Automatic detection method, system and equipment for oil filling of hydraulic module and medium

Abstract

The invention discloses a hydraulic module oil filling automatic detection method, system and device and a medium, and the method comprises the steps: carrying out the circulating vacuum pumping of hydraulic oil, and achieving the preset vacuum degree and the preset hydraulic oil purity; when it is detected that the preset vacuum degree and the preset purity are reached, a plurality of preset percentage duty ratios are given to the hydraulic module, and for each preset percentage duty ratio, the corresponding output thrust value, the corresponding output working current value and the corresponding output working frequency value of the hydraulic module are obtained according to the corresponding duty ratio; the corresponding output thrust value of the hydraulic module is adjusted through a PID control loop, so that each output thrust value of the hydraulic module is adjusted to a corresponding preset thrust value, and each piece of actual measurement data of the hydraulic module under each preset thrust value is reversely obtained; and comparing each actually measured data of the hydraulic module with each corresponding preset qualified data of the hydraulic module to detect whether the oil filling of the hydraulic module is successful, and the application can automatically detect whether the oil filling of the hydraulic module is successful.

Description

Technical Field

[0001] The invention belongs to the technical field of oil drilling, and in particular relates to a method, system, equipment and medium for automatically detecting oil filling of a hydraulic module. Background Art

[0002] In recent years, with the development of oil resources, the workload of oil drilling has increased day by day, and the rotary steerable drilling system is a new type of automated drilling technology. The rotary steerable system allows the guide head to realize functions such as increasing inclination, stabilizing inclination, and decreasing inclination during rotary drilling. In this system, the hydraulic module is the key component to realize the reliable application of push-type rotary steering. The rotary steering needs to use the hydraulic module to generate thrust for guided drilling.

[0003] The hydraulic module needs to be maintained and oiled when it is working. The quality of the oiling directly determines the downhole guiding capability. The current existing technology requires manual inspection to check whether the oiling is successful after the hydraulic module is oiled. Manual inspection requires manual intervention, which consumes a lot of manpower costs and is prone to human errors during operation and recording.

[0004] Therefore, how to automatically detect whether the hydraulic module is successfully filled with oil is a technical problem that needs to be solved. Summary of the invention

[0005] The purpose of the present invention is to provide a method, system, equipment and medium for automatically detecting oil filling of a hydraulic module, so as to solve the problems existing in the prior art.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: The present invention provides a method for automatically detecting oil filling of a hydraulic module, comprising: The hydraulic oil is circulated and vacuumed to make the oil-filled environment reach a preset vacuum degree and the hydraulic oil reach a preset purity; When it is detected that the oil filling environment reaches a preset vacuum degree and the hydraulic oil reaches a preset purity, a plurality of preset percentage duty cycles are given to the hydraulic module while filling the hydraulic module with oil, and for each preset percentage duty cycle, a corresponding output thrust value of the hydraulic module is obtained according to the corresponding duty cycle; The corresponding output thrust value of the hydraulic module is adjusted through a PID control loop so that each output thrust value of the hydraulic module is adjusted to a corresponding preset thrust value, and each measured data of the hydraulic module under each preset thrust value is reversely obtained, wherein each measured data includes a measured duty cycle, a measured current value, and a measured frequency value of the hydraulic module; The measured data of the hydraulic module are compared with the corresponding preset qualified data of the hydraulic module to detect whether the hydraulic module is successfully filled with oil. The preset qualified data include a preset qualified duty cycle, a preset qualified current value and a preset qualified frequency value.

[0007] Optionally, the hydraulic oil is circulated and vacuumed to make the oil-filled environment reach a preset vacuum degree and the hydraulic oil reach a preset purity, including: Set start and stop time rules for the vacuum pump and circulation pump of the oil filling machine; Based on the start-stop time rule, the vacuum pump and the circulating pump are driven to circulate and vacuum the hydraulic oil so that the oil-filled environment reaches a preset vacuum degree and the hydraulic oil reaches a preset purity, wherein the hydraulic module is respectively connected to the vacuum pump and the circulating pump of the oil filling machine, and hydraulic oil is arranged in the oil filling machine.

[0008] Optionally, obtaining a corresponding output thrust value of the hydraulic module according to a corresponding duty cycle includes: The hydraulic module is sequentially given multiple preset percentage duty cycles via the RS485 bus, and the motor inside the hydraulic module drives the micro oil pump to generate different thrusts at different preset percentage duty cycles, and the thrusts are transmitted to the thrust sensor via the mechanical piston, and the thrust sensor is used to generate an output thrust value of the hydraulic module; Wherein, the hydraulic module is connected to the thrust sensor through a connecting pipe, and the hydraulic module and the thrust sensor are installed on a hydraulic module fixture.

[0009] Optionally, the corresponding output thrust value, the corresponding output working current value and the corresponding output working frequency value of the hydraulic module are automatically saved in a database to generate a data report.

[0010] Optionally, after the reverse acquisition of each measured data of the hydraulic module under each preset thrust value, the method further includes: Automatically save each measured data of the hydraulic module in the database; The measured data, the corresponding output thrust value, the corresponding output working current value and the corresponding output working frequency value stored in the database are automatically generated into an Excel data report to identify whether the hydraulic module is successfully filled with oil.

[0011] Optionally, the corresponding output thrust value of the hydraulic module is received through the hydraulic module motor driver, and PID closed-loop control is performed on each output thrust value of the hydraulic module until each output thrust value reaches a preset thrust value, wherein the input end of the hydraulic module motor driver is connected to the PC end through an RS485 bus, and the output end of the hydraulic module motor driver is connected to the drive circuit through an ITT connector.

[0012] Optionally, the method further includes: For each preset percentage of duty cycle, a corresponding output thrust value, a corresponding output working current value and a corresponding output working frequency value of the hydraulic module are obtained according to the corresponding duty cycle; The corresponding output thrust value, the corresponding output working current value and the corresponding output working frequency value of the hydraulic module are compared with the corresponding first preset qualified data of the hydraulic module to detect whether the hydraulic module is within the qualified range, and the first preset qualified data includes a first preset qualified duty cycle, a first preset qualified current value and a first preset qualified frequency value.

[0013] The present application also provides a hydraulic module oil filling automatic detection system, which is characterized by comprising: A circulating vacuum pumping module is used to circulate and vacuum the hydraulic oil so that the oil-filled environment reaches a preset vacuum degree and the hydraulic oil reaches a preset purity; A first data acquisition module is used for, when it is detected that the oil filling environment reaches a preset vacuum degree and the hydraulic oil reaches a preset purity, to fill the hydraulic module with oil and set a plurality of preset percentages of duty cycles to the hydraulic module, and for each preset percentage of duty cycle, to acquire a corresponding output thrust value of the hydraulic module according to the corresponding duty cycle; A second data acquisition module is used to adjust the corresponding output thrust value of the hydraulic module through a PID control loop, so that each output thrust value of the hydraulic module is adjusted to a corresponding preset thrust value, and reversely acquire each measured data of the hydraulic module under each preset thrust value, wherein each measured data includes a measured duty cycle, a measured current value, and a measured frequency value of the hydraulic module; The judgment module is used to compare the measured data of the hydraulic module with the corresponding preset qualified data of the hydraulic module to detect whether the hydraulic module is successfully filled with oil. The preset qualified data include a preset qualified duty cycle, a preset qualified current value and a preset qualified frequency value.

[0014] An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the steps of the method are implemented when the processor executes the computer program.

[0015] A non-transitory computer-readable storage medium stores a computer program, which implements the steps of the method when executed by a processor.

[0016] Beneficial effects: After the hydraulic oil is circulated and vacuumed, the hydraulic module is given a plurality of preset percentages of duty cycles, and for each preset percentage of duty cycle, the corresponding output thrust value and other data of the hydraulic module are obtained according to the corresponding duty cycle, and each output thrust value is adjusted to the preset thrust value through the hydraulic module motor driver. After that, the hydraulic module operates according to the preset thrust value, and each measured data of the hydraulic module under the preset thrust value is collected, and each measured data of each hydraulic module is compared with each preset qualified data, so as to determine whether the hydraulic module is qualified and whether the oil filling is successful. This process does not require manual operation and will not consume a lot of manpower costs. Human errors are prone to occur during manual operation and recording. The technology automatically detects whether the hydraulic module is successfully filled with oil, saves a lot of time, and eliminates the possibility of human error, saving a lot of manpower costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting a part of this application are used to provide a further understanding of this application, so that other features, purposes and advantages of this application become more obvious. The schematic embodiment drawings and their descriptions of this application are used to explain this application and do not constitute an improper limitation on this application. In the drawings: Figure 1 A schematic diagram of a flow chart of a method for automatically detecting oil filling of a hydraulic module provided in an embodiment of the present application; Figure 2 A data report diagram provided for an embodiment of the present application; Figure 3 A schematic diagram of the structure of a hydraulic module oil filling automatic detection system provided in an embodiment of the present application; Figure 4 A schematic diagram of the physical structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in combination with the drawings and the description of the embodiments or the prior art. Obviously, the following description of the structure of the drawings is only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0019] It should be understood that although the terms first, second, etc. may be used herein to describe various units, these units should not be limited by these terms. These terms are only used to distinguish one unit from another unit. For example, a first unit can be referred to as a second unit, and similarly, a second unit can be referred to as a first unit without departing from the scope of the exemplary embodiments of the present invention.

[0020] It should be understood that the term "and / or" that may appear in this article is merely a description of the association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B can represent three situations: A exists alone, B exists alone, and A and B exist at the same time. The term " / and" that may appear in this article describes another type of association object relationship, indicating that two relationships may exist. For example, A / and B can represent two situations: A exists alone, and A and B exist alone. In addition, the character " / " that may appear in this article generally indicates that the previous and next associated objects are in an "or" relationship.

[0021] Embodiment 1: like Figure 1 The figure is a flow chart of a method for automatically detecting oil filling of a hydraulic module proposed in an embodiment of the present invention, comprising: S1. Circulate and vacuum the hydraulic oil to make the oil-filled environment reach a preset vacuum degree and the hydraulic oil reach a preset purity.

[0022] Specifically, the hydraulic module needs to be connected to the vacuum pump and circulating pump of the oil filling machine respectively during the oil filling process. The oil filling machine is provided with hydraulic oil. If the vacuum degree of the hydraulic oil is not enough, it will contain air bubbles, etc. Therefore, the hydraulic module needs to be filled with oil after the hydraulic oil is completely exhausted. The upper computer software of the present application sets the start and stop time rules for the vacuum pump and the circulating pump through the timing function. Based on the start and stop time rules, the timing controller will perform relevant start and stop actions according to the set rules during automatic detection, and drive the vacuum pump and the circulating pump to circulate and vacuum the hydraulic oil, so that the oil filling environment reaches the preset vacuum degree and the hydraulic oil reaches the preset purity.

[0023] S2. When it is detected that the oil filling environment reaches a preset vacuum degree and the hydraulic oil reaches a preset purity, multiple preset percentage duty cycles are given to the hydraulic module while filling the hydraulic module with oil, and for each preset percentage duty cycle, the corresponding output thrust value of the hydraulic module is obtained according to the corresponding duty cycle.

[0024] Specifically, after completing the start and stop control of the vacuum pump and the circulating pump, the oil filling environment reaches the preset vacuum degree and the hydraulic oil reaches the preset purity. While filling the hydraulic module with oil, the hydraulic module is given multiple preset percentages of duty cycles, and for each preset percentage of duty cycle, the corresponding output thrust values, corresponding output working current values ​​and corresponding output working frequency values ​​of the three tested hydraulic modules are obtained respectively, so that the duty cycle corresponding frequency values ​​of the three modules can be used for reference. It should be noted that the preset percentage of duty cycle of a hydraulic module is given every preset time. As an embodiment of the present application, the upper computer software sends 2%, 4%, 6%, 8%...20% duty cycles in sequence through the RS485 bus, and a duty cycle is given every minute. After 1 minute, when the hydraulic module data fluctuation is stable, the output thrust value, output current value and output frequency value and other information are obtained in sequence. It should be noted that the preset percentage of duty cycle of a hydraulic module is given every preset time. For example, after issuing a 2% duty cycle, wait for one minute to obtain the corresponding output thrust value, output current value and output frequency value, and so on. This process can realize automatic oil filling of the hydraulic module, and determine whether the obtained output thrust value, output current value and output frequency value readings are within the qualified range to meet the factory requirements. Specifically, the corresponding output thrust value, the corresponding output working current value and the corresponding output working frequency value of the hydraulic module are compared with the corresponding first preset qualified data of the hydraulic module to detect whether the hydraulic module is within the qualified range. The first preset qualified data includes a first preset qualified duty cycle, a first preset qualified current value and a first preset qualified frequency value.

[0025] It should be noted that each hydraulic module is composed of at least a motor, a piston and a pressure sensor. The value measured by the pressure sensor inside the hydraulic module (the unit is mV) is proportional to the value measured by the thrust sensor of the test bench (the unit is tons). After the hydraulic module is given multiple preset percentages of duty cycle in sequence through the RS485 bus, the motor inside the hydraulic module generates working current and working frequency at different preset percentages of duty cycle.

[0026] In order to obtain the output thrust value of the hydraulic module, in a preferred embodiment of the present solution, the corresponding output thrust value of the hydraulic module is obtained according to the corresponding duty cycle, including: At preset time intervals, after the hydraulic module is given multiple preset percentages of duty cycles in sequence through the RS485 bus, the motor inside the hydraulic module drives the micro oil pump to generate different thrusts at different preset percentages of duty cycles, and the thrusts are transmitted to the thrust sensor on the test bench through the mechanical piston. The thrust sensor on the test bench is used to generate the output thrust value of the hydraulic module; wherein the hydraulic module is connected to the thrust sensor through a connecting pipe, and the hydraulic module and the thrust sensor are installed on the hydraulic module fixture.

[0027] S3. The corresponding output thrust value of the hydraulic module is adjusted through a PID control loop, so that each output thrust value of the hydraulic module is adjusted to a corresponding preset thrust value, and each measured data of the hydraulic module under each preset thrust value is reversely obtained.

[0028] Specifically, the hydraulic module motor driver receives the corresponding output thrust value of the hydraulic module, and performs PID closed-loop control on each output thrust value of the hydraulic module until each output thrust value reaches the preset thrust value. In this process, the upper computer software sets a duty cycle so that each output thrust value reaches the preset thrust value. The duty cycle that can reach the preset thrust value is the measured duty cycle. At this time, the hydraulic module motor driver will feedback the measured data of the hydraulic module under the preset thrust value through the RS485 bus. The measured data includes the measured duty cycle, measured current value and measured frequency value of the hydraulic module. After receiving this information, the upper computer software records it in the corresponding database. Among them, the input end of the hydraulic module motor driver is connected to the PC end through the RS485 bus, and the output end of the hydraulic module motor driver is connected to the drive circuit through the ITT connector. The function of the drive circuit is to amplify the signal to drive a load with greater power.

[0029] S4. Compare the measured data of the hydraulic module with the corresponding preset qualified data of the hydraulic module to detect whether the hydraulic module is successfully filled with oil.

[0030] Specifically, each measured data of the hydraulic module is compared with the corresponding preset qualified data to detect whether the hydraulic module is successfully filled with oil. The preset qualified data include a preset qualified duty cycle, a preset qualified current value and a preset qualified frequency value. Each preset qualified data is a data preset in advance. Each preset qualified data is a range value. When the measured data falls within this range value, the hydraulic module is a qualified product. If a certain measured data is not within this range value, it proves that the current hydraulic module test data is unqualified.

[0031] As an embodiment of the present application, the hydraulic module is placed as a whole in an insulated box. When the hydraulic module is tested at high temperature, observe whether there is a sudden drop in pressure within 15 minutes of continuous operation. If such an abnormal phenomenon occurs, record it.

[0032] This application can automatically cycle to vacuum the hydraulic oil, automatically fill the hydraulic module with oil, and automatically test the hydraulic module. The whole process takes about 20 hours. All processes of the original equipment require manual intervention, which consumes a lot of manpower costs and is prone to human errors during operation and recording. The improved equipment eliminates the possibility of human error and saves a lot of manpower.

[0033] In order to record various data in real time and determine whether the hydraulic module is successful, as a preferred embodiment of the present application, the corresponding output thrust value, corresponding output current value and corresponding output frequency value of the hydraulic module are automatically saved in the database to automatically generate a part of the data report. The measured data of the hydraulic module are automatically saved in the database, and the measured data, the corresponding output thrust value, the corresponding output current value and the corresponding output frequency value saved in the database are automatically generated into an excel data report, refer to Figure 2 , is a data report for display. The upper part of the table is the corresponding duty cycle given in step S2, and the corresponding corresponding output thrust value, the corresponding output working current value and the corresponding output working frequency value are obtained. The lower part of the table is the duty cycle given according to the preset thrust value until the preset thrust value is reached, and the measured data of the hydraulic module under each preset thrust value are reversely obtained according to the preset thrust value. The measured data include the measured duty cycle of the hydraulic module and the measured current value and the measured frequency value corresponding to the measured duty cycle; according to Figure 2 The displayed data report can identify whether the hydraulic module is successfully filled with oil. Among them, the API (Application Programming Interface) function of MFC (Microsoft Foundation Classes) can be used to operate Excel to generate a standard data report for technicians to identify whether the oil filling is successful. Through the above stages, the automatic detection process of the hydraulic module's oil filling tooling is completed, which can save manpower and material resources.

[0034] After the hydraulic oil is circulated and vacuumed, the hydraulic module is given a plurality of preset percentages of duty cycles, and for each preset percentage of duty cycle, the corresponding output thrust value and other data of the hydraulic module are obtained according to the corresponding duty cycle, and each output thrust value is adjusted to the preset thrust value through the hydraulic module motor driver. After that, the hydraulic module operates according to the preset thrust value, and each measured data of the hydraulic module under the preset thrust value is collected, and each measured data of each hydraulic module is compared with each preset qualified data, so as to determine whether the hydraulic module is qualified and whether the oil filling is successful. This process does not require manual operation and will not consume a lot of manpower costs. Human errors are prone to occur during manual operation and recording. The technology automatically detects whether the hydraulic module is successfully filled with oil, saves a lot of time, and eliminates the possibility of human error, saving a lot of manpower costs.

[0035] Figure 3 The structural schematic diagram of a hydraulic module oil filling automatic detection system provided by the present invention comprises: The circulating vacuum pumping module 10 is used to circulate and vacuum the hydraulic oil so that the oil-filled environment reaches a preset vacuum degree and the hydraulic oil reaches a preset purity; The first data acquisition module 20 is used to, when it is detected that the oil-filled environment reaches a preset vacuum degree and the hydraulic oil reaches a preset purity, give the hydraulic module a plurality of preset percentage duty cycles, and for each preset percentage duty cycle, obtain the corresponding output thrust value, the corresponding output working current value and the corresponding output working frequency value of the hydraulic module according to the corresponding duty cycle; A second data acquisition module 30 is used to adjust the corresponding output thrust value of the hydraulic module through a PID control loop, so that each output thrust value of the hydraulic module is adjusted to a corresponding preset thrust value, and reversely acquire each measured data of the hydraulic module under each preset thrust value, wherein each measured data includes a measured duty cycle, a measured current value, and a measured frequency value of the hydraulic module; The judgment module 40 is used to compare the measured data of the hydraulic module with the corresponding preset qualified data of the hydraulic module to detect whether the hydraulic module is successfully filled with oil. The preset qualified data include a preset qualified duty cycle, a preset qualified current value and a preset qualified frequency value.

[0036] Figure 4 A schematic diagram of the physical structure of an electronic device provided in an embodiment of the present invention, such as Figure 4 As shown, the electronic device 60 includes: a processor 601 (processor), a memory 602 (memory) and a bus 603; The processor 601 and the memory 602 communicate with each other via the bus 603; The processor 601 is used to call the program instructions in the memory 602 to execute the methods provided by the above-mentioned method embodiments. The device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative labor.

[0037] Through the description of the above implementation modes, those skilled in the art can clearly understand that each implementation mode can be implemented by means of software plus a necessary general hardware platform, or of course by hardware. Based on such an understanding, the above technical solution can essentially or in other words be embodied in the form of a software product that contributes to the prior art. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or some parts of the embodiment.

[0038] 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 aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

[0039] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for automatically detecting oil filling of a hydraulic module, characterized in that: include: The hydraulic oil is circulated and vacuumed to make the oil-filled environment reach a preset vacuum degree and the hydraulic oil reach a preset purity; When it is detected that the oil filling environment reaches a preset vacuum degree and the hydraulic oil reaches a preset purity, a plurality of preset percentage duty cycles are given to the hydraulic module while filling the hydraulic module with oil, and for each preset percentage duty cycle, a corresponding output thrust value of the hydraulic module is obtained according to the corresponding duty cycle; The corresponding output thrust value of the hydraulic module is adjusted through a PID control loop so that each output thrust value of the hydraulic module is adjusted to a corresponding preset thrust value, and each measured data of the hydraulic module under each preset thrust value is reversely obtained, wherein each measured data includes a measured duty cycle, a measured current value, and a measured frequency value of the hydraulic module; The measured data of the hydraulic module are compared with the corresponding preset qualified data of the hydraulic module to detect whether the hydraulic module is successfully filled with oil. The preset qualified data include a preset qualified duty cycle, a preset qualified current value and a preset qualified frequency value.

2. The method according to claim 1, characterized in that The hydraulic oil is circulated and vacuumed to make the oil-filled environment reach the preset vacuum degree and the hydraulic oil reach the preset purity, including: Set start and stop time rules for the vacuum pump and circulation pump of the oil filling machine; Based on the start-stop time rule, the vacuum pump and the circulating pump are driven to circulate and vacuum the hydraulic oil so that the oil-filled environment reaches a preset vacuum degree and the hydraulic oil reaches a preset purity, wherein the hydraulic module is respectively connected to the vacuum pump and the circulating pump of the oil filling machine, and hydraulic oil is arranged in the oil filling machine.

3. The method according to claim 1, characterized in that The corresponding output thrust value of the hydraulic module is obtained according to the corresponding duty cycle, including: The hydraulic module is sequentially given multiple preset percentage duty cycles via the RS485 bus, and the motor inside the hydraulic module drives the micro oil pump to generate different thrusts at different preset percentage duty cycles, and the thrusts are transmitted to the thrust sensor via the mechanical piston, and the thrust sensor is used to generate an output thrust value of the hydraulic module; Wherein, the hydraulic module is connected to the thrust sensor through a connecting pipe, and the hydraulic module and the thrust sensor are installed on a hydraulic module fixture.

4. The method according to claim 1, characterized in that: The corresponding output thrust value, the corresponding output working current value and the corresponding output working frequency value of the hydraulic module are automatically saved in a database to generate a data report.

5. The method according to claim 4, characterized in that After the reverse acquisition of each measured data of the hydraulic module under each preset thrust value, it also includes: Automatically save each measured data of the hydraulic module in the database; The measured data, the corresponding output thrust value, the corresponding output working current value and the corresponding output working frequency value stored in the database are automatically generated into an Excel data report to identify whether the hydraulic module is successfully filled with oil.

6. The method according to claim 1, characterized in that The corresponding output thrust value of the hydraulic module is received through the hydraulic module motor driver, and PID closed-loop control is performed on each output thrust value of the hydraulic module until each output thrust value reaches a preset thrust value, wherein the input end of the hydraulic module motor driver is connected to the PC end through the RS485 bus, and the output end of the hydraulic module motor driver is connected to the drive circuit through the ITT connector.

7. The method according to claim 1, characterized in that The method further comprises: For each preset percentage of duty cycle, a corresponding output thrust value, a corresponding output working current value and a corresponding output working frequency value of the hydraulic module are obtained according to the corresponding duty cycle; The corresponding output thrust value, the corresponding output working current value and the corresponding output working frequency value of the hydraulic module are compared with the corresponding first preset qualified data of the hydraulic module to detect whether the hydraulic module is within the qualified range, and the first preset qualified data includes a first preset qualified duty cycle, a first preset qualified current value and a first preset qualified frequency value.

8. A hydraulic module oil filling automatic detection system, characterized in that: include: A circulating vacuum pumping module is used to circulate and vacuum the hydraulic oil so that the oil-filled environment reaches a preset vacuum degree and the hydraulic oil reaches a preset purity; A first data acquisition module is used for, when it is detected that the oil filling environment reaches a preset vacuum degree and the hydraulic oil reaches a preset purity, to fill the hydraulic module with oil and set a plurality of preset percentages of duty cycles to the hydraulic module, and for each preset percentage of duty cycle, to acquire a corresponding output thrust value of the hydraulic module according to the corresponding duty cycle; A second data acquisition module is used to adjust the corresponding output thrust value of the hydraulic module through a PID control loop, so that each output thrust value of the hydraulic module is adjusted to a corresponding preset thrust value, and reversely acquire each measured data of the hydraulic module under each preset thrust value, wherein each measured data includes a measured duty cycle, a measured current value, and a measured frequency value of the hydraulic module; The judgment module is used to compare the measured data of the hydraulic module with the corresponding preset qualified data of the hydraulic module to detect whether the hydraulic module is successfully filled with oil. The preset qualified data include a preset qualified duty cycle, a preset qualified current value and a preset qualified frequency value.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the hydraulic module oil filling automatic detection method according to any one of claims 1 to 7 are implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for automatically detecting oil filling of a hydraulic module as claimed in any one of claims 1 to 7 are implemented.

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