Chain wheel state monitoring method and device, computer equipment and storage medium

Abstract

The invention relates to a chain wheel state monitoring method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring an acceleration signal corresponding to one-circle rotation of a chain wheel and a motor angular displacement signal corresponding to a motor driving the chain wheel to rotate; performing integral conversion and vibration intensity calculation on the acceleration signal to determine a vibration intensity signal; determining a chain wheel angular displacement signal corresponding to the chain wheel based on a preset angular velocity ratio between an output shaft of the motor and a driving shaft of the chain wheel and the motor angular displacement signal; determining a vibration intensity value corresponding to each wheel tooth of the chain wheel according to the vibration intensity signal and the chain wheel angular displacement signal; according to the vibration intensity value corresponding to each wheel tooth of the chain wheel, abnormity monitoring is carried out, so that the state of the chain wheel is efficiently detected.

Description

Technical Field

[0001] This application relates to the field of sprocket condition monitoring technology, and in particular to a sprocket condition monitoring method, device, computer equipment, and storage medium. Background Technology

[0002] With the development of the transportation sector, and based on the need for long-distance material transportation in special working environments such as the nuclear industry, transfer trolley technology has emerged. It uses chain drive to transport materials to various workstations. When the sprockets of the transfer trolley experience wear or broken teeth, it will affect the positioning accuracy and working efficiency of the transfer trolley.

[0003] While related technologies can detect abnormalities in the sprockets of transfer trolleys, their detection efficiency is low. Therefore, there is an urgent need for a solution that can overcome the low detection efficiency of these technologies. Summary of the Invention

[0004] Therefore, it is necessary to provide a sprocket condition monitoring method, device, computer equipment, and storage medium with high detection efficiency to address the above-mentioned technical problems.

[0005] Firstly, this application provides a method for monitoring the condition of a sprocket. The method includes:

[0006] Acquire the acceleration signal corresponding to one revolution of the sprocket and the angular displacement signal of the motor driving the sprocket; perform integral conversion and vibration intensity calculation on the acceleration signal to determine the vibration intensity signal; determine the sprocket angular displacement signal corresponding to the sprocket based on the preset angular velocity ratio between the motor output shaft and the sprocket drive shaft and the motor angular displacement signal; determine the vibration intensity value corresponding to each tooth of the sprocket according to the vibration intensity signal and the sprocket angular displacement signal; perform anomaly monitoring according to the vibration intensity value corresponding to each tooth of the sprocket.

[0007] In one embodiment, the sampling interval of the acceleration signal is a first time interval; the sampling interval of the motor angular displacement signal is a second time interval; the second time interval is greater than the first time interval; the step of performing integral conversion and vibration intensity calculation on the acceleration signal to determine the vibration intensity signal includes: dividing the acceleration signal into multiple sub-signals based on the second time interval; integrating the target sub-signals to determine a target velocity signal; the target sub-signal is any one of the multiple sub-signals; performing vibration intensity calculation based on the target velocity signal to determine the vibration intensity value corresponding to the target sub-signal; determining the vibration intensity signal based on the vibration intensity value corresponding to each sub-signal; the vibration intensity signal corresponds to the time of each sampling point in the motor angular displacement signal.

[0008] In one embodiment, the step of calculating the vibration intensity based on the target velocity signal and determining the vibration intensity value corresponding to the target sub-signal includes: performing statistical calculations on multiple target velocity values ​​in the target velocity signal to determine the root mean square value corresponding to the target velocity signal; and using the root mean square value corresponding to the target velocity signal as the vibration intensity value corresponding to the target sub-signal.

[0009] In one embodiment, determining the sprocket angular displacement signal corresponding to the sprocket based on the preset ratio of the angular velocity between the output shaft of the motor and the drive shaft of the sprocket and the motor angular displacement signal includes: dividing the motor angular displacement signal by the ratio of the angular velocity between the output shaft of the motor and the drive shaft of the sprocket to determine the sprocket angular displacement signal.

[0010] In one embodiment, determining the vibration intensity value corresponding to each sprocket tooth based on the vibration intensity signal and the sprocket angular displacement signal includes: performing curve fitting based on the vibration intensity signal and the sprocket angular displacement signal to obtain a vibration intensity curve; the vibration intensity signal includes the vibration intensity value corresponding to each sampling point time; the sprocket angular displacement signal includes the sprocket angular displacement corresponding to each sampling point time; the horizontal axis of the vibration intensity curve is the sprocket angular displacement, and the vertical axis of the vibration intensity curve is the vibration intensity value; based on a preset correspondence between each sprocket tooth and the sprocket angular displacement, the vibration intensity curve is searched to determine the vibration intensity value corresponding to each sprocket tooth.

[0011] In one embodiment, anomaly monitoring based on the vibration intensity value corresponding to each tooth of the sprocket includes: constructing a real-time vibration intensity curve in a visual interface based on the vibration intensity value corresponding to each tooth of the sprocket; loading a preset vibration intensity threshold curve corresponding to the sprocket into the visual interface; issuing an early warning if the target vibration intensity value is greater than the corresponding target vibration intensity threshold; the target vibration intensity value is any vibration intensity value among the vibration intensity values ​​corresponding to each tooth of the sprocket; the target vibration intensity threshold is the vibration intensity threshold corresponding to the target vibration intensity value in the vibration intensity threshold curve.

[0012] In one embodiment, the abnormality monitoring based on the vibration intensity value corresponding to each tooth of the sprocket includes: obtaining the vibration intensity value of each tooth of the sprocket for each revolution when the sprocket rotates multiple revolutions; determining the average vibration intensity of each tooth of the sprocket based on the vibration intensity value of each tooth of the sprocket for each revolution; and performing abnormality monitoring based on the average vibration intensity of each tooth of the sprocket.

[0013] Secondly, this application also provides a sprocket condition monitoring device. The device includes:

[0014] The acquisition module is used to acquire the acceleration signal corresponding to one revolution of the sprocket and the motor angular displacement signal corresponding to the motor driving the sprocket.

[0015] The calculation module is used to perform integral conversion and vibration intensity calculation on the acceleration signal to determine the vibration intensity signal;

[0016] The determination module is used to determine the sprocket angular displacement signal corresponding to the sprocket based on the preset angular velocity ratio between the output shaft of the motor and the drive shaft of the sprocket and the motor angular displacement signal.

[0017] The determining module is also used to determine the vibration intensity value corresponding to each tooth of the sprocket based on the vibration intensity signal and the sprocket angular displacement signal;

[0018] The detection module is used to monitor for anomalies based on the vibration intensity value corresponding to each tooth of the sprocket.

[0019] Thirdly, this application also provides a computer device, the computer device including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement any of the methods in the first aspect above.

[0020] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the methods in the first aspect described above.

[0021] The aforementioned sprocket condition monitoring method, device, computer equipment, and storage medium, after acquiring the acceleration signal corresponding to one revolution of the sprocket and the motor angular displacement signal corresponding to the motor driving the sprocket, determine the vibration intensity signal by performing integral conversion and vibration intensity calculation on the acceleration signal; and determine the sprocket angular displacement signal corresponding to the sprocket based on the preset angular velocity ratio between the motor output shaft and the sprocket drive shaft and the motor angular displacement signal; then determine the vibration intensity value corresponding to each tooth of the sprocket according to the vibration intensity signal and the sprocket angular displacement signal; finally, perform anomaly monitoring based on the vibration intensity value corresponding to each tooth of the sprocket, thereby achieving efficient detection of the sprocket condition. Attached Figure Description

[0022] Figure 1 This is a flowchart illustrating a sprocket condition monitoring method in one embodiment;

[0023] Figure 2 This is an application environment diagram of the sprocket condition monitoring method in one embodiment;

[0024] Figure 3 This is a schematic diagram of the process executed by the industrial control computer in one embodiment;

[0025] Figure 4 This is a flowchart illustrating the process of determining the vibration intensity signal in another embodiment;

[0026] Figure 5 This is a view of the sprocket when each tooth of the sprocket is normal in one embodiment;

[0027] Figure 6 This is a visual diagram of an embodiment where there is an abnormality in the teeth of the sprocket;

[0028] Figure 7 This is a structural block diagram of a sprocket condition monitoring device in one embodiment;

[0029] Figure 8 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0031] In special working environments such as the nuclear industry, long-distance material transport is required in confined, high-radiation, and narrow spaces, primarily using transfer trolleys with chain drives. The transfer trolleys use motor encoders for open-loop positioning. Furthermore, wear or broken teeth on the sprockets can affect the positioning accuracy and efficiency of the transfer trolleys. Therefore, real-time online monitoring of the drive sprockets of the transfer trolleys is of great importance.

[0032] In related technologies, multiple non-contact displacement sensors are used to directly detect sprocket abnormalities. Although this can detect abnormalities in the sprockets of the transfer trolley, the sensor signals are subject to varying degrees of electromagnetic interference in the on-site working environment, and the equipment operating speed fluctuates, which can easily cause false alarms of abnormal sprocket status. This results in low efficiency in detecting abnormal sprocket status. Furthermore, the related technologies have high requirements for sensor accuracy and use a large number of sensors (≥3), so the hardware cost of the related technologies is relatively high.

[0033] To address the aforementioned problems, in one embodiment of this application, such as Figure 1 As shown, a sprocket condition monitoring method is provided, including the following steps:

[0034] Step 101: Obtain the acceleration signal corresponding to one revolution of the sprocket and the angular displacement signal of the motor driving the sprocket.

[0035] The motor drives the sprocket, which in turn drives the chain of the transfer trolley via its teeth, enabling the trolley to transport materials using chain drive. The acceleration signal is obtained by sampling the acceleration of the sprocket during one revolution. The acceleration signal includes multiple acceleration values, which are the acceleration values ​​of the sprocket sampled at a first time interval during one revolution of the sprocket.

[0036] The motor angular displacement signal is obtained by sampling the angular displacement of the motor's output shaft during one revolution of the sprocket, and the sampling time interval is the second time interval.

[0037] Step 102: Perform integral conversion and vibration intensity calculation on the acceleration signal to determine the vibration intensity signal.

[0038] The processes of integrating and converting the acceleration signal and calculating the vibration intensity are both performed in the frequency domain. The vibration intensity is the root mean square value of the velocity value obtained by integrating a portion of the acceleration values ​​in the acceleration signal. The vibration intensity signal includes multiple vibration intensity values, which are calculated vibration intensity values ​​of the sprocket during one revolution. The sampling interval between each vibration intensity value is a second time interval. Specifically, the acceleration signal is first integrated to determine the velocity signal, and then the vibration intensity is calculated from the velocity signal to determine the vibration intensity signal. Vibration intensity is a parameter used to characterize the working state of the sprocket, reflecting the magnitude of the mechanical vibration energy of the sprocket. When the vibration intensity of each tooth of the sprocket is within a preset threshold range, it indicates that the sprocket is working well and there are no abnormalities.

[0039] Step 103: Based on the preset ratio of the angular velocity between the output shaft of the motor and the drive shaft of the sprocket, and the motor angular displacement signal, determine the sprocket angular displacement signal corresponding to the sprocket.

[0040] It's important to note that angular displacement = angular velocity × time. Given the same time frame, the ratio of the motor's angular displacement to the sprocket's angular displacement is equal to the ratio of the angular velocities between the motor's output shaft and the sprocket's drive shaft. Therefore, the sprocket's angular displacement is equal to the motor's angular displacement signal divided by the ratio of the angular velocities between the motor's output shaft and the sprocket's drive shaft. In practical applications, the motor drives the sprocket, which in turn drives the chain of the transfer trolley via its teeth, enabling the trolley to transport materials using chain drive. The motor's output shaft is the shaft responsible for outputting the power or torque generated by the motor. The sprocket's drive shaft is the shaft that drives the sprocket to rotate and ensures its normal operation.

[0041] Step 104: Determine the vibration intensity value corresponding to each tooth of the sprocket based on the vibration intensity signal and the sprocket angular displacement signal.

[0042] The vibration intensity signal and the sprocket angular displacement signal are used to perform curve fitting calculations to construct a curve of vibration intensity with respect to sprocket angular displacement. The horizontal axis represents the sprocket angular displacement, and the vertical axis represents the vibration intensity value, thereby determining the vibration intensity value corresponding to each tooth of the sprocket.

[0043] Step 105: Perform anomaly monitoring based on the vibration intensity value corresponding to each tooth of the sprocket.

[0044] Based on a preset vibration intensity threshold curve corresponding to the sprocket, and according to the vibration intensity value corresponding to each tooth of the sprocket, anomaly monitoring is performed to determine whether the sprocket is abnormal. The vibration intensity threshold curve corresponding to the sprocket is a curve that characterizes the threshold value of the vibration intensity value corresponding to each tooth of the sprocket, including multiple vibration intensity thresholds. These multiple vibration intensity thresholds correspond to each tooth of the sprocket and are thresholds that characterize the vibration intensity value corresponding to a certain tooth of the sprocket. When the vibration intensity value corresponding to a certain tooth of the sprocket is greater than the vibration intensity threshold corresponding to that tooth, that tooth is abnormal; when the vibration intensity value corresponding to a certain tooth of the sprocket is less than or equal to the vibration intensity threshold corresponding to that tooth, that tooth is not abnormal.

[0045] In the aforementioned sprocket condition monitoring method, after acquiring the acceleration signal corresponding to one revolution of the sprocket and the motor angular displacement signal corresponding to the motor driving the sprocket, the vibration intensity signal is determined by integrating and converting the acceleration signal and calculating the vibration intensity. Based on a preset ratio of the angular velocity between the motor's output shaft and the sprocket's drive shaft, and the motor angular displacement signal, the sprocket angular displacement signal is determined. Then, based on the vibration intensity signal and the sprocket angular displacement signal, the vibration intensity value corresponding to each tooth of the sprocket is determined. Finally, based on the vibration intensity value corresponding to each tooth of the sprocket, anomaly monitoring is performed, thereby achieving efficient detection of the sprocket's condition.

[0046] It should be noted that, as Figure 2The diagram shows a schematic of the drive assembly of the transfer trolley. A vibration acceleration sensor deployed on the sprocket housing samples the sprocket's acceleration at a first time interval during one revolution, obtaining an acceleration signal. This signal is then processed by a signal conversion module, undergoing bandpass filtering, signal integration conversion, vibration intensity calculation, and digital-to-analog conversion. Finally, an analog vibration intensity signal is output to the PLC. The PLC is connected to the motor's servo driver via a control line to obtain the motor's angular displacement signal. The industrial control computer (ICC) resamples the vibration intensity signal during the entire sprocket revolution. The ICC is connected to the PLC via a network cable and receives the vibration intensity signal and motor angular displacement signal from the PLC in real time at equal time intervals via the Modbus TCP protocol. The PLC also has a sprocket revolution count variable. A display shows a visual interface for detecting any sprocket abnormalities. The signal integration conversion converts the acceleration signal into a velocity signal.

[0047] like Figure 3 As shown, when the value of the count variable changes after the sprocket completes a full revolution, the industrial control computer uses the received motor angular displacement signal to calculate the sprocket angular displacement signal based on the ratio of the angular velocity between the motor's output shaft and the sprocket's drive shaft. Since there are speed fluctuations during motor operation, the angular displacements corresponding to multiple vibration intensity values ​​in the vibration intensity signal are not constant. Therefore, it is necessary to perform equal-division linear interpolation based on the buffered rotation angle sequence range, using the number of sprocket teeth as the number of equal divisions, to obtain vibration intensity values ​​with equal angular intervals.

[0048] In other embodiments of this application, the sprocket condition monitoring method further includes bandpass filtering the acceleration signal to determine the filtered acceleration signal.

[0049] In other embodiments of this application, such as Figure 4 As shown, the process of performing integral conversion and vibration intensity calculation on the acceleration signal to determine the vibration intensity signal includes:

[0050] Step 401: Based on the second time interval, divide the acceleration signal into multiple sub-signals.

[0051] That is, multiple acceleration values ​​in the acceleration signal are divided based on a second time interval to obtain multiple sub-signals, wherein a single sub-signal includes multiple acceleration values ​​within the second time interval.

[0052] It should be noted that the sampling interval of the acceleration signal is a first time interval; the sampling interval of the motor angular displacement signal is a second time interval; the second time interval is greater than the first time interval. Dividing the acceleration signal into multiple sub-signals with the second time interval ensures that the time interval between the vibration intensity values ​​obtained after integrating each sub-signal and calculating the vibration intensity is the second time interval, thus making the finally determined vibration intensity signal correspond to the time of each sampling point in the motor angular displacement signal.

[0053] Step 402: Integrate the target sub-signal to determine the target velocity signal.

[0054] That is, the target sub-signal is integrated in the frequency domain to obtain the target velocity signal. The target velocity signal is the velocity signal obtained by integrating the target sub-signal, and the target velocity signal includes multiple velocity values. The target sub-signal can be any one of the multiple sub-signals.

[0055] Specifically, each acceleration value in the target sub-signal is integrated to obtain multiple velocity values, and finally the target velocity signal is determined.

[0056] Step 403: Calculate the vibration intensity based on the target velocity signal to determine the vibration intensity value corresponding to the target sub-signal.

[0057] That is, the root mean square value of multiple velocity values ​​in the target velocity signal is calculated, and the root mean square value is used as the vibration intensity value corresponding to the target sub-signal.

[0058] Step 404: Determine the vibration intensity signal based on the intensity value corresponding to each sub-signal.

[0059] It should be noted that in this embodiment, only the integration and vibration intensity calculation were performed on the target sub-signal. However, in actual application scenarios, the integration and vibration intensity calculation will be performed on each sub-signal to determine the vibration intensity signal.

[0060] That is, the intensity value corresponding to each sub-signal is taken as the vibration intensity signal. The vibration intensity signal corresponds to the sampling time of each sampling point in the motor angular displacement signal. Specifically, the sampling time of each vibration intensity value in the vibration intensity signal is the same as the sampling time of each motor angular displacement in the motor angular displacement signal.

[0061] In other embodiments of this application, calculating the vibration intensity based on the target velocity signal to determine the vibration intensity value corresponding to the target sub-signal includes:

[0062] Step 1: Perform statistical calculations on multiple target velocity values ​​in the target velocity signal to determine the root mean square value corresponding to the target velocity signal.

[0063] Step 2: Use the root mean square value corresponding to the target velocity signal as the vibration intensity value corresponding to the target sub-signal.

[0064] It should be noted that in this embodiment, the vibration intensity value corresponding to the target sub-signal is determined by simply calculating the root mean square value of multiple target velocity values, thus laying the foundation for subsequent anomaly monitoring based on the vibration intensity value corresponding to each tooth of the sprocket.

[0065] In other embodiments of this application, determining the sprocket angular displacement signal corresponding to the sprocket based on a preset ratio of the angular velocity between the motor's output shaft and the sprocket's drive shaft, and the motor's angular displacement signal, includes:

[0066] The sprocket angular displacement signal is determined by dividing the motor angular displacement signal by the ratio of the angular velocity between the motor's output shaft and the sprocket's drive shaft.

[0067] It should be noted that angular displacement equals angular velocity multiplied by time. When the time is the same, the ratio of the motor angular displacement to the sprocket angular displacement is equal to the ratio of the angular velocities between the motor's output shaft and the sprocket's drive shaft. Therefore, the sprocket angular displacement signal is equal to the motor angular displacement signal divided by the ratio of the angular velocities between the motor's output shaft and the sprocket's drive shaft.

[0068] That is, multiple motor angular displacements are removed from the motor angular displacement signal and the ratio of the angular velocity between the motor output shaft and the sprocket drive shaft is used to obtain multiple sprocket angular displacements, thereby determining the sprocket angular displacement signal.

[0069] In other embodiments of this application, determining the vibration intensity value corresponding to each tooth of the sprocket based on the vibration intensity signal and the sprocket angular displacement signal includes:

[0070] Step 1: Based on the vibration intensity signal and the sprocket angular displacement signal, perform curve fitting to obtain the vibration intensity curve.

[0071] The vibration intensity signal includes: the vibration intensity value corresponding to the time of each sampling point; the sprocket angular displacement signal includes: the sprocket angular displacement corresponding to the time of each sampling point; the horizontal axis of the vibration intensity curve is the sprocket angular displacement, and the vertical axis of the vibration intensity curve is the vibration intensity value.

[0072] That is, using the sprocket angular displacement as the abscissa and the vibration intensity value as the ordinate, a curve fitting is performed based on multiple vibration intensities in the vibration intensity signal and multiple sprocket angular displacements in the sprocket angular displacement signal to obtain the vibration intensity curve.

[0073] Step 2: Based on the preset correspondence between each sprocket tooth and the sprocket angular displacement, find the vibration intensity curve and determine the vibration intensity value corresponding to each sprocket tooth.

[0074] The correspondence between each tooth of the sprocket and the angular displacement of the sprocket is a preset relationship between the angular displacements of each tooth of the sprocket.

[0075] For example, if the sprocket angular displacement corresponding to a certain tooth is zero, then the vibration intensity value corresponding to that tooth is the vibration intensity value on the vibration intensity curve when the sprocket angular displacement is zero.

[0076] In other embodiments of this application, anomaly monitoring based on the vibration intensity value corresponding to each tooth of the sprocket includes:

[0077] Step 1: Based on the vibration intensity value corresponding to each tooth of the sprocket, construct a real-time vibration intensity curve in the visual interface.

[0078] That is, the corresponding vibration intensity value is displayed on each tooth of the sprocket in the visual interface, and the points representing the vibration intensity values ​​of each tooth are connected to construct a real-time vibration intensity curve.

[0079] Step 2: Load the preset vibration intensity threshold curve corresponding to the sprocket in the visual interface.

[0080] That is, based on the correspondence between each vibration intensity threshold and each gear tooth in the vibration intensity threshold curve, the preset vibration intensity threshold curve corresponding to the sprocket is displayed in the visual interface.

[0081] Step 3: If the target vibration intensity value is greater than the corresponding target vibration intensity threshold, an early warning will be issued.

[0082] Wherein, the target vibration intensity value is any vibration intensity value among the vibration intensity values ​​corresponding to each tooth of the sprocket; the target vibration intensity threshold is the vibration intensity threshold corresponding to the target vibration intensity value in the vibration intensity threshold curve.

[0083] It should be noted that, in this embodiment, although only the magnitude of the target vibration intensity value and the target vibration intensity threshold is determined, in actual application scenarios, this step will be performed on the vibration intensity value corresponding to each tooth of the sprocket.

[0084] Specifically, the average value and standard deviation of the vibration intensity value of each gear tooth are calculated, and then the vibration intensity threshold of each gear tooth is determined based on the average value and standard deviation of the vibration intensity value of each gear tooth.

[0085] In one embodiment of this application, the vibration intensity threshold of each gear tooth is equal to the sum of the average value and standard deviation of the vibration intensity values ​​of each gear tooth.

[0086] It should be noted that, as Figure 5The diagram shows the visual interface of a sprocket when each tooth is normal. During normal operation, the vibration intensity of the sprocket is relatively stable, and the vibration intensity value is below the threshold. When there are no abnormalities in any tooth, the vibration intensity value of each tooth is less than the corresponding vibration intensity threshold, and no alarm is triggered. Figure 6 As shown, the visual interface is displayed when there is an abnormality in each tooth of the sprocket. When there is an abnormality in a certain tooth, the vibration intensity value of that tooth will be greater than the corresponding vibration intensity threshold, and an alarm will be triggered.

[0087] It should be noted that in other embodiments of this application, in order to prevent false alarms caused by random abnormal interference, an alarm strategy of M out of N is used. That is, if a tooth of the sprocket alarms N times when the sprocket rotates continuously for M revolutions, it is determined that the tooth is abnormal.

[0088] It should be noted that in other embodiments of this application, the average value of the vibration intensity of each tooth is calculated for monitoring after the sprocket rotates continuously for M revolutions.

[0089] In one embodiment of this application, the vibration intensity threshold of each gear tooth is equal to the average vibration intensity value of each gear tooth plus the standard deviation multiplied by a preset coefficient.

[0090] In other embodiments of this application, the method further includes: the abnormal monitoring based on the vibration intensity value corresponding to each tooth of the sprocket includes:

[0091] Step 1: Obtain the vibration intensity value of each tooth of the sprocket for each revolution when the sprocket rotates multiple times.

[0092] Step 2: Determine the average vibration intensity of each tooth of the sprocket based on the vibration intensity value of each tooth corresponding to multiple rotations.

[0093] That is, the average vibration intensity value of each tooth of the sprocket corresponding to multiple rotations is calculated, thereby determining the average vibration intensity value of each tooth of the sprocket.

[0094] Step 3: Based on the average vibration intensity of each tooth of the sprocket, conduct anomaly monitoring.

[0095] Specifically, the anomaly monitoring based on the average vibration intensity of each sprocket tooth includes: constructing a real-time vibration intensity curve in the visual interface based on the average vibration intensity of each sprocket tooth; loading a preset vibration intensity threshold curve corresponding to the sprocket into the visual interface; and finally comparing the magnitude of the average vibration intensity of each tooth with the corresponding vibration intensity threshold. If the average vibration intensity of a tooth is greater than the corresponding vibration intensity threshold, it indicates that the tooth is abnormal.

[0096] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0097] Based on the same inventive concept, this application also provides a sprocket condition monitoring device for implementing the sprocket condition monitoring method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more sprocket condition monitoring device embodiments provided below can be found in the limitations of the sprocket condition monitoring method described above, and will not be repeated here.

[0098] In one embodiment of this application, such as Figure 7 As shown, a sprocket condition monitoring device is provided, comprising:

[0099] The acquisition module 100 is used to acquire the acceleration signal corresponding to one revolution of the sprocket and the motor angular displacement signal corresponding to the motor driving the sprocket.

[0100] The calculation module 200 is used to perform integral conversion and vibration intensity calculation on the acceleration signal to determine the vibration intensity signal.

[0101] The determination module 300 is used to determine the sprocket angular displacement signal corresponding to the sprocket based on the preset angular velocity ratio between the output shaft of the motor and the drive shaft of the sprocket and the motor angular displacement signal.

[0102] The determining module 300 is also used to determine the vibration intensity value corresponding to each tooth of the sprocket based on the vibration intensity signal and the sprocket angular displacement signal.

[0103] The detection module 400 is used to monitor for anomalies based on the vibration intensity value corresponding to each tooth of the sprocket.

[0104] In other embodiments of this application, the determining module 300 is further configured to: divide the acceleration signal into multiple sub-signals based on a second time interval; integrate the target sub-signals to determine a target velocity signal; the target sub-signal is any one of the multiple sub-signals; calculate the vibration intensity based on the target velocity signal to determine the vibration intensity value corresponding to the target sub-signal; determine the vibration intensity signal based on the intensity value corresponding to each sub-signal; and the vibration intensity signal corresponds to the time of each sampling point in the motor angular displacement signal.

[0105] In other embodiments of this application, the calculation module 200 is further configured to perform statistical calculations on multiple target velocity values ​​in the target velocity signal to determine the root mean square value corresponding to the target velocity signal; and to use the root mean square value corresponding to the target velocity signal as the vibration intensity value corresponding to the target sub-signal.

[0106] In other embodiments of this application, the determining module 300 is further configured to divide the motor angular displacement signal by the ratio of the angular velocity between the output shaft of the motor and the drive shaft of the sprocket to determine the sprocket angular displacement signal.

[0107] In other embodiments of this application, the determining module 300 is further configured to perform curve fitting based on the vibration intensity signal and the sprocket angular displacement signal to obtain a vibration intensity curve; the vibration intensity signal includes: the vibration intensity value corresponding to the time of each sampling point; the sprocket angular displacement signal includes: the sprocket angular displacement corresponding to the time of each sampling point; the horizontal axis of the vibration intensity curve is the sprocket angular displacement, and the vertical axis of the vibration intensity curve is the vibration intensity value; based on a preset correspondence between each sprocket tooth and the sprocket angular displacement, the vibration intensity curve is searched to determine the vibration intensity value corresponding to each sprocket tooth.

[0108] In other embodiments of this application, the detection module 400 is further configured to construct a real-time vibration intensity curve in a visual interface based on the vibration intensity value corresponding to each tooth of the sprocket; load a preset vibration intensity threshold curve corresponding to the sprocket in the visual interface; and issue an early warning if the target vibration intensity value is greater than the corresponding target vibration intensity threshold; wherein the target vibration intensity value is any vibration intensity value among the vibration intensity values ​​corresponding to each tooth of the sprocket; and the target vibration intensity threshold is the vibration intensity threshold corresponding to the target vibration intensity value in the vibration intensity threshold curve.

[0109] In other embodiments of this application, the detection module 400 is further configured to acquire the vibration intensity value of each tooth of the sprocket corresponding to each revolution when the sprocket rotates multiple revolutions; determine the average vibration intensity of each tooth of the sprocket based on the vibration intensity value of each tooth of the sprocket corresponding to multiple revolutions; and perform anomaly monitoring based on the average vibration intensity of each tooth of the sprocket.

[0110] Each module in the aforementioned sprocket condition monitoring device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0111] In one embodiment of this application, a computer device is provided, which may be a server, and its internal structure diagram may be as follows. Figure 8 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores all relevant data for executing the sprocket condition monitoring method. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements a sprocket condition monitoring method.

[0112] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0113] In one embodiment of this application, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the sprocket state monitoring method in the above embodiment.

[0114] In one embodiment of this application, a computer-readable storage medium is provided, on which a computer program is stored, the computer program being executed by a processor to implement the steps of the sprocket state monitoring method in the above-described method embodiments.

[0115] In one embodiment of this application, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the sprocket state monitoring method in the above-described method embodiments.

[0116] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0117] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0118] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0119] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A sprocket condition monitoring method, applied to sprockets, characterized in that, The method includes: Acquire the acceleration signal corresponding to one revolution of the sprocket and the angular displacement signal of the motor driving the sprocket; The acceleration signal is integrated and converted, and the vibration intensity is calculated to determine the vibration intensity signal. Based on the preset angular velocity ratio between the motor output shaft and the sprocket drive shaft and the motor angular displacement signal, the corresponding sprocket angular displacement signal is determined. Based on the vibration intensity signal and the sprocket angular displacement signal, determine the vibration intensity value corresponding to each tooth of the sprocket; Anomaly monitoring is performed based on the vibration intensity value corresponding to each tooth of the sprocket.

2. The sprocket condition monitoring method according to claim 1, characterized in that, The sampling interval of the acceleration signal is a first time interval; the sampling interval of the motor angular displacement signal is a second time interval; the second time interval is greater than the first time interval; the step of performing integral conversion and vibration intensity calculation on the acceleration signal to determine the vibration intensity signal includes: Based on the second time interval, the acceleration signal is divided into multiple sub-signals; Integrate the target sub-signal to determine the target velocity signal; the target sub-signal is any one of multiple sub-signals. The vibration intensity is calculated based on the target velocity signal to determine the vibration intensity value corresponding to the target sub-signal; A vibration intensity signal is determined based on the vibration intensity value corresponding to each of the sub-signals; the vibration intensity signal corresponds to the time of each sampling point in the motor angular displacement signal.

3. The sprocket condition monitoring method according to claim 2, characterized in that, The step of calculating the vibration intensity based on the target velocity signal to determine the vibration intensity value corresponding to the target sub-signal includes: Perform statistical calculations on multiple target velocity values ​​in the target velocity signal to determine the root mean square value corresponding to the target velocity signal; The root mean square value corresponding to the target velocity signal is used as the vibration intensity value corresponding to the target sub-signal.

4. The sprocket condition monitoring method according to claim 1, characterized in that, The determination of the sprocket angular displacement signal corresponding to the sprocket, based on the preset angular velocity ratio between the motor's output shaft and the sprocket's drive shaft, and the motor's angular displacement signal, includes: The sprocket angular displacement signal is determined by dividing the motor angular displacement signal by the ratio of the angular velocity between the motor's output shaft and the sprocket's drive shaft.

5. The sprocket condition monitoring method according to claim 1, characterized in that, The step of determining the vibration intensity value corresponding to each tooth of the sprocket based on the vibration intensity signal and the sprocket angular displacement signal includes: Based on the vibration intensity signal and the sprocket angular displacement signal, a curve fitting is performed to obtain the vibration intensity curve; the vibration intensity signal includes: the vibration intensity value corresponding to the time of each sampling point; the sprocket angular displacement signal includes: the sprocket angular displacement corresponding to the time of each sampling point; the horizontal axis of the vibration intensity curve is the sprocket angular displacement, and the vertical axis of the vibration intensity curve is the vibration intensity value; Based on the preset correspondence between each sprocket tooth and the sprocket angular displacement, the vibration intensity curve is found to determine the vibration intensity value corresponding to each sprocket tooth.

6. The sprocket condition monitoring method according to claim 1, characterized in that, Anomaly monitoring is performed based on the vibration intensity value corresponding to each tooth of the sprocket, including: Based on the vibration intensity value corresponding to each tooth of the sprocket, a real-time vibration intensity curve is constructed in the visual interface; The preset vibration intensity threshold curve corresponding to the sprocket is loaded in the visual interface; If the target vibration intensity value is greater than the corresponding target vibration intensity threshold, an early warning will be issued; the target vibration intensity value is any vibration intensity value among the vibration intensity values ​​corresponding to each tooth of the sprocket; the target vibration intensity threshold is the vibration intensity threshold corresponding to the target vibration intensity value in the vibration intensity threshold curve.

7. The sprocket condition monitoring method according to claim 1, characterized in that, The abnormality monitoring based on the vibration intensity value corresponding to each tooth of the sprocket includes: Obtain the vibration intensity value of each tooth of the sprocket for each revolution when the sprocket rotates multiple revolutions; The average vibration intensity of each tooth of the sprocket is determined based on the vibration intensity value of each tooth corresponding to multiple rotations. Anomaly monitoring is conducted based on the average vibration intensity of each tooth of the sprocket.

8. A sprocket condition monitoring device, characterized in that, The device includes: The acquisition module is used to acquire the acceleration signal corresponding to one revolution of the sprocket and the motor angular displacement signal corresponding to the motor driving the sprocket. The calculation module is used to perform integral conversion and vibration intensity calculation on the acceleration signal to determine the vibration intensity signal; The determination module is used to determine the sprocket angular displacement signal corresponding to the sprocket based on the preset angular velocity ratio between the output shaft of the motor and the drive shaft of the sprocket and the motor angular displacement signal. The determining module is also used to determine the vibration intensity value corresponding to each tooth of the sprocket based on the vibration intensity signal and the sprocket angular displacement signal; The detection module is used to monitor for anomalies based on the vibration intensity value corresponding to each tooth of the sprocket.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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