Method and device for fault diagnosis of mechanical equipment and mechanical equipment

Abstract

The invention discloses a mechanical equipment fault diagnosis method and device and mechanical equipment, and belongs to the field of engineering machinery. The mechanical equipment comprises a plurality of execution mechanisms and detection mechanisms corresponding to the execution mechanisms. The method comprises the following steps: acquiring first detection data of the detection mechanisms about actions of the corresponding execution mechanisms; performing preliminary diagnosis on the first detection data to obtain a preliminary fault diagnosis result of the mechanical equipment; and under the condition that a deep fault diagnosis instruction is received, according to preset fault diagnosis strategies corresponding to a plurality of preset abnormal variables which influence a preliminary fault diagnosis result, controlling a target execution mechanism in a plurality of execution mechanisms to execute a corresponding preset action, obtaining second detection data of a target detection mechanism corresponding to the target execution mechanism; and screening the plurality of preset abnormal variables according to the second detection data to obtain a final fault diagnosis result of the mechanical equipment. According to the invention, the root cause of the fault can be diagnosed.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a method, a device and a mechanical equipment for diagnosing mechanical equipment faults. Background Art

[0002] At present, with the development of technology in the field of engineering machinery, the electrical system architecture of mechanical equipment is becoming more and more complex. When a mechanical equipment fails, the existing technology usually uses a single fault diagnosis method to diagnose the fault, for example, monitoring the communication value of a single sensor to determine whether there is a corresponding fault. However, the above method can only determine the more superficial faults and cannot diagnose the root cause of the fault. Therefore, it is difficult to fundamentally solve the fault, which reduces the practicality of the mechanical equipment. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a method, device and mechanical equipment for mechanical equipment fault diagnosis, so as to solve the technical problem that the root cause of the fault cannot be diagnosed in the prior art.

[0004] In order to achieve the above-mentioned object, the first aspect of the present application provides a method for diagnosing mechanical equipment faults, wherein the mechanical equipment includes a plurality of actuators and a detection mechanism corresponding to each actuator, and the method includes:

[0005] Acquire first detection data of each detection mechanism regarding the action of the corresponding actuator;

[0006] Performing a preliminary diagnosis on the first detection data to obtain a preliminary fault diagnosis result of the mechanical equipment;

[0007] When receiving the deep fault diagnosis instruction, according to the preset fault diagnosis strategies respectively corresponding to the multiple preset abnormal variables affecting the preliminary fault diagnosis result, the target actuator among the multiple actuators is controlled to perform the corresponding preset action to obtain the second detection data of the target detection mechanism corresponding to the target actuator;

[0008] A plurality of preset abnormal variables are screened according to the second detection data to obtain a final fault diagnosis result of the mechanical equipment.

[0009] In an embodiment of the present application, the preset abnormal variables include communication bus line abnormality and / or communication bus terminal resistance abnormality; according to the preset fault diagnosis strategies corresponding to the multiple preset abnormal variables that affect the preliminary fault diagnosis result, the target actuator among the multiple actuators is controlled to perform the corresponding preset action to obtain the second detection data of the target detection mechanism corresponding to the target actuator, including: when the preset abnormal variable is the communication bus line abnormality and / or the communication bus terminal resistance abnormality, any actuator among the multiple actuators is determined as the target actuator, and the target actuator is controlled to perform the corresponding preset action to obtain the second detection data of the target detection mechanism corresponding to the target actuator; multiple preset abnormal variables are screened according to the second detection data to obtain the final fault diagnosis result of the mechanical equipment, including: when the second detection data is within the corresponding preset normal value range, the preset abnormal variable is excluded from the multiple preset abnormal variables; when the second detection data is not within the corresponding preset normal value range, the final fault diagnosis result of the mechanical equipment is determined to be the preset abnormal variable.

[0010] In an embodiment of the present application, a preliminary fault diagnosis result includes a detection mechanism failure, and a preset abnormal variable includes abnormal power supply to the detection mechanism and / or damage to the detection mechanism body; according to preset fault diagnosis strategies corresponding to multiple preset abnormal variables affecting the preliminary fault diagnosis result, a target actuator among multiple actuators is controlled to perform a corresponding preset action to obtain second detection data of a target detection mechanism corresponding to the target actuator, including: when the preset abnormal variable is abnormal power supply to the detection mechanism and / or damage to the detection mechanism body, the detection mechanism corresponding to the preliminary fault diagnosis result is determined to be the target detection mechanism, and the actuator corresponding to the target detection mechanism is determined to be the target actuator, the target detection mechanism is controlled to be powered on, and the remaining detection mechanisms among the multiple detection mechanisms except the target detection mechanism are powered off, and the target actuator is controlled to perform a corresponding preset action to obtain second detection data of the target detection mechanism corresponding to the target actuator; multiple preset abnormal variables are screened according to the second detection data to obtain a final fault diagnosis result of the mechanical equipment, including: when the second detection data is within the corresponding preset normal value range, the preset abnormal variable is excluded from the multiple preset abnormal variables; when the second detection data is not within the corresponding preset normal value range, the final fault diagnosis result of the mechanical equipment is determined to be the preset abnormal variable.

[0011] In an embodiment of the present application, the preset abnormal variable includes a communication bus line interference caused by a detection mechanism failure; according to the preset fault diagnosis strategies corresponding to the multiple preset abnormal variables affecting the preliminary fault diagnosis result, the target actuator among the multiple actuators is controlled to perform the corresponding preset action to obtain the second detection data of the target detection mechanism corresponding to the target actuator, including: in the case where the preset abnormal variable is the communication bus line interference caused by the detection mechanism failure, each actuator among the multiple actuators is determined to be an actuator to be checked, and the remaining actuators among the multiple actuators except the actuator to be checked are determined as target actuators, and the detection mechanism corresponding to the actuator to be checked is controlled to be powered off, the target detection mechanism is controlled to be powered off, and the target detection mechanism is controlled to be powered off. The target detection mechanism corresponding to the actuator is energized, and the target actuator is controlled to perform a corresponding preset action to obtain second detection data of the target detection mechanism corresponding to the target actuator; multiple preset abnormal variables are screened according to the second detection data to obtain a final fault diagnosis result of the mechanical equipment, including: when the second detection data is within the corresponding preset normal value range, determining that the final fault diagnosis result is a communication bus line interference caused by a fault in the detection mechanism corresponding to the actuator to be checked; when the second detection data is not within the corresponding preset normal value range, excluding the communication bus line interference caused by the fault in the detection mechanism corresponding to the actuator to be checked from multiple preset abnormal variables.

[0012] In an embodiment of the present application, the actuator includes a boom, and the detection mechanism includes a boom length and angle detection device; when the target actuator is a boom and the target detection mechanism is a boom length and angle detection device, the preset action includes a boom amplitude change action and / or a boom extension and retraction action.

[0013] In an embodiment of the present application, the actuator includes a rotating mechanism, and the detection mechanism includes a rotation angle detection device; when the target actuator is a rotating mechanism and the target detection mechanism is a rotation angle detection device, the preset action includes a rotation action of the rotating mechanism.

[0014] In an embodiment of the present application, the actuator includes a boom, and the detection mechanism includes a torque limiter; when the target actuator is a boom and the target detection mechanism is a torque limiter, the preset action includes the boom operating range exceeding the preset safe operating range.

[0015] A second aspect of the present application provides an apparatus for mechanical equipment fault diagnosis, comprising: a memory configured to store instructions; and a processor configured to call instructions from the memory and implement the above-mentioned method for mechanical equipment fault diagnosis when executing the instructions.

[0016] The third aspect of the present application provides a mechanical device, including: a plurality of actuators; a detection mechanism corresponding to each actuator; and an apparatus for mechanical device fault diagnosis according to the above.

[0017] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the above-mentioned method for mechanical equipment fault diagnosis.

[0018] Through the above technical solution, the first detection data of the detection mechanism about the action of the actuator is preliminarily diagnosed to obtain a preliminary fault diagnosis result, and then according to the preset fault diagnosis strategy corresponding to the multiple preset abnormal variables corresponding to the preliminary fault diagnosis result, the target actuator is controlled to perform the corresponding preset action to obtain the second detection data of the detection mechanism, and the multiple preset abnormal variables are screened according to the second detection data, so as to obtain the final fault diagnosis result of the mechanical equipment. The above technical solution can adapt to the development trend of mechanical equipment, meet the fault diagnosis needs of complex mechanical equipment, can diagnose the root cause of the fault, reduce the time cost of troubleshooting and repairing complex faults, realize rapid diagnosis and repair of faults, and improve the practicality of mechanical equipment.

[0019] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0021] Figure 1 A schematic diagram of a process flow of a method for mechanical equipment fault diagnosis according to an embodiment of the present application is shown;

[0022] Figure 2 A schematic diagram of the structure of a system for mechanical equipment fault diagnosis according to an embodiment of the present application is shown;

[0023] Figure 3 A schematic diagram of a process flow of a method for mechanical equipment fault diagnosis according to another embodiment of the present application is shown;

[0024] Figure 4 A schematic diagram of a process flow of a method for mechanical equipment fault diagnosis according to another embodiment of the present application is shown;

[0025] Figure 5 Schematically shows an electrical principle diagram of a mechanical device according to an embodiment of the present application;

[0026] Figure 6 A schematic diagram of a process flow of a preset fault diagnosis strategy according to an embodiment of the present application is shown schematically;

[0027] Figure 7 A schematic diagram of a process flow of a preset fault diagnosis strategy according to an embodiment of the present application is shown schematically;

[0028] Figure 8 A schematic diagram of a process flow of a preset fault diagnosis strategy according to an embodiment of the present application is shown schematically;

[0029] Fig. 9 A schematic diagram of a process flow of a preset fault diagnosis strategy according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0031] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of national laws and regulations. In the embodiments of this application, some existing solutions in the industry such as certain software, components, and models may be mentioned, which should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.

[0032] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0033] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0034] Figure 1 The flowchart of a method for diagnosing mechanical equipment faults according to an embodiment of the present application is schematically shown. Figure 1 As shown, an embodiment of the present application provides a method for mechanical equipment fault diagnosis, the mechanical equipment includes multiple actuators and detection mechanisms corresponding to each actuator. The method is described by taking the application of the method and the processor as an example. The method may include the following steps:

[0035] Step S102, obtaining first detection data of each detection mechanism regarding the action of the corresponding actuator.

[0036] Step S104: perform a preliminary diagnosis on the first detection data to obtain a preliminary fault diagnosis result of the mechanical equipment.

[0037] Step S106, when a deep fault diagnosis instruction is received, according to the preset fault diagnosis strategies corresponding to the multiple preset abnormal variables that affect the preliminary fault diagnosis result, the target actuator among the multiple actuators is controlled to perform the corresponding preset actions to obtain the second detection data of the target detection mechanism corresponding to the target actuator.

[0038] Step S108, screening multiple preset abnormal variables according to the second detection data to obtain a final fault diagnosis result of the mechanical equipment.

[0039] It can be understood that the actuator is a device or structure for performing an action, which may include but is not limited to a boom and / or a slewing mechanism, etc. The action performed by the actuator may include but is not limited to amplitude change and / or telescopic and / or slewing, etc. The detection mechanism is a device or structure for detecting the action of the actuator. For example, when the actuator is a boom, the detection mechanism corresponding to the actuator may be a boom length angle detection device for detecting the length and angle of the boom, or a torque limiter, etc.; when the actuator is a slewing mechanism, the detection mechanism corresponding to the actuator may be a slewing angle detection device. The first detection data is the detection data about the current action of the actuator obtained by the detection mechanism. The preliminary fault diagnosis result is a relatively superficial fault diagnosis result obtained after a preliminary diagnosis of the first detection data, such as a certain actuator fault and / or a certain detection mechanism fault. The deep fault diagnosis instruction is an instruction for further deep diagnosis of the cause of the fault of the mechanical equipment. Further, the deep fault diagnosis instruction can be triggered by the user according to actual needs.

[0040] Understandably, each preliminary fault diagnosis result may correspond to a plurality of preset abnormal variables, and the preset abnormal variables are predetermined essential fault causes that may affect the preliminary fault diagnosis result. The preset abnormal variables may include but are not limited to abnormal communication bus line, abnormal communication bus terminal resistance, abnormal power supply of detection mechanism, damage to the detection mechanism body, interference of communication bus line caused by detection mechanism failure, etc. The preset fault diagnosis strategy is a predetermined diagnosis strategy for preset abnormal variables. The target actuator is the actuator that needs to act in each preset fault diagnosis strategy, and the preset action is the action that the preset target actuator needs to perform. For example, when the target actuator is a boom, the preset action may be a boom rising action or a boom lowering action. The second detection data is the detection data of the detection mechanism corresponding to the target actuator after the target actuator performs the corresponding preset action. The final fault diagnosis result is the fault diagnosis result of the mechanical equipment finally determined, that is, the target preset abnormal variable obtained after screening the multiple preset abnormal variables corresponding to the preliminary fault diagnosis result, and the target preset abnormal variable is the final fault diagnosis result.

[0041] Specifically, the processor can obtain the first detection data of the action of the corresponding actuator of each detection mechanism in real time or at intervals of a preset time period, and perform a preliminary diagnosis on the first detection data to obtain a preliminary fault diagnosis result of the mechanical equipment. When a deep fault diagnosis instruction is received, the processor can control the target actuators among the multiple actuators to perform corresponding preset actions according to the preset fault diagnosis strategies corresponding to the multiple preset abnormal variables that affect the preliminary fault diagnosis result, so as to obtain the second detection data of the target detection mechanism corresponding to the target actuator, thereby screening the multiple preset abnormal variables according to the second detection data to obtain the final fault diagnosis result of the mechanical equipment.

[0042] The above method for mechanical equipment fault diagnosis is to first perform a preliminary diagnosis on the first detection data of the detection mechanism about the action of the actuator to obtain a preliminary fault diagnosis result, and then control the target actuator to perform the corresponding preset action according to the preset fault diagnosis strategy corresponding to the multiple preset abnormal variables corresponding to the preliminary fault diagnosis result to obtain the second detection data of the detection mechanism, and screen the multiple preset abnormal variables according to the second detection data, so as to obtain the final fault diagnosis result of the mechanical equipment. The above technical scheme can adapt to the development trend of mechanical equipment, meet the fault diagnosis needs of complex mechanical equipment, can diagnose the root cause of the fault, reduce the time cost of troubleshooting and repairing complex faults, realize rapid diagnosis and repair of faults, and improve the practicality of mechanical equipment.

[0043] In one embodiment, the preset abnormal variables include communication bus line abnormality and / or communication bus terminal resistance abnormality; according to the preset fault diagnosis strategies corresponding to the multiple preset abnormal variables affecting the preliminary fault diagnosis result, the target actuator among the multiple actuators is controlled to perform the corresponding preset action to obtain the second detection data of the target detection mechanism corresponding to the target actuator, including: when the preset abnormal variable is the communication bus line abnormality and / or the communication bus terminal resistance abnormality, any actuator among the multiple actuators is determined as the target actuator, and the target actuator is controlled to perform the corresponding preset action to obtain the second detection data of the target detection mechanism corresponding to the target actuator; the multiple preset abnormal variables are screened according to the second detection data to obtain the final fault diagnosis result of the mechanical equipment, including: when the second detection data is within the corresponding preset normal value range, the preset abnormal variable is excluded from the multiple preset abnormal variables; when the second detection data is not within the corresponding preset normal value range, the final fault diagnosis result of the mechanical equipment is determined to be the preset abnormal variable.

[0044] It can be understood that when the preset abnormal variable is a communication bus line abnormality and / or a communication bus terminal resistance abnormality, the target actuator can be any one of the multiple actuators. The preset normal value range is a predetermined normal value range corresponding to the second detection data. The communication bus can be, for example, a CAN bus, etc.

[0045] Specifically, when the preset abnormal variable is the abnormal communication bus line and / or the abnormal communication bus terminal resistance, the processor can determine that the target actuator is any one of the multiple actuators, and control the target actuator to perform the corresponding preset action, so that the second detection data of the target detection mechanism corresponding to the target actuator can be obtained, and the second detection data can be compared with the corresponding preset normal value range. If the second detection data is within the corresponding preset normal value range, the preset abnormal variable (i.e., the abnormal communication bus line and / or the abnormal communication bus terminal resistance) can be excluded from the multiple preset abnormal variables. On the contrary, if the second detection data is not within the corresponding preset normal value range, the processor can determine that the final fault diagnosis result of the mechanical equipment is the preset abnormal variable (i.e., the abnormal communication bus line and / or the abnormal communication bus terminal resistance). It can be understood that if the mechanical equipment has a fault of abnormal communication bus line and / or abnormal communication bus terminal resistance, the second detection data of any one of the multiple actuators will be abnormal, that is, it will not be within the corresponding preset normal value range.

[0046] In an embodiment of the present application, by controlling any one of the multiple actuators to perform a corresponding preset action and checking the preset abnormal variables based on the second detection data, it is possible to determine whether the mechanical equipment has a communication bus line abnormality and / or a communication bus terminal resistance abnormality, thereby improving the speed and accuracy of fault diagnosis and enabling diagnosis of deep faults.

[0047] Further, in some embodiments, controlling the target actuator to perform a corresponding preset action may include: controlling the target actuator to perform the corresponding preset action and continuing for a preset time period.

[0048] It is understood that the preset duration is the predetermined duration for the target actuator to perform the preset action, such as 4 seconds or 8 seconds. It is understandable that by controlling the target actuator to perform the corresponding preset action and continue for the preset duration, the accuracy of the fault diagnosis result can be improved.

[0049] In one embodiment, the preliminary fault diagnosis result includes a detection mechanism failure, and the preset abnormal variables include abnormal power supply to the detection mechanism and / or damage to the detection mechanism body; according to the preset fault diagnosis strategies corresponding to the multiple preset abnormal variables affecting the preliminary fault diagnosis result, the target actuator among the multiple actuators is controlled to perform the corresponding preset action to obtain the second detection data of the target detection mechanism corresponding to the target actuator, including: when the preset abnormal variable is abnormal power supply to the detection mechanism and / or damage to the detection mechanism body, the detection mechanism corresponding to the preliminary fault diagnosis result is determined to be the target detection mechanism, and the actuator corresponding to the target detection mechanism is determined to be the target actuator, the target detection mechanism is controlled to be powered on, and the remaining detection mechanisms among the multiple detection mechanisms except the target detection mechanism are powered off, and the target actuator is controlled to perform the corresponding preset action to obtain the second detection data of the target detection mechanism corresponding to the target actuator; the multiple preset abnormal variables are screened according to the second detection data to obtain the final fault diagnosis result of the mechanical equipment, including: when the second detection data is within the corresponding preset normal value range, the preset abnormal variable is excluded from the multiple preset abnormal variables; when the second detection data is not within the corresponding preset normal value range, the final fault diagnosis result of the mechanical equipment is determined to be the preset abnormal variable.

[0050] It is understandable that the preliminary fault diagnosis result may include a detection mechanism fault, such as a detection mechanism communication fault, etc. It is understandable that when the preliminary fault diagnosis result is a detection mechanism fault, and the preset abnormal variable is a detection mechanism power supply abnormality and / or a detection mechanism body damage, the detection mechanism corresponding to the preliminary fault diagnosis result is a target detection mechanism, and the actuator corresponding to the target detection mechanism is a target actuator. The preset normal value range is a predetermined normal value range corresponding to the second detection data.

[0051] Specifically, when the preliminary fault diagnosis result is a detection mechanism failure and the preset abnormal variable is abnormal power supply to the detection mechanism and / or damage to the detection mechanism body, the processor can determine that the detection mechanism corresponding to the preliminary fault diagnosis result is the target detection mechanism, and the actuator corresponding to the target detection mechanism is the target actuator, control the target detection mechanism to be powered on, and power off the remaining detection mechanisms except the target detection mechanism among the multiple detection mechanisms, and control the target actuator to perform the corresponding preset action, so that the second detection data of the target detection mechanism corresponding to the target actuator can be obtained, and the second detection data is compared with the corresponding preset normal numerical range. If the second detection data is within the corresponding preset normal numerical range, the preset abnormal variable (that is, the power supply to the detection mechanism is abnormal and / or the detection mechanism body is damaged) can be excluded from the multiple preset abnormal variables. Conversely, if the second detection data is not within the corresponding preset normal numerical range, the processor can determine that the final fault diagnosis result of the mechanical equipment is the preset abnormal variable (that is, the power supply to the detection mechanism is abnormal and / or the detection mechanism body is damaged). It is understandable that if the preliminary fault diagnosis result is a detection mechanism failure, the target detection mechanism corresponding to the preliminary fault diagnosis result is controlled to be energized, and the remaining detection mechanisms are controlled to be de-energized, thereby controlling the target execution mechanism corresponding to the target detection mechanism to perform the corresponding preset action. If the power supply of the target detection mechanism is abnormal and / or the target detection mechanism body is damaged, the second detection data will be abnormal, that is, it will not be within the corresponding preset normal value range. Conversely, if the second detection data is not abnormal, that is, it is within the corresponding preset normal value range, it indicates that the target detection mechanism has no power supply abnormality and / or body damage, and the preset abnormal variable can be excluded from multiple preset abnormal variables.

[0052] In an embodiment of the present application, when the preliminary fault diagnosis result is a detection mechanism failure, by controlling the target detection mechanism corresponding to the preliminary fault diagnosis result to be powered on and the other detection mechanisms to be powered off, and controlling the target execution mechanism corresponding to the target detection mechanism to perform the corresponding preset action, and checking the preset abnormal variables based on the second detection data, it is possible to determine whether the mechanical equipment has a detection mechanism power supply abnormality and / or a detection mechanism body damage fault, thereby improving the speed and accuracy of fault diagnosis and enabling the diagnosis of deep faults.

[0053] In one embodiment, the preset abnormal variable includes a communication bus line interference caused by a detection mechanism failure; according to the preset fault diagnosis strategies corresponding to the multiple preset abnormal variables affecting the preliminary fault diagnosis result, a target actuator among the multiple actuators is controlled to perform a corresponding preset action to obtain second detection data of a target detection mechanism corresponding to the target actuator, including: when the preset abnormal variable is a communication bus line interference caused by a detection mechanism failure, each actuator among the multiple actuators is determined to be an actuator to be checked, and the remaining actuators among the multiple actuators except the actuator to be checked are determined to be target actuators, and the detection mechanism corresponding to the actuator to be checked is controlled to be powered off, the target detection mechanism is controlled to be powered off, and the target detection mechanism is controlled to be powered off. The target detection mechanism corresponding to the actuator is energized, and the target actuator is controlled to perform a corresponding preset action to obtain second detection data of the target detection mechanism corresponding to the target actuator; multiple preset abnormal variables are screened according to the second detection data to obtain a final fault diagnosis result of the mechanical equipment, including: when the second detection data is within the corresponding preset normal value range, determining that the final fault diagnosis result is a communication bus line interference caused by a fault in the detection mechanism corresponding to the actuator to be checked; when the second detection data is not within the corresponding preset normal value range, excluding the communication bus line interference caused by the fault in the detection mechanism corresponding to the actuator to be checked from multiple preset abnormal variables.

[0054] It can be understood that when the preset abnormal variable is the interference of the communication bus line caused by the failure of the detection mechanism, each of the multiple actuators can be determined as the actuator to be checked in turn, that is, each actuator becomes the actuator to be checked in turn, and the remaining actuators except the actuator to be checked in the multiple actuators are determined as the target actuators, the actuator to be checked is the actuator that needs to be checked, and the detection mechanism corresponding to the target actuator is the target detection mechanism. The preset normal value range is the normal value range corresponding to the predetermined second detection data.

[0055] Specifically, when the preset abnormal variable is the communication bus line interference caused by the failure of the detection mechanism, the processor can determine that each of the multiple actuators is the actuator to be checked, and determine that the remaining actuators among the multiple actuators except the actuator to be checked are the target actuators, control the detection mechanism corresponding to the actuator to be checked to be powered off, and the target detection mechanism corresponding to the target actuator (that is, the actuator except the actuator to be checked) to be powered on, and control the target actuator to perform the corresponding preset action to obtain the second detection data of the target detection mechanism corresponding to the target actuator, and compare the second detection data with the corresponding preset normal value range. If the second detection data is within the corresponding preset normal value range, it can be determined that the final fault diagnosis result is the communication bus line interference caused by the failure of the detection mechanism corresponding to the actuator to be checked. Conversely, if the second detection data is not within the corresponding preset normal value range, the processor can exclude the communication bus line interference caused by the failure of the detection mechanism corresponding to the actuator to be checked from the multiple preset abnormal variables. Further, the processor can redetermine the actuator to be checked, and then redetermine the target actuator according to the redetermined actuator to be checked, and control the redetermined target actuator to perform the corresponding preset action, repeat the above steps, if the communication bus line interference caused by the fault of the detection mechanism corresponding to all the actuators to be checked is eliminated, then the preset abnormal variable of the communication bus line interference caused by the detection mechanism can be eliminated. It can be understood that if the preset abnormal variable is the communication bus line interference caused by the fault of the detection mechanism, and the second detection data of the detection mechanism corresponding to the actuators other than the actuator to be checked are all within the corresponding preset normal value range, it can be indicated that the final fault diagnosis result is the communication bus line interference caused by the fault of the detection mechanism corresponding to the actuator to be checked, otherwise, the communication bus line interference caused by the fault of the detection mechanism corresponding to the actuator to be checked can be eliminated.

[0056] In an embodiment of the present application, by determining each of a plurality of actuators as an actuator to be checked, and determining the remaining actuators except the actuator to be checked as target actuators, controlling the detection mechanism corresponding to the actuator to be checked to be powered off, and controlling the target detection mechanism corresponding to the target actuator to be powered on, and controlling the target actuator to perform the corresponding preset action, and checking the preset abnormal variables based on the second detection data, it is possible to determine whether the mechanical equipment has communication bus line interference caused by a fault in the detection mechanism corresponding to the actuator to be checked, thereby improving the speed and accuracy of fault diagnosis and enabling diagnosis of deep faults.

[0057] In one embodiment, the actuator includes a boom, and the detection mechanism includes a boom length and angle detection device; when the target actuator is a boom and the target detection mechanism is a boom length and angle detection device, the preset action includes a boom amplitude change action and / or a boom extension and retraction action.

[0058] In one embodiment, the actuator includes a rotary mechanism, and the detection mechanism includes a rotary angle detection device; when the target actuator is a rotary mechanism and the target detection mechanism is a rotary angle detection device, the preset action includes a rotary mechanism rotary action.

[0059] In one embodiment, the actuator includes a boom, and the detection mechanism includes a torque limiter; when the target actuator is a boom and the target detection mechanism is a torque limiter, the preset action includes the boom operating range exceeding the preset safe operating range. It can be understood that when the boom operating range exceeds the preset safe operating range, the torque limiter can report an extension cut-off fault.

[0060] In a specific embodiment, taking a telescopic forklift as an example, a system and a flow chart for diagnosing mechanical equipment faults are provided, such as Figure 2-Figure 4 As shown, the system may include: an information acquisition module, a diagnosis and intelligent operation module, an intelligent interaction and diagnosis display module, an auxiliary execution module, and an industrial Internet of Things platform.

[0061] The information acquisition module can collect input signals from various sensors on the telescopic arm forklift, diagnostic information from the industrial controller output port, etc. This information is collected by the industrial controller and used for diagnosis and calculation judgment in the next link.

[0062] The diagnosis and intelligent operation module can be an industrial controller responsible for the operation and control of the entire vehicle. It performs preliminary fault diagnosis on the collected information, and sends the diagnosis results to the smart display for display. When receiving the second-level deep detection request from the smart display, it sends instructions to the auxiliary execution module to perform multi-level fusion actions. At the same time, the industrial controller performs intelligent calculations, and according to the calculation results, obtains detailed descriptions of the faults and solutions from the industrial Internet of Things platform database, and presents them on the smart display.

[0063] The intelligent interactive and diagnostic display module can be a high-definition touch display installed in the cab. After the primary diagnosis, it displays the basic fault information of the equipment. When the customer performs in-depth diagnosis on the screen, the intelligent display interacts with the industrial controller and finally displays more detailed information of the fault.

[0064] The auxiliary execution module may include the solenoid valves, relays, motors, etc. output by the controller. When a joint action is required for auxiliary judgment after the intelligent calculation of the fault, the industrial controller issues an action execution instruction, and the auxiliary execution module executes the corresponding action, which affects the data changes of the information collection module and improves the support for the intelligent calculation system.

[0065] The industrial Internet of Things platform can include a 5G vehicle-mounted terminal module for transmitting data and an industrial Internet of Things system server. The Internet of Things platform receives device data, fault descriptions and diagnostic information input from the network, forms a comprehensive database, and sends the corresponding data content after receiving the diagnostic result requirements from the industrial controller.

[0066] The input and output operation data of the online monitoring equipment are pre-processed as necessary (including filtering, de-jittering, etc.), and then enter the diagnostic subsystem. After the abnormality is diagnosed, the primary diagnosis result will be directly sent to the display fault interface, and the software will generate intermediate abnormal variables.

[0067] The user checks the primary diagnosis results. If the fault is simple, such as an open circuit fault of a solenoid valve, the user can directly detect the corresponding circuit of the solenoid valve. If multiple faults occur and the connection between these faults is unclear, the user can click the "Smart Diagnosis" button on the display to perform secondary diagnosis. The intelligent fault diagnosis model will enter the corresponding intelligent reasoning strategy program based on the input intermediate abnormal variables and run the diagnosis subsystem. Each subsystem will issue auxiliary diagnosis instructions to some output ports such as solenoid valves or relays according to the strategy requirements.

[0068] For example, the fault monitoring interface of the forklift cab display screen shows the following fault list:

[0069] Table 1 Fault list diagram

[0070] Serial number Fault Codes Fault name Failure time 1 31216 Boom length angle sensor communication failure 2024-7-20 10:42 2 32233 Torque limiter communication fault 2024-7-20 10:42

[0071] Figure 5 The electrical schematic diagram of the mechanical equipment in the embodiment of the present application is schematically shown. According to the fault condition, after the controller makes a preliminary diagnosis, four abnormal variables (i.e., preset abnormal variables) can be determined according to the abnormal condition, as shown in the following table.

[0072] Table 2 Abnormal variables diagram

[0073]

[0074]

[0075] For the two faults in Table 1, it is impossible to initially determine where the problem is. The user can click the "Smart Diagnosis" button to enter the smart diagnosis. The smart fault diagnosis model formulates an intelligent reasoning strategy based on the four abnormal variables, such as Figure 6-Figure 9 shown.

[0076] The controller runs the software according to the intelligent reasoning strategy. Functions such as boom amplitude adjustment, boom extension and retraction, and turntable rotation assist in executing actions, which affect the signal input related to abnormal variables and cooperate with calculation verification to finally draw a secondary fault diagnosis conclusion.

[0077] According to the calculation results, a detailed description and solution of the fault are obtained from the comprehensive database of the IoT platform and finally presented on the display.

[0078] If the user finds that the fault description or solution can be optimized, he can enter the material network platform to find the corresponding equipment model to supplement the fault optimization method. After the expert review system, it will be added to the comprehensive database to improve the entire architecture.

[0079] The technical solution provided in the embodiment of the present application integrates multiple diagnostic subsystems, combines intelligent reasoning strategies, and performs secondary intelligent fault diagnosis through model analysis; it has more detailed fault descriptions, more accurate fault point judgments, and fault resolution methods screened by expert systems; the Internet of Things platform can supplement fault cases in real time, comprehensively improve the database, and effectively counter-complement research and development improvements.

[0080] The above technical solution retains the existing forklift fault diagnosis and fault display content to adapt to user habits; the secondary intelligent diagnosis system can fill the difficulty of troubleshooting and repairing complex faults; it has detailed fault descriptions and comprehensive fault-solving methods, which reduces the professionalism of customers and greatly reduces the workload of after-sales service; it can add more complex fault types and fault methods to everyone in real time, improve the comprehensive database, and provide more ideas for maintenance; based on the new content collected from the comprehensive database, it can effectively make up for R&D defects, thereby effectively reducing the equipment failure rate.

[0081] An embodiment of the present application provides a device for mechanical equipment fault diagnosis, including: a memory configured to store instructions; and a processor configured to call instructions from the memory and implement the method for mechanical equipment fault diagnosis according to the above-mentioned embodiment when executing the instructions.

[0082] An embodiment of the present application provides a mechanical device, including: a plurality of actuators; a detection mechanism corresponding to each actuator; and a device for mechanical device fault diagnosis according to the above-mentioned implementation mode.

[0083] An embodiment of the present application provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the method for mechanical equipment fault diagnosis according to the above-mentioned implementation.

[0084] 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.) that contain computer-usable program code.

[0085] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the 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 the 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.

[0086] 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 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0087] 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 in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0088] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0089] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0090] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0091] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0092] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for mechanical equipment fault diagnosis, characterized in that: The mechanical device includes a plurality of actuators and a detection mechanism corresponding to each of the actuators, and the method includes: Acquire first detection data of each detection mechanism regarding the action of the corresponding execution mechanism; Performing a preliminary diagnosis on the first detection data to obtain a preliminary fault diagnosis result of the mechanical equipment; In the case of receiving a deep fault diagnosis instruction, according to the preset fault diagnosis strategies respectively corresponding to the plurality of preset abnormal variables affecting the preliminary fault diagnosis result, a target actuator among the plurality of actuators is controlled to perform a corresponding preset action, so as to obtain second detection data of a target detection mechanism corresponding to the target actuator; The plurality of preset abnormal variables are screened according to the second detection data to obtain a final fault diagnosis result of the mechanical equipment.

2. The method according to claim 1, characterized in that: The preset abnormal variables include abnormal communication bus lines and / or abnormal communication bus terminal resistance; the preset fault diagnosis strategies corresponding to the plurality of preset abnormal variables affecting the preliminary fault diagnosis result respectively control the target actuator among the plurality of actuators to perform the corresponding preset actions to obtain the second detection data of the target detection mechanism corresponding to the target actuator, including: In the case where the preset abnormal variable is a communication bus line abnormality and / or a communication bus terminal resistance abnormality, determining any one of the multiple actuators as a target actuator, and controlling the target actuator to perform a corresponding preset action to obtain second detection data of a target detection mechanism corresponding to the target actuator; The screening of the plurality of preset abnormal variables according to the second detection data to obtain a final fault diagnosis result of the mechanical equipment includes: When the second detection data is within a corresponding preset normal value range, excluding the preset abnormal variable from the plurality of preset abnormal variables; When the second detection data is not within the corresponding preset normal value range, the final fault diagnosis result of the mechanical equipment is determined to be the preset abnormal variable.

3. The method according to claim 1, characterized in that: The preliminary fault diagnosis result includes a detection mechanism fault, and the preset abnormal variables include abnormal power supply of the detection mechanism and / or damage to the detection mechanism body; the preset fault diagnosis strategies corresponding to the plurality of preset abnormal variables affecting the preliminary fault diagnosis result are respectively used to control a target actuator among the plurality of actuators to perform a corresponding preset action to obtain second detection data of a target detection mechanism corresponding to the target actuator, including: In the case where the preset abnormal variable is abnormal power supply of the detection mechanism and / or damage to the detection mechanism body, determining the detection mechanism corresponding to the preliminary fault diagnosis result as a target detection mechanism, and determining the actuator corresponding to the target detection mechanism as a target actuator, controlling the target detection mechanism to be powered on, and the remaining detection mechanisms among the multiple detection mechanisms except the target detection mechanism to be powered off, and controlling the target actuator to perform a corresponding preset action, so as to obtain second detection data of the target detection mechanism corresponding to the target actuator; The screening of the plurality of preset abnormal variables according to the second detection data to obtain a final fault diagnosis result of the mechanical equipment includes: When the second detection data is within a corresponding preset normal value range, excluding the preset abnormal variable from the plurality of preset abnormal variables; When the second detection data is not within the corresponding preset normal value range, the final fault diagnosis result of the mechanical equipment is determined to be the preset abnormal variable.

4. The method according to claim 1, characterized in that: The preset abnormal variables include communication bus line interference caused by a detection mechanism failure; the preset fault diagnosis strategies corresponding to the plurality of preset abnormal variables affecting the preliminary fault diagnosis result respectively control a target actuator among the plurality of actuators to perform a corresponding preset action to obtain second detection data of a target detection mechanism corresponding to the target actuator, including: In the case where the preset abnormal variable is a communication bus line interference caused by a fault in a detection mechanism, each of the multiple actuators is determined to be an actuator to be checked, and the remaining actuators of the multiple actuators except the actuator to be checked are determined to be target actuators, the detection mechanism corresponding to the actuator to be checked is controlled to be powered off, the target detection mechanism corresponding to the target actuator is powered on, and the target actuator is controlled to perform a corresponding preset action to obtain second detection data of the target detection mechanism corresponding to the target actuator; The screening of the plurality of preset abnormal variables according to the second detection data to obtain a final fault diagnosis result of the mechanical equipment includes: When the second detection data is within the corresponding preset normal value range, determining that the final fault diagnosis result is a communication bus line interference caused by a fault of the detection mechanism corresponding to the actuator to be checked; When the second detection data is not within the corresponding preset normal value range, the communication bus line interference caused by the fault of the detection mechanism corresponding to the actuator to be checked is excluded from the plurality of preset abnormal variables.

5. The method according to any one of claims 1 to 4, characterized in that: The actuator includes an arm, and the detection mechanism includes an arm length angle detection device; In the case where the target actuator is a boom and the target detection mechanism is a boom length and angle detection device, the preset action includes a boom amplitude variation action and / or a boom extension and retraction action.

6. The method according to any one of claims 1 to 4, characterized in that The actuator includes a rotation mechanism, and the detection mechanism includes a rotation angle detection device; In the case where the target actuator is a rotary mechanism and the target detection mechanism is a rotary angle detection device, the preset action includes a rotary action of the rotary mechanism.

7. The method according to any one of claims 1 to 4, characterized in that The actuator includes an arm, and the detection mechanism includes a torque limiter; In the case where the target actuator is a boom and the target detection mechanism is a torque limiter, the preset action includes the boom operating range exceeding a preset safe operating range.

8. A device for mechanical equipment fault diagnosis, characterized in that: include: a memory configured to store instructions; as well as A processor is configured to call the instructions from the memory and implement the method for mechanical equipment fault diagnosis according to any one of claims 1 to 7 when executing the instructions.

9. A mechanical device, characterized in that: include: Multiple executive agencies; A detection mechanism corresponding to each of the actuating mechanisms; The device for mechanical equipment fault diagnosis according to claim 8.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions, and the instructions are used to enable a machine to execute the method for mechanical equipment fault diagnosis according to any one of claims 1 to 7.

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