Industrial equipment tremor early warning method, terminal equipment and storage medium

Abstract

The invention is suitable for the field of data processing, and discloses a tremor early warning method for industrial equipment, terminal equipment and a storage medium. The tremor early warning method of the industrial equipment comprises the steps of controlling a millimeter wave radar to scan the industrial equipment to obtain a point cloud sequence of the industrial equipment, and collecting an infrared image sequence of the industrial equipment; determining a macroscopic displacement part and a micro-tremor part according to the point cloud sequence; determining a temperature sudden change part according to the infrared image sequence, and determining a tremor source according to the temperature sudden change part and the micro tremor part; and determining a tremor intensity index corresponding to the tremor source according to the infrared image sequence, and executing an early warning operation according to the tremor source and the tremor intensity index. According to the method, the false alarm rate caused by signal confusion in traditional single vibration spectrum analysis is reduced fundamentally.

Description

Technical Field

[0001] The present invention belongs to the field of data processing, and in particular relates to a vibration early warning method for industrial equipment, a terminal device and a storage medium. Background Art

[0002] Abnormal vibration of industrial equipment is an important sign of potential failure.

[0003] Traditional monitoring technologies typically rely on a single sensing mode for vibration identification. For example, relying solely on vibration sensors to detect abnormal frequency components through spectral analysis can capture macroscopic vibrations, but often struggles to distinguish between normal equipment displacement and weak, abnormal vibrations that could indicate an incipient fault. Consequently, traditional monitoring technologies have a high false alarm rate for vibrations. A new technical approach is needed to address these issues. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a vibration early warning method for industrial equipment, a terminal device, and a storage medium, which can solve the problem of a high vibration false alarm rate in related technologies.

[0005] A first aspect of the present invention provides a vibration early warning method for industrial equipment, comprising: Controlling the millimeter-wave radar to scan the industrial equipment, obtaining a point cloud sequence of the industrial equipment, and collecting an infrared image sequence of the industrial equipment; determining macro-displacement locations and micro-tremor locations according to the point cloud sequence; determining a temperature mutation location based on the infrared image sequence, and determining a vibration source based on the temperature mutation location and the micro-tremor location; A tremor intensity index corresponding to the tremor source is determined according to the infrared image sequence, and an early warning operation is performed according to the tremor source and the tremor intensity index.

[0006] Optionally, in a first implementation of the first aspect of the present invention, the step of determining the macro-displacement location and the micro-tremor location based on the point cloud sequence includes: Calculating point cloud registration parameters between adjacent frames according to the point cloud sequence, wherein the point cloud registration parameters include rigid transformation matrices or non-rigid deformation parameters; According to the point cloud registration parameters, the region where significant position changes occur in the industrial equipment is identified as the macro-displacement region, and the region where high-frequency micro-vibration occurs is identified as the micro-tremor region.

[0007] Optionally, in a second implementation of the first aspect of the present invention, the step of identifying, based on the point cloud registration parameters, an area in the industrial equipment where significant position changes occur as a macro-displacement location, and identifying an area where high-frequency micro-vibrations occur as the micro-tremor location includes: Performing time series analysis based on the point cloud registration parameters to extract vibration frequency features; The macro-displacement location and the micro-tremor location are determined according to the vibration frequency characteristics.

[0008] Optionally, in a third implementation of the first aspect of the present invention, the step of identifying the location of a sudden temperature change of the tremor source based on the infrared image sequence includes: Controlling an infrared thermal imager to collect a sequence of infrared thermal images of the industrial equipment; According to the infrared thermal image sequence, a portion whose temperature exceeds a target temperature is determined as the temperature mutation portion, and the target temperature is greater than or equal to a preset baseline temperature threshold.

[0009] Optionally, in a fourth implementation of the first aspect of the present invention, before the step of determining, based on the infrared thermal image sequence, a location whose temperature has exceeded the target temperature as the location of the sudden temperature change, the method further includes: The baseline temperature threshold is dynamically updated according to the operation history data and current operation condition parameters of the industrial equipment.

[0010] Optionally, in a fifth implementation of the first aspect of the present invention, the step of determining the tremor source based on the temperature mutation location and the microtremor location includes: The temperature mutation site is regionally matched with the micro-tremor site, and the successfully matched area is used as the tremor source.

[0011] Optionally, in a sixth implementation manner of the first aspect of the present invention, the step of determining the tremor intensity index corresponding to the tremor source based on the infrared image sequence includes: determining, based on the infrared image sequence, a temperature characteristic parameter corresponding to the tremor source, the temperature characteristic parameter comprising at least one of a temperature change rate, a temperature fluctuation amplitude, and a duration of a continuous temperature rise; The tremor intensity index corresponding to the tremor source is calculated according to the characteristic parameters.

[0012] Optionally, in a seventh implementation of the first aspect of the present invention, the step of performing a warning operation based on the tremor source and the tremor intensity index includes: If a target part of the tremor source having a tremor intensity exceeding a preset intensity is determined according to the tremor intensity index, the early warning operation is performed according to the target part.

[0013] In a second aspect, an embodiment of the present invention provides a terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above-mentioned vibration warning method for industrial equipment are implemented.

[0014] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the steps of the above-mentioned industrial equipment vibration warning method are implemented.

[0015] In a fourth aspect, an embodiment of the present invention provides a computer program product. When the computer program product is run on a terminal device, the terminal device executes the above-mentioned vibration early warning method for industrial equipment.

[0016] The beneficial effects of the embodiments of the present invention compared to the prior art are: the millimeter-wave radar point cloud sequence is used to simultaneously capture the macroscopic displacement and subtle vibration of the device, achieving a preliminary distinction at the physical movement level; at the same time, the temperature mutation information provided by the infrared image sequence can effectively identify thermal anomaly areas caused by abnormal friction, electrical failure or component deformation. It can eliminate the misjudgment of a single sensor and locate the real vibration source with both abnormal movement and thermal characteristics. On this basis, the energy level of the vibration source is further quantified based on the infrared sequence to generate a dynamic vibration intensity index, which can provide an objective grading basis for early warning decisions. The present invention fundamentally reduces the false alarm rate caused by signal confusion in traditional single vibration spectrum analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A schematic diagram of an embodiment of a vibration early warning method for industrial equipment according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a specific embodiment of step S102 of the vibration early warning method for industrial equipment in an embodiment of the present invention; Figure 3 This is a schematic diagram of a specific embodiment of step S1022 of the vibration early warning method for industrial equipment in an embodiment of the present invention; Figure 4 This is a schematic diagram of a specific embodiment of step S103 of the vibration early warning method for industrial equipment in an embodiment of the present invention; Figure 5Schematic diagram of a terminal device in an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely used to explain the present invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are protected by the present invention.

[0020] It should be noted that the terms "include", "comprising" and "having" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, terminal, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices. In the claims, specification and drawings of the present invention, relational terms such as "first" and "second" are merely used to distinguish one entity / operation / object from another entity / operation / object, and do not necessarily require or imply any such real-time relationship or order between these entities / operations / objects.

[0021] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0022] Abnormal vibration of industrial equipment is an important sign of potential failure.

[0023] Traditional monitoring technologies typically rely on a single sensing mode for vibration identification. For example, relying solely on vibration sensors to detect abnormal frequency components through spectral analysis can capture macroscopic vibrations, but often struggles to distinguish between normal equipment displacement and weak, abnormal vibrations that could indicate an incipient fault. Consequently, traditional monitoring technologies have a high false alarm rate for vibrations. A new technical approach is needed to address these issues.

[0024] In view of this, an embodiment of the present invention provides a vibration warning method, terminal device and storage medium for industrial equipment. The millimeter-wave radar point cloud sequence is used to simultaneously capture the macroscopic displacement and subtle vibration of the equipment, and achieve preliminary distinction at the physical movement level. At the same time, the temperature mutation information provided by the infrared image sequence can effectively identify thermal anomaly areas caused by abnormal friction, electrical failure or component deformation. It can eliminate the misjudgment of a single sensor and locate the real vibration source with both abnormal movement and thermal characteristics. On this basis, the energy level of the vibration source is further quantified based on the infrared sequence to generate a dynamic vibration intensity index, which can provide an objective grading basis for early warning decisions. The present invention fundamentally reduces the false alarm rate caused by signal confusion in traditional single vibration spectrum analysis.

[0025] In order to illustrate the technical solution of the present invention, specific embodiments are provided below.

[0026] Figure 1 The following is a flow chart illustrating an implementation process of a vibration early warning method for industrial equipment provided by an embodiment of the present invention. The method can be applied to a terminal device, such as a mobile phone, tablet computer, laptop computer, ultra-mobile personal computer (UMPC), or netbook.

[0027] Specifically, the above-mentioned tremor early warning method for industrial equipment may include the following steps S101 to S104.

[0028] Step S101 : controlling a millimeter-wave radar to scan industrial equipment, obtaining a point cloud sequence of the industrial equipment, and collecting an infrared image sequence of the industrial equipment.

[0029] In an embodiment of the present invention, a millimeter-wave radar and an infrared thermal imager are activated synchronously; the millimeter-wave radar performs high-frequency scanning to generate a point cloud time-series data set containing three-dimensional coordinate information of the device surface; the infrared thermal imager captures the temperature field distribution on the device surface at a frame rate that matches the radar scanning, forming an infrared image time-series data stream; A unified timestamp is embedded in the two types of data streams to establish a spatiotemporal aligned data benchmark.

[0030] Step S102: determining macro-displacement locations and micro-tremor locations based on the point cloud sequence.

[0031] In an embodiment of the present invention, a non-rigid point cloud registration algorithm is applied to continuous frame point cloud data to extract rigid body transformation parameters and non-rigid deformation parameters between adjacent frames; For macroscopic displacement locations, the spatial distribution of rigid body transformation parameters can be used to mark the areas where the displacement amplitude exceeds a preset threshold for identification.

[0032] For micro-tremor areas, high-frequency vibration components can be extracted from non-rigid deformation parameters, and the microscopic vibration areas with smaller amplitudes can be further located and determined based on spectrum energy analysis.

[0033] Step S103 : determining a temperature mutation location according to the infrared image sequence, and determining a vibration source according to the temperature mutation location and the micro-tremor location.

[0034] In an embodiment of the present invention, the location of a temperature change is determined based on an infrared image sequence, and the source of the tremor is determined in conjunction with the location of the microtremor. Specifically, a pixel-level temperature gradient is calculated for the infrared image sequence to detect areas where the rate of temperature change exceeds a dynamic baseline threshold. The spatial coordinates of the temperature change area are mapped to a three-dimensional model of the device, and the spatial overlap analysis is performed with the identified microtremor location. Only when a region meets the requirements of both microtremor characteristics and significant temperature change characteristics will it be marked as a high-confidence tremor source.

[0035] Step S104 : determining a tremor intensity index corresponding to the tremor source according to the infrared image sequence, and performing an early warning operation according to the tremor source and the tremor intensity index.

[0036] In an embodiment of the present invention, for an identified tremor source, temperature characteristic parameters (including temperature change rate, fluctuation amplitude, and duration) are extracted from its infrared sequence; A comprehensive tremor intensity index was generated through a weighted fusion algorithm; When the tremor intensity index exceeds the preset risk level threshold, a visual warning report containing the tremor source location coordinates, intensity index and risk level is generated; and the corresponding level of emergency protocol is automatically triggered.

[0037] The beneficial effects of the embodiments of the present invention compared to the prior art are: the millimeter-wave radar point cloud sequence is used to simultaneously capture the macroscopic displacement and subtle vibration of the device, achieving a preliminary distinction at the physical movement level; at the same time, the temperature mutation information provided by the infrared image sequence can effectively identify thermal anomaly areas caused by abnormal friction, electrical failure or component deformation. It can eliminate the misjudgment of a single sensor and locate the real vibration source with both abnormal movement and thermal characteristics. On this basis, the energy level of the vibration source is further quantified based on the infrared sequence to generate a dynamic vibration intensity index, which can provide an objective grading basis for early warning decisions. The present invention fundamentally reduces the false alarm rate caused by signal confusion in traditional single vibration spectrum analysis.

[0038] The spectrum signal collected by traditional vibration sensors is the result of the superposition of overall motion, which cannot separate macroscopic displacement from local micro-tremors, and may mistake normal displacement for abnormal vibration. Based on this, the present invention proposes an alternative embodiment.

[0039] Reference Figure 2 , Figure 2 1 is a schematic diagram of a specific embodiment of step S102 of the vibration early warning method for industrial equipment in an embodiment of the present invention. Step S102 also includes the following specific implementation methods.

[0040] Step S1021 : calculating point cloud registration parameters between adjacent frames according to the point cloud sequence, where the point cloud registration parameters include a rigid transformation matrix or a non-rigid deformation parameter.

[0041] In an embodiment of the present invention, point cloud registration parameters between adjacent frames are calculated based on a point cloud sequence. A point cloud sequence generated by continuous millimeter-wave radar scanning is acquired, with each frame containing a set of three-dimensional spatial coordinates of the device surface. The spatial transformation relationship between adjacent point clouds is calculated frame by frame using an iterative closest point algorithm or a non-rigid registration model. The rigid transformation matrix and non-rigid deformation parameters are extracted. The rigid transformation matrix describes the overall translation or rotational motion, while the non-rigid deformation parameters represent the displacement gradient tensor or deformation vector field of the local deformation field.

[0042] Step S1022 : Based on the point cloud registration parameters, identify the region where significant position changes occur in the industrial equipment as the macro-displacement region, and identify the region where high-frequency micro-vibrations occur as the micro-tremor region.

[0043] In an embodiment of the present invention, significant position change regions (macro-displacement regions) and high-frequency micro-vibration regions (micro-tremor regions) are identified based on point cloud registration parameters.

[0044] For macroscopic displacement sites, the spatial distribution of the rigid transformation matrix is analyzed, and areas where the displacement amplitude exceeds the engineering tolerance threshold are marked.

[0045] For micro-tremor areas, high-frequency oscillation signals are detected in non-rigid deformation parameters; noise interference is eliminated through amplitude threshold filtering, and the microscopic vibration area is locked.

[0046] In the embodiment of the present invention, the rigid transformation matrix directly quantifies the overall displacement of the device, while the non-rigid parameters accurately capture local micro-deformations, which can effectively avoid misjudgment caused by signal coupling in traditional vibration sensors.

[0047] Traditional fixed-time FFT analysis can confuse transient shocks with sustained vibrations, leading to missed reports of sudden faults such as broken gear teeth. Based on this, the present invention proposes an alternative embodiment.

[0048] Reference Figure 3 , Figure 3 1 is a schematic diagram of a specific embodiment of step S1022 of the vibration early warning method for industrial equipment in an embodiment of the present invention. Step S1022 also includes the following specific implementation methods.

[0049] Step S10221: Perform time series analysis based on the point cloud registration parameters to extract vibration frequency features.

[0050] In an embodiment of the present invention, the registration parameters of multiple consecutive frames are aligned along the time axis to construct a time series parameter sequence; the macro displacement parameters are low-pass filtered to extract the low-frequency motion components; the non-rigid deformation parameters are subjected to short-time Fourier transform or wavelet analysis to extract the frequency domain energy distribution; the high-frequency energy concentration frequency bands and their corresponding spatial coordinates are marked to generate a frequency domain and space mapping table.

[0051] Step S10222: determining the macro-displacement location and the micro-tremor location according to the vibration frequency characteristics.

[0052] In an embodiment of the present invention, the area where the low-frequency component intensity exceeds a preset threshold is located, and the overall offset position of the equipment is confirmed based on the spatial distribution of the rigid parameters; the high-frequency energy peak area is screened, and transient noise is eliminated by amplitude continuity verification and marked as a valid micro-vibration source; the frequency domain analysis results are reversely mapped to the three-dimensional model of the equipment to generate a vibration thermogram with frequency labels.

[0053] In the embodiment of the present invention, through deep analysis technology in the time and frequency domains, the physical essence of the motion mode of industrial equipment can be separated, thereby improving the spatial accuracy of fault detection.

[0054] Traditional manual inspections or fixed threshold alarm systems cannot capture millisecond-level temperature rise events. Based on this, the present invention proposes an optional embodiment.

[0055] Reference Figure 4 , Figure 4 1 is a schematic diagram of a specific embodiment of step S103 of the vibration early warning method for industrial equipment in an embodiment of the present invention. Step S103 also includes the following specific implementation methods.

[0056] Step S1031 : controlling the infrared thermal imager to collect a sequence of infrared thermal images of the industrial equipment.

[0057] In an embodiment of the present invention, an infrared thermal imager is triggered to continuously capture the thermal distribution on the device surface at a fixed frame rate to generate a temperature field sequence in the time dimension; the ambient temperature and device surface emissivity parameters are synchronously collected, and atmospheric transmittance compensation and reflected radiation correction are performed on the raw infrared data; and a millisecond-level timestamp is added to each frame of the thermal image to maintain time synchronization with the point cloud sequence.

[0058] Step S1032 : determining, based on the infrared thermal image sequence, a portion whose temperature exceeds a target temperature as the temperature mutation portion, wherein the target temperature is greater than or equal to a preset baseline temperature threshold.

[0059] In an embodiment of the present invention, a preset baseline temperature threshold is called to perform cross-frame temperature curve analysis on each pixel point on the surface of the device to detect events where the temperature exceeds the target temperature; when the temperature of a certain area exceeds the target temperature within n consecutive frames and the rate of change is expected, it is marked as a valid temperature mutation area.

[0060] In the embodiment of the present invention, sequence analysis can detect transient temperature rise, which is more sensitive than single-frame temperature monitoring; and multi-frame continuity verification can eliminate false signals such as environmental heat source reflections, thereby reducing the false alarm rate.

[0061] Optionally, the baseline temperature threshold is dynamically updated based on the industrial equipment's historical operating data and current operating parameters. Specifically, the system collects the industrial equipment's operating parameters and ambient temperature and humidity in real time; retrieves a temperature-condition mapping table from a historical database; and uses a machine learning model to map the current operating conditions to the temperature threshold, outputting a dynamic baseline threshold curve. This dynamic threshold can mitigate false alarms caused by fluctuating operating conditions.

[0062] When a device has multiple micro-tremors, traditional spectrum analysis will attribute all frequency characteristics to the same fault source. Based on this, the present invention proposes an optional embodiment.

[0063] Step S103 also includes the following specific implementation methods.

[0064] Step S1033 , performing regional matching between the temperature mutation site and the micro-tremor site, and using the successfully matched area as the tremor source.

[0065] In an embodiment of the present invention, a spatial matching window is established with the coordinates of the microtremor site as the center, and the coverage rate of the temperature mutation area within the window is calculated; when the coverage rate is greater than a threshold, it is determined that the match is successful; and the successfully matched area is used as the tremor source.

[0066] In the embodiment of the present invention, the physical location of the fault source and the elimination of false alarms can be achieved through the mutual verification of spatially associated dual features.

[0067] Conventional technology only issues an alarm when the temperature exceeds a fixed threshold, but cannot distinguish between a slow temperature rise and an instantaneous temperature spike, which can lead to inappropriate emergency response.

[0068] Step S104 also includes the following specific implementation methods.

[0069] Step S1041 : determining a temperature characteristic parameter corresponding to the vibration source according to the infrared image sequence, wherein the temperature characteristic parameter includes at least one of a temperature change rate, a temperature fluctuation amplitude, and a temperature continuous rise duration.

[0070] In an embodiment of the present invention, temperature characteristic parameters (temperature change rate, fluctuation amplitude and / or continuous rise duration) corresponding to the tremor source are determined based on the infrared image sequence.

[0071] Step S1042: Calculate the tremor intensity index corresponding to the tremor source according to the characteristic parameters.

[0072] In an embodiment of the present invention, temperature characteristic parameters of different dimensions are converted into interval standardized values; a preset weight template is loaded based on the equipment type, and a comprehensive intensity index is output, for example, intensity index = 0.6*rate of change + 0.3*fluctuation amplitude + 0.1*duration; and the continuous index is discretized into fault level.

[0073] In the embodiment of the present invention, the multi-dimensional thermodynamic characteristics are converted into a quantifiable and decision-making fault intensity scale, which can be used for subsequent optimal configuration of emergency resources.

[0074] The traditional emergency strategy is to shut down the entire line for inspection for all abnormal alarms, which is prone to ineffective production stoppages. Based on this, the present invention proposes an optional embodiment.

[0075] Step S104 also includes the following specific implementation methods.

[0076] Step S1043: If a target part of the tremor source having a tremor intensity exceeding a preset intensity is determined according to the tremor intensity index, the warning operation is performed according to the target part.

[0077] In an embodiment of the present invention, a preset intensity grading threshold is called; Scan the three-dimensional coordinates of all tremor sources and screen out specific areas where the intensity index exceeds the current warning level threshold; Generate a priority list containing location coordinates, intensity index, and exceedance level.

[0078] Based on the equipment type and intensity level of the target location, the preset response protocol library is called to perform corresponding early warning operations.

[0079] In the embodiment of the present invention, a hierarchical response method based on spatial positioning and quantified risk can effectively reduce losses caused by ineffective production stoppages.

[0080] like Figure 5 FIG2 is a schematic diagram of a terminal device according to an embodiment of the present invention. The terminal device 500 may include a processor 501, a memory 502, and a computer program 503 stored in the memory 502 and executable on the processor 501, such as a tremor warning program for industrial equipment. When the processor 501 executes the computer program 503, the steps described in the aforementioned embodiments for tremor warning of industrial equipment are implemented.

[0081] The computer program can be divided into one or more modules / units, which are stored in the memory 502 and executed by the processor 501 to implement the present invention. One or more modules / units can be a series of computer program instruction segments that can perform specific functions. These instruction segments are used to describe the execution process of the computer program in the terminal device.

[0082] The terminal device may include, but is not limited to, a processor 501 and a memory 502. Those skilled in the art will appreciate that Figure 5 It is only an example of a terminal device and does not constitute a limitation of the terminal device. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

[0083] The processor 501 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0084] Memory 502 can be an internal storage unit of the terminal device, such as the terminal device's hard drive or memory. Memory 502 can also be an external storage device of the terminal device, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. Furthermore, memory 502 can include both the terminal device's internal storage unit and an external storage device. Memory 502 is used to store computer programs and other programs and data required by the terminal device. Memory 502 can also be used to temporarily store data that has been output or is about to be output.

[0085] It should be noted that, for the convenience and brevity of description, the structure of the above-mentioned terminal device can also refer to the specific description of the structure in the method embodiment, which will not be repeated here.

[0086] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the steps in the above-mentioned industrial equipment vibration early warning method can be implemented.

[0087] An embodiment of the present invention provides a computer program product. When the computer program product is run on a mobile terminal, the mobile terminal can implement the steps of the above-mentioned industrial equipment vibration early warning method when executing the computer program product.

[0088] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0089] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0090] In the embodiments provided herein, it should be understood that the disclosed terminal devices and methods can be implemented in other ways. For example, the terminal device embodiments described above are merely illustrative. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via some interface, device, or unit, which may be electrical, mechanical, or other means.

[0091] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0092] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0093] If the integrated module / unit is implemented as a software functional unit and sold or used as a standalone product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention can implement all or part of the process steps in the above-mentioned method embodiments by using a computer program to instruct the relevant hardware. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signals, telecommunication signals, and software distribution media. It should be noted that the content of the computer-readable medium can be appropriately increased or decreased based on the requirements of legislation and patent practice in a jurisdiction. For example, in some jurisdictions, based on legislation and patent practice, computer-readable media does not include electric carrier signals and telecommunication signals.

[0094] The above embodiments are intended only to illustrate the technical solutions of the present invention and are not intended to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may be modified or some of the technical features thereof may be replaced with equivalents. Such modifications or replacements do not deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention and are therefore intended to be included within the scope of protection of the present invention.

Claims

1. A vibration early warning method for industrial equipment, characterized in that: include: Controlling the millimeter-wave radar to scan the industrial equipment, obtaining a point cloud sequence of the industrial equipment, and collecting an infrared image sequence of the industrial equipment; determining macro-displacement locations and micro-tremor locations according to the point cloud sequence; determining a temperature mutation location based on the infrared image sequence, and determining a vibration source based on the temperature mutation location and the micro-tremor location; A tremor intensity index corresponding to the tremor source is determined according to the infrared image sequence, and an early warning operation is performed according to the tremor source and the tremor intensity index.

2. The tremor early warning method for industrial equipment according to claim 1, characterized in that: The step of determining the macro-displacement location and the micro-tremor location according to the point cloud sequence includes: Calculating point cloud registration parameters between adjacent frames according to the point cloud sequence, wherein the point cloud registration parameters include rigid transformation matrices or non-rigid deformation parameters; According to the point cloud registration parameters, the region where significant position changes occur in the industrial equipment is identified as the macro-displacement region, and the region where high-frequency micro-vibration occurs is identified as the micro-tremor region.

3. The tremor early warning method for industrial equipment according to claim 2, characterized in that: The step of identifying, based on the point cloud registration parameters, an area in the industrial equipment where a significant position change occurs as a macro-displacement location, and identifying an area where high-frequency micro-vibration occurs as the micro-tremor location comprises: Performing time series analysis based on the point cloud registration parameters to extract vibration frequency features; The macro-displacement location and the micro-tremor location are determined according to the vibration frequency characteristics.

4. The tremor early warning method for industrial equipment according to claim 1, characterized in that: The step of identifying the temperature mutation location of the tremor source according to the infrared image sequence comprises: Controlling an infrared thermal imager to collect a sequence of infrared thermal images of the industrial equipment; According to the infrared thermal image sequence, a portion whose temperature exceeds a target temperature is determined as the temperature mutation portion, and the target temperature is greater than or equal to a preset baseline temperature threshold.

5. The tremor early warning method for industrial equipment according to claim 4, characterized in that: Before the step of determining, based on the infrared thermal image sequence, a location where the temperature has exceeded the target temperature as the location where the temperature suddenly changes, the method further includes: The baseline temperature threshold is dynamically updated according to the operation history data and current operation condition parameters of the industrial equipment.

6. The tremor early warning method for industrial equipment according to claim 1, characterized in that: The step of determining the vibration source according to the temperature mutation location and the micro-tremor location includes: The temperature mutation site is regionally matched with the micro-tremor site, and the successfully matched area is used as the tremor source.

7. The tremor early warning method for industrial equipment according to claim 1, characterized in that: The step of determining the tremor intensity index corresponding to the tremor source according to the infrared image sequence comprises: determining, based on the infrared image sequence, a temperature characteristic parameter corresponding to the tremor source, the temperature characteristic parameter comprising at least one of a temperature change rate, a temperature fluctuation amplitude, and a duration of a continuous temperature rise; The tremor intensity index corresponding to the tremor source is calculated according to the characteristic parameters.

8. The tremor early warning method for industrial equipment according to claim 1, characterized in that: The step of performing an early warning operation according to the tremor source and the tremor intensity index comprises: If a target part of the tremor source having a tremor intensity exceeding a preset intensity is determined according to the tremor intensity index, the early warning operation is performed according to the target part.

9. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the tremor early warning method for industrial equipment according to any one of claims 1 to 8 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the vibration early warning method for industrial equipment according to any one of claims 1 to 8 are implemented.

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