of interference risk, and take corresponding preventive measures. In addition, the system can also dynamically adjust the working state of the connecting rod transmission mechanism according to the real-time monitored data to adapt to no-load conditions. In this way, the system not only improves the operating efficiency of the connecting rod transmission mechanism, but also extends its service life.

[0039] In another aspect, the present invention further proposes a feedback control method for a connecting rod transmission mechanism based on internal interference detection, comprising the following steps:

[0040] S100: collecting connecting rod pressure data and joint resistance data;

[0041] S200: comparing the connecting rod pressure data with the connecting rod pressure threshold, comparing the joint resistance data with the joint resistance threshold, and judging whether there is an interference risk inside the connecting rod transmission mechanism according to the comparison result; when it is judged that there is an interference risk inside the connecting rod transmission mechanism, collecting the connecting rod state data, and calculating the risk detection value according to the connecting rod state data, comparing the risk detection value with the risk detection threshold, and judging whether to issue an interference warning according to the comparison result;

[0042] S300: When it is determined that an interference warning is to be performed, the pressure data and vibration data inside the connecting rod transmission mechanism are collected to establish a fusion data set, and a potential interference occurrence area is determined according to the fusion data set;

[0043] S400: determining a neighborhood monitoring area according to the potential interference occurrence area, analyzing the load change rate and acceleration change rate in the neighborhood monitoring area, and predicting the interference risk occurrence level based on the analysis results.

[0044] It can be understood that the above-mentioned feedback control system and method of the connecting rod transmission mechanism based on internal interference detection have the same beneficial effects, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0046] Figure 1 A structural block diagram of a feedback control system of a connecting rod transmission mechanism based on internal interference detection provided by an embodiment of the present invention;

[0047] Figure 2 A flow chart of a feedback control method for a connecting rod transmission mechanism based on internal interference detection provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0048] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to be able to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0049] See also Figure 1 As shown, in some embodiments of the present application, this embodiment provides a feedback control system of a connecting rod transmission mechanism based on internal interference detection, including:

[0050] A connecting rod transmission mechanism, a sensor group and a control module, wherein the connecting rod transmission mechanism includes a plurality of connecting rods and joints for connecting the connecting rods; the sensor group is arranged on the connecting rods and inside the joints; the control module includes a collection unit, a judgment unit, a prediction unit, and a risk level prediction unit;

[0051] The acquisition unit is configured to acquire connecting rod pressure data and joint resistance data;

[0052] The judgment unit is configured to compare the connecting rod pressure data with the connecting rod pressure threshold, and compare the joint resistance data with the joint resistance threshold, and judge whether there is an interference risk inside the connecting rod transmission mechanism according to the comparison result; when it is determined that there is an interference risk inside the connecting rod transmission mechanism, the judgment unit controls the acquisition unit to acquire the connecting rod state data, and calculates the risk detection value according to the connecting rod state data, compares the risk detection value with the risk detection threshold, and judges whether to issue an interference warning according to the comparison result;

[0053] The prediction unit is configured such that when it is determined that an interference warning is to be performed, the detection unit controls the acquisition unit to acquire the pressure data and vibration data inside the connecting rod transmission mechanism to establish a fusion data set, and determines a potential interference occurrence area according to the fusion data set;

[0054] The risk level prediction unit is configured to determine a neighborhood monitoring area according to the potential interference occurrence area, analyze the load change rate and acceleration change rate in the neighborhood monitoring area, and predict the interference risk occurrence level based on the analysis result.

[0055] It is understandable that the connecting rod transmission mechanism feedback control system based on internal interference detection provided in this embodiment can monitor and feedback various abnormal conditions inside the connecting rod transmission mechanism in real time, thereby effectively avoiding failures and damages caused by internal interference. By collecting and analyzing various data inside the connecting rod transmission mechanism, such as pressure, vibration, etc., the system can timely discover and predict potential interference areas and the level of interference risk, and take corresponding preventive measures. In addition, the system can also dynamically adjust the working state of the connecting rod transmission mechanism according to the real-time monitored data to adapt to no-load conditions. In this way, the system not only improves the operating efficiency of the connecting rod transmission mechanism, but also extends its service life.

[0056] Specifically, the connecting rod pressure data is compared with the connecting rod pressure threshold, and the joint resistance data is compared with the joint resistance threshold, and judging whether there is an interference risk inside the connecting rod transmission mechanism according to the comparison result includes:

[0057] When the connecting rod pressure data is greater than or equal to the connecting rod pressure threshold, and the joint resistance data is greater than or equal to the joint resistance threshold, it is determined that there is an interference risk inside the connecting rod transmission mechanism;

[0058] When the connecting rod pressure data is greater than or equal to the connecting rod pressure threshold, and the joint resistance data is less than the joint resistance threshold, it is determined that there is an interference risk inside the connecting rod transmission mechanism;

[0059] When the connecting rod pressure data is less than the connecting rod pressure threshold, and the joint resistance data is greater than or equal to the joint resistance threshold, it is determined that there is an interference risk inside the connecting rod transmission mechanism;

[0060] When the connecting rod pressure data is smaller than the connecting rod pressure threshold, and the joint resistance data is smaller than the joint resistance threshold, it is determined that there is no interference risk inside the connecting rod transmission mechanism.

[0061] It can be seen that by comparing the connecting rod pressure data with the connecting rod pressure threshold and the joint resistance data with the joint resistance threshold, the interference risk inside the connecting rod transmission mechanism can be accurately judged. In practical applications, this judgment mechanism can detect abnormal states of connecting rods and joints in a timely manner, thereby avoiding mechanical failures caused by interference.

[0062] Specifically, the connecting rod state data includes connecting rod position data, connecting rod speed data and connecting rod acceleration.

[0063] Specifically, the risk detection value is calculated according to the connecting rod state data, the risk detection value is compared with the risk detection threshold, and whether to perform interference warning is determined according to the comparison result, including:

[0064] Calculating the risk detection values ​​between two different connecting rods one by one, and constructing a risk detection data set;

[0065] The risk detection values ​​in the risk detection data set are compared with the risk detection thresholds one by one, and it is determined whether to issue an interference warning according to the comparison result.

[0066] It is understandable that the risk detection values ​​in the risk detection data set are compared with the risk detection thresholds one by one, and whether there is an abnormal state inside the connecting rod transmission mechanism is determined based on the comparison results, which can effectively identify potential interference problems inside the connecting rod transmission mechanism. When an abnormal state is detected, the system can issue a warning in time and take corresponding measures according to the risk level, such as adjusting working parameters or performing maintenance, to prevent potential failures.

[0067] Specifically, judging whether to issue an interference warning based on the comparison results includes:

[0068] When there are one or more risk detection values ​​greater than the risk detection threshold in the risk detection data set, determining to perform an interference warning;

[0069] When there is no risk detection value greater than the risk detection threshold in the risk detection data set, it is determined that no interference warning is performed.

[0070] Specifically, the risk detection value is obtained by the following formula:

[0071]

[0072] Among them, Id represents the risk detection value, PLi represents the end position coordinates of the i-th connecting rod, PLj represents the end position coordinates of the j-th connecting rod, Pr represents the standard position difference value, VLi represents the speed of the i-th connecting rod, PLj represents the speed of the j-th connecting rod, Vr represents the standard speed difference value, ALi represents the acceleration of the i-th connecting rod, ALj represents the acceleration of the j-th connecting rod, Ar represents the standard acceleration difference value, and α, β, and γ represent weight coefficients.

[0073] It can be understood that the formula comprehensively considers the position difference, speed difference and acceleration difference between the connecting rods. By adjusting the weight coefficients α, β, and γ, flexible adaptation to interference detection in different situations can be achieved. Among them, the standard position difference value Pr, the standard speed difference value Vr, and the standard acceleration difference value Ar are pre-set based on the design specifications and working conditions of the connecting rod transmission mechanism, and are used as a benchmark for evaluating the difference in the connecting rod state. This potential interference detection and prediction method based on a mathematical model not only improves the accuracy of detection, but also enhances the automation and intelligence level of the system.

[0074] Specifically, collecting the pressure data and vibration data inside the connecting rod transmission mechanism to establish a fused data set, and determining the potential interference occurrence area according to the fused data set includes:

[0075] Processing the fused data set using a machine learning algorithm to identify abnormal pressure data and abnormal vibration data;

[0076] The pressure abnormality data and the vibration abnormality data are compared with a historical interference feature database, and the potential interference occurrence area is determined according to the comparison result.

[0077] Specifically, when determining the potential interference occurrence area according to the comparison results, it includes:

[0078] When there is historical interference feature data identical to the pressure abnormality data and the vibration abnormality data in the historical interference feature database, determining the potential interference occurrence area according to the historical interference feature data;

[0079] When there is no historical interference feature data identical to the pressure abnormality data and the vibration abnormality data in the historical interference feature database, the temperature abnormality data, the pressure abnormality data and the vibration abnormality data are processed by a data interpolation algorithm to determine the potential interference occurrence area.

[0080] It is understandable that with this approach, not only can the operating status of the connecting rod transmission mechanism be monitored in real time, but potential failures can also be predicted, so that measures can be taken in advance to avoid equipment damage and production interruptions. Through continuous monitoring and analysis, the system is able to provide a comprehensive view of the health status of the connecting rod transmission mechanism, which is crucial to maintaining the long-term stable operation of the equipment.

[0081] In this embodiment, when determining the potential interference occurrence area based on the historical interference feature data: first, extract the historical interference feature data that matches the current pressure abnormality data and vibration abnormality data from the historical interference feature database; then, analyze these historical interference feature data in detail to determine the similarities and differences between them; finally, combine the structural characteristics and working environment of the connecting rod transmission mechanism to comprehensively judge the potential interference occurrence area. For example, when the pressure abnormality data shows that the pressure in the area increases abnormally, and the vibration data shows that there is obvious vibration enhancement, it can be inferred that there are problems of overheating and uneven pressure in the area, which may cause deformation or wear of the components of the connecting rod transmission mechanism.

[0082] In this embodiment, when the data interpolation algorithm is used to process the abnormal pressure data and the abnormal vibration data to determine the potential interference area: first, the abnormal pressure data and the abnormal vibration data are cleaned and preprocessed to eliminate noise and interference; then, a suitable data interpolation algorithm is selected, such as linear interpolation, polynomial interpolation or spline interpolation, to interpolate the cleaned data; finally, based on the interpolation results, the potential interference area is predicted. For example, if the abnormal pressure data and the abnormal vibration data show corresponding abnormal changes, it can be inferred that the joint area is likely to cause internal interference due to uneven pressure. In this way, the system can promptly identify potential interference risk areas and take corresponding preventive measures.

[0083] Specifically, the load change rate and acceleration change rate in the neighborhood monitoring area are analyzed, and the interference risk occurrence level is predicted based on the analysis results, including:

[0084] Calculate the interference risk index based on the load change rate and acceleration change rate;

[0085] Comparing the interference risk index with a first interference risk index threshold and a second interference risk index threshold, and determining the interference risk occurrence level according to the comparison result, wherein the first interference risk index threshold is less than the second interference risk index threshold;

[0086] When the interference risk index is less than or equal to the first interference risk index threshold, determining that the interference risk occurrence level is the first level;

[0087] When the interference risk index is greater than the first interference risk index threshold and less than or equal to the second interference risk index threshold, determining that the interference risk occurrence level is the second level;

[0088] When the interference risk index is greater than the second interference risk index threshold, it is determined that the interference risk occurrence level is the third level.

[0089] In this embodiment, the interference risk index is obtained by the following formula:

[0090]

[0091] Among them, Vi represents the interference risk index, represents the load change rate, △A represents the acceleration change rate, ω1 and ω2 represent the interference risk influence coefficients, η is a constant representing the background noise or baseline value, and ε is a constant used to adjust the stability of the formula.

[0092] Background noise or baseline value is the inherent noise or signal fluctuations generated within the system through detection or during normal operation of the equipment.

[0093] It can be understood that predicting the level of interference risk through the interference risk index can provide a quantitative risk assessment for the maintenance and fault prevention of the connecting rod transmission mechanism. The calculation of the interference risk index Vi takes into account the possible impact of load changes and acceleration changes on the connecting rod transmission mechanism, while the interference type characteristic influence coefficients ω1 and ω2 are adjusted according to different interference risks to ensure the accuracy of risk assessment. The introduction of constants η and ε is to ensure that background noise and system stability can be handled during the calculation process, thereby avoiding misjudgment and excessive alarms. In this way, the system can dynamically evaluate the health of the connecting rod transmission mechanism based on real-time monitoring data and historical data, and issue early warnings in time to guide maintenance personnel to conduct targeted inspections and repairs, thereby effectively reducing the equipment failure rate and ensuring the continuity and safety of the production process.

[0094] See also Figure 2 As shown, in some embodiments of the present application, this embodiment provides a feedback control method of a connecting rod transmission mechanism based on internal interference detection, comprising the following steps:

[0095] S100: collecting connecting rod pressure data and joint resistance data;

[0096] S200: comparing the connecting rod pressure data with the connecting rod pressure threshold, comparing the joint resistance data with the joint resistance threshold, and judging whether there is an interference risk inside the connecting rod transmission mechanism according to the comparison result; when it is judged that there is an interference risk inside the connecting rod transmission mechanism, collecting the connecting rod state data, and calculating the risk detection value according to the connecting rod state data, comparing the risk detection value with the risk detection threshold, and judging whether to issue an interference warning according to the comparison result;

[0097] S300: When it is determined that an interference warning is to be performed, the pressure data and vibration data inside the connecting rod transmission mechanism are collected to establish a fusion data set, and a potential interference occurrence area is determined according to the fusion data set;

[0098] S400: determining a neighborhood monitoring area according to the potential interference occurrence area, analyzing the load change rate and acceleration change rate in the neighborhood monitoring area, and predicting the interference risk occurrence level based on the analysis results.

[0099] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0100] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0101] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0102] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0103] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A feedback control system for a connecting rod transmission mechanism based on internal interference detection, characterized in that: include: A connecting rod transmission mechanism, a sensor group and a control module, wherein the connecting rod transmission mechanism includes a plurality of connecting rods and joints for connecting the connecting rods; the sensor group is arranged on the connecting rods and inside the joints; the control module includes a collection unit, a judgment unit, a prediction unit, and a risk level prediction unit; The acquisition unit is configured to acquire connecting rod pressure data and joint resistance data; The judgment unit is configured to compare the connecting rod pressure data with the connecting rod pressure threshold, and compare the joint resistance data with the joint resistance threshold, and judge whether there is an interference risk inside the connecting rod transmission mechanism according to the comparison result; when it is determined that there is an interference risk inside the connecting rod transmission mechanism, the judgment unit controls the acquisition unit to acquire the connecting rod state data, and calculates the risk detection value according to the connecting rod state data, compares the risk detection value with the risk detection threshold, and judges whether to issue an interference warning according to the comparison result; The prediction unit is configured such that when it is determined that an interference warning is to be performed, the detection unit controls the acquisition unit to acquire the pressure data and vibration data inside the connecting rod transmission mechanism to establish a fusion data set, and determines a potential interference occurrence area according to the fusion data set; The risk level prediction unit is configured to determine a neighborhood monitoring area according to the potential interference occurrence area, analyze the load change rate and acceleration change rate in the neighborhood monitoring area, and predict the interference risk occurrence level based on the analysis result.

2. The feedback control system of the connecting rod transmission mechanism based on internal interference detection according to claim 1, characterized in that: The connecting rod pressure data is compared with the connecting rod pressure threshold, and the joint resistance data is compared with the joint resistance threshold, and whether there is an interference risk inside the connecting rod transmission mechanism is determined according to the comparison result, including: When the connecting rod pressure data is greater than or equal to the connecting rod pressure threshold, and the joint resistance data is greater than or equal to the joint resistance threshold, it is determined that there is an interference risk inside the connecting rod transmission mechanism; When the connecting rod pressure data is greater than or equal to the connecting rod pressure threshold, and the joint resistance data is less than the joint resistance threshold, it is determined that there is an interference risk inside the connecting rod transmission mechanism; When the connecting rod pressure data is less than the connecting rod pressure threshold, and the joint resistance data is greater than or equal to the joint resistance threshold, it is determined that there is an interference risk inside the connecting rod transmission mechanism; When the connecting rod pressure data is smaller than the connecting rod pressure threshold, and the joint resistance data is smaller than the joint resistance threshold, it is determined that there is no interference risk inside the connecting rod transmission mechanism.

3. The feedback control system of the connecting rod transmission mechanism based on internal interference detection according to claim 2, characterized in that: The connecting rod state data includes connecting rod position data, connecting rod speed data and connecting rod acceleration.

4. The feedback control system of the connecting rod transmission mechanism based on internal interference detection according to claim 3, characterized in that: Calculating a risk detection value according to the connecting rod state data, comparing the risk detection value with a risk detection threshold, and determining whether to perform an interference warning according to the comparison result, including: Calculating the risk detection values ​​between two different connecting rods one by one, and constructing a risk detection data set; The risk detection values ​​in the risk detection data set are compared with the risk detection thresholds one by one, and it is determined whether to issue an interference warning according to the comparison result.

5. The feedback control system of the connecting rod transmission mechanism based on internal interference detection according to claim 4, characterized in that: When judging whether to issue an interference warning based on the comparison results, it includes: When there are one or more risk detection values ​​greater than the risk detection threshold in the risk detection data set, determining to perform an interference warning; When there is no risk detection value greater than the risk detection threshold in the risk detection data set, it is determined that no interference warning is performed.

6. The feedback control system of the connecting rod transmission mechanism based on internal interference detection according to claim 5, characterized in that: The risk detection value is obtained by the following formula: Among them, Id represents the risk detection value, PLi represents the end position coordinates of the i-th connecting rod, PLj represents the end position coordinates of the j-th connecting rod, Pr represents the standard position difference value, VLi represents the speed of the i-th connecting rod, PLj represents the speed of the j-th connecting rod, Vr represents the standard speed difference value, ALi represents the acceleration of the i-th connecting rod, ALj represents the acceleration of the j-th connecting rod, Ar represents the standard acceleration difference value, and α, β, and γ represent weight coefficients.

7. The feedback control system of the connecting rod transmission mechanism based on internal interference detection according to claim 6, characterized in that: The pressure data and vibration data inside the connecting rod transmission mechanism are collected to establish a fused data set, and the potential interference occurrence area is determined according to the fused data set, including: Processing the fused data set using a machine learning algorithm to identify abnormal pressure data and abnormal vibration data; The pressure abnormality data and the vibration abnormality data are compared with a historical interference feature database, and the potential interference occurrence area is determined according to the comparison result.

8. The feedback control system of the connecting rod transmission mechanism based on internal interference detection according to claim 7, characterized in that: When determining the potential interference occurrence area according to the comparison results, it includes: When there is historical interference feature data identical to the pressure abnormality data and the vibration abnormality data in the historical interference feature database, determining the potential interference occurrence area according to the historical interference feature data; When there is no historical interference feature data identical to the pressure abnormality data and the vibration abnormality data in the historical interference feature database, the temperature abnormality data, the pressure abnormality data and the vibration abnormality data are processed by a data interpolation algorithm to determine the potential interference occurrence area.

9. The feedback control system of the connecting rod transmission mechanism based on internal interference detection according to claim 8, characterized in that: Analyzing the load change rate and acceleration change rate in the neighborhood monitoring area, and predicting the interference risk occurrence level based on the analysis results, including: Calculate the interference risk index based on the load change rate and acceleration change rate; Comparing the interference risk index with a first interference risk index threshold and a second interference risk index threshold, and determining the interference risk occurrence level according to the comparison result, wherein the first interference risk index threshold is less than the second interference risk index threshold; When the interference risk index is less than or equal to the first interference risk index threshold, determining that the interference risk occurrence level is the first level; When the interference risk index is greater than the first interference risk index threshold and less than or equal to the second interference risk index threshold, determining that the interference risk occurrence level is the second level; When the interference risk index is greater than the second interference risk index threshold, it is determined that the interference risk occurrence level is the third level.

10. A method for feedback control of a connecting rod transmission mechanism based on internal interference detection, applied to the feedback control system of a connecting rod transmission mechanism based on internal interference detection as claimed in any one of claims 1 to 9, characterized in that: include: Collect connecting rod pressure data and joint resistance data; The connecting rod pressure data is compared with the connecting rod pressure threshold, and the joint resistance data is compared with the joint resistance threshold, and whether there is an interference risk inside the connecting rod transmission mechanism is determined according to the comparison result; when it is determined that there is an interference risk inside the connecting rod transmission mechanism, the connecting rod state data is collected, and a risk detection value is calculated according to the connecting rod state data, and the risk detection value is compared with the risk detection threshold, and whether to issue an interference warning is determined according to the comparison result; When it is determined that an interference warning is to be performed, the pressure data and vibration data inside the connecting rod transmission mechanism are collected to establish a fusion data set, and a potential interference occurrence area is determined according to the fusion data set; A neighborhood monitoring area is determined according to the potential interference occurrence area, a load change rate and an acceleration change rate in the neighborhood monitoring area are analyzed, and the interference risk occurrence level is predicted based on the analysis results.

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