Sprocket condition monitoring method and device, computer equipment and storage medium

Abstract

The application 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 rotation of a chain wheel and a motor angular displacement signal corresponding to a motor driving the chain wheel; 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 tooth of the chain wheel according to the vibration intensity signal and the chain wheel angular displacement signal; and performing abnormality monitoring according to the vibration intensity value corresponding to each tooth of the chain wheel, so that the state of the chain wheel can be efficiently detected.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sprocket state monitoring, and in particular to a sprocket state monitoring method and device, computer equipment and a storage medium. BACKGROUND

[0002] With the development of the transportation field, based on the need for long-distance material conveying in special working environments such as the nuclear industry, transfer trolley technology has emerged, which transmits materials to various stations through chain transmission. The sprocket of the transfer trolley will affect the positioning accuracy and working efficiency of the transfer trolley when it is abnormally worn or broken.

[0003] In the related art, although the abnormality of the sprocket of the transfer trolley can be detected, the detection efficiency is low. Therefore, there is an urgent need for a solution to solve the low detection efficiency of the related art. SUMMARY

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

[0005] In a first aspect, the present application provides a sprocket state monitoring method. The method comprises:

[0006] obtaining an acceleration signal corresponding to one rotation of a sprocket and a motor angular displacement signal corresponding to a motor driving the sprocket; performing integral conversion and vibration intensity calculation on the acceleration signal to determine a vibration intensity signal; determining a sprocket angular displacement signal corresponding to the sprocket based on a preset angular velocity ratio between the output shaft of the motor and the driving shaft of the sprocket and the motor angular displacement signal; determining a vibration intensity value corresponding to each tooth of the sprocket according to the vibration intensity signal and the sprocket angular displacement signal; and performing abnormality 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; and the integral conversion and vibration intensity calculation on the acceleration signal to determine the vibration intensity signal comprises: dividing the acceleration signal into a plurality of sub-signals based on the second time interval; integrating the target sub-signal to determine a target speed signal; the target sub-signal is any one of the plurality of sub-signals; performing vibration intensity calculation according to the target speed signal to determine the vibration intensity value corresponding to the target sub-signal; and determining the vibration intensity signal according to the vibration intensity value corresponding to each of the sub-signals; the vibration intensity signal corresponds to each sampling point time in the motor angular displacement signal.

[0008] In one of the embodiments, the determining the vibration intensity value corresponding to the target sub-signal according to the target speed signal comprises: performing statistical operation on the target speed values in the target speed signal to determine the root mean square value corresponding to the target speed signal; and taking the root mean square value corresponding to the target speed signal as the vibration intensity value corresponding to the target sub-signal.

[0009] In one of the embodiments, the determining 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 driving shaft of the sprocket and the motor angular displacement signal comprises: dividing the motor angular displacement signal by the angular velocity ratio between the output shaft of the motor and the driving shaft of the sprocket to determine the sprocket angular displacement signal.

[0010] In one of the embodiments, the determining the vibration intensity value corresponding to each tooth of the sprocket based on the vibration intensity signal and the sprocket angular displacement signal comprises: 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 comprises the vibration intensity value corresponding to each sampling point time; the sprocket angular displacement signal comprises the sprocket angular displacement corresponding to each sampling point time; the abscissa of the vibration intensity curve is the sprocket angular displacement, and the ordinate of the vibration intensity curve is the vibration intensity value; and based on the preset correspondence between each tooth of the sprocket and the sprocket angular displacement, the vibration intensity curve is searched to determine the vibration intensity value corresponding to each tooth of the sprocket.

[0011] In one of the embodiments, the performing abnormality monitoring based on the vibration intensity value corresponding to each tooth of the sprocket comprises: 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 in the visual interface; and performing early warning if a target vibration intensity value is greater than a target vibration intensity threshold value; the target vibration intensity value is any vibration intensity value in the vibration intensity value corresponding to each tooth of the sprocket; and the target vibration intensity threshold value is the vibration intensity threshold value corresponding to the target vibration intensity value in the vibration intensity threshold curve.

[0012] In one of the embodiments, the performing abnormality monitoring based on the vibration intensity value corresponding to each tooth of the sprocket comprises: obtaining the vibration intensity value corresponding to each tooth of the sprocket in each rotation of the sprocket; determining the vibration intensity average value of each tooth of the sprocket based on the vibration intensity value corresponding to each tooth of the sprocket in each rotation; and performing abnormality monitoring based on the vibration intensity average value of each tooth of the sprocket.

[0013] In a second aspect, the application further provides a sprocket state monitoring device. The device comprises:

[0014] The acquisition module is configured to acquire an acceleration signal corresponding to one rotation of the chain wheel and a motor angular displacement signal corresponding to a motor driving the chain wheel;

[0015] The calculation module is configured to perform integral conversion and vibration intensity calculation on the acceleration signal to determine a vibration intensity signal.

[0016] The determination module is configured to determine 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.

[0017] The determination module is further configured to determine a vibration intensity value corresponding to each tooth of the chain wheel according to the vibration intensity signal and the chain wheel angular displacement signal.

[0018] The detection module is configured to perform abnormality monitoring according to the vibration intensity value corresponding to each tooth of the chain wheel.

[0019] In a third aspect, the present application further provides a computer device, which comprises a memory and a processor, the memory stores a computer program, and the processor implements any method in the first aspect when executing the computer program.

[0020] In a fourth aspect, the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement any method in the first aspect.

[0021] The chain wheel state monitoring method, device, computer device and storage medium described above, after acquiring an acceleration signal corresponding to one rotation of the chain wheel and a motor angular displacement signal corresponding to a motor driving the chain wheel, perform integral conversion and vibration intensity calculation on the acceleration signal to determine a vibration intensity signal, determine 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, then determine a vibration intensity value corresponding to each tooth of the chain wheel according to the vibration intensity signal and the chain wheel angular displacement signal, and finally perform abnormality monitoring according to the vibration intensity value corresponding to each tooth of the chain wheel, thereby realizing efficient detection of the state of the chain wheel. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a flowchart of the chain wheel state monitoring method in one embodiment;

[0023] Figure 2 It is an application environment diagram of the chain wheel state monitoring method in one embodiment;

[0024] Figure 3 It is a flowchart of the process executed by the industrial computer in one embodiment;

[0025] Figure 4 Flowchart for determining vibration intensity signal in another embodiment;

[0026] Figure 5 Visual diagram of a sprocket in an embodiment where each tooth of the sprocket is normal;

[0027] Figure 6 Visual diagram of a sprocket in an embodiment where there is an abnormality in each tooth of the sprocket;

[0028] Figure 7 Structural block diagram of a sprocket state monitoring device in an embodiment;

[0029] Figure 8 Internal structure diagram of a computer device in an embodiment. DETAILED DESCRIPTION

[0030] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0031] In special working environments such as the nuclear industry, long-distance material transportation needs to be carried out in airtight, high-radiation and narrow environment, mainly through a transfer trolley to transport materials in a chain transmission manner. The transfer trolley is positioned by an open-loop positioning of a motor encoder. Moreover, when the sprocket has an abnormality such as wear or tooth breakage, it will affect the positioning accuracy and working efficiency of the transfer trolley. Therefore, it is of great significance to carry out real-time online state monitoring on the driving sprocket of the transfer trolley.

[0032] In the related art, the sprocket is directly detected by multiple non-contact displacement sensors, which can detect the abnormality of the sprocket of the transfer trolley. However, considering the on-site working environment, the sensor signals are subject to electromagnetic interference to different degrees, and the equipment running speed fluctuates, which easily causes false positives of the sprocket state abnormality and thus leads to low efficiency of the related art in detecting the abnormal state of the sprocket. Moreover, the related art has a high requirement for the precision of the sensors, and a large number (≥3) of sensors are used, so the hardware cost of the related art is relatively high.

[0033] In order to solve the above problems, in an embodiment of the present application, as shown in Figure 1 a sprocket state monitoring method is provided, comprising the following steps:

[0034] Step 101, obtaining an acceleration signal corresponding to one rotation of a sprocket and a motor angular displacement signal corresponding to a motor driving the sprocket.

[0035] The motor drives the sprocket, and the sprocket drives the chain of the transfer trolley through the sprocket teeth, so that the transfer trolley can transport the materials in a chain transmission mode. The acceleration signal is a signal obtained by sampling the acceleration of the sprocket in one rotation period of the sprocket. The acceleration signal includes a plurality of acceleration values, wherein the plurality of acceleration values are values of the acceleration of the sprocket sampled at a first time interval in one rotation period of the sprocket.

[0036] The motor angular displacement signal is a signal obtained by sampling the angular displacement of the output shaft of the motor in one rotation period of the sprocket, and the sampling time interval is a second time interval.

[0037] Step 102, integral conversion and vibration intensity calculation are performed on the acceleration signal to determine the vibration intensity signal.

[0038] The integral conversion and vibration intensity calculation of the acceleration signal are both performed in the frequency domain, and the vibration intensity is the root mean square value of the speed value obtained by integrating part of the acceleration values in the acceleration signal. The vibration intensity signal includes a plurality of vibration intensity values, which are the vibration intensity values of the sprocket calculated in one rotation period of the sprocket. The sampling interval between each vibration intensity value is a second time interval. Specifically, the acceleration signal is first converted by integral to determine the speed signal, and then the vibration intensity of the speed signal is calculated to determine the vibration intensity signal. The vibration intensity is a parameter for characterizing the working state of the sprocket, which reflects the size of the mechanical vibration energy of the sprocket. When the vibration intensity of each tooth of the sprocket is within a predetermined threshold range, it indicates that the working state of the sprocket is good and no abnormality occurs.

[0039] Step 103, based on the preset angular velocity ratio between the output shaft of the motor and the driving shaft of the sprocket and the motor angular displacement signal, the corresponding sprocket angular displacement signal of the sprocket is determined.

[0040] It should be noted that the angular displacement = angular velocity × time. In the case of the same time, the ratio of the motor angular displacement and the sprocket angular displacement is equal to the angular velocity ratio between the output shaft of the motor and the driving shaft of the sprocket, so the sprocket angular displacement is equal to the motor angular displacement signal divided by the angular velocity ratio between the output shaft of the motor and the driving shaft of the sprocket. In actual application scenarios, the motor drives the sprocket, and the sprocket drives the chain of the transfer trolley through the sprocket teeth, so that the transfer trolley can transport the materials in a chain transmission mode. The output shaft of the motor is the shaft in the motor responsible for outputting the power or torque generated by the motor. The driving shaft of the sprocket is the shaft that drives the sprocket to rotate and work normally.

[0041] Step 104, according to the vibration intensity signal and the sprocket angular displacement signal, the vibration intensity value corresponding to each tooth of the sprocket is determined.

[0042] That is, the vibration intensity signal and the sprocket angular displacement signal are subjected to curve fitting operation, a curve of the vibration intensity with respect to the sprocket angular displacement is constructed, the abscissa is the sprocket angular displacement, and the ordinate is the vibration intensity value, so as to determine the vibration intensity value corresponding to each tooth of the sprocket.

[0043] Step 105, according to the vibration intensity value corresponding to each tooth of the sprocket, abnormal monitoring is performed.

[0044] That is, according to the vibration intensity threshold curve corresponding to the sprocket and the vibration intensity value corresponding to each tooth of the sprocket, abnormal monitoring is performed, so as to determine whether the sprocket is abnormal. The vibration intensity threshold curve corresponding to the sprocket is used to represent the curve of the threshold value of the vibration intensity value corresponding to each tooth of the sprocket, including a plurality of vibration intensity threshold values corresponding to each tooth of the sprocket, which represents the threshold value of 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 value corresponding to the tooth, the 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 value corresponding to the tooth, the tooth is not abnormal.

[0045] In the above-mentioned sprocket state monitoring method, after the acceleration signal corresponding to one rotation of the sprocket and the motor angular displacement signal corresponding to the motor driving the sprocket are obtained; the vibration intensity signal is determined by integrating and converting the acceleration signal and calculating the vibration intensity; and the sprocket angular displacement signal corresponding to the sprocket is determined based on the preset angular velocity ratio between the output shaft of the motor and the driving shaft of the sprocket and the motor angular displacement signal; then the vibration intensity value corresponding to each tooth of the sprocket is determined according to the vibration intensity signal and the sprocket angular displacement signal; finally, according to the vibration intensity value corresponding to each tooth of the sprocket, abnormal monitoring is performed, so as to realize efficient detection of the state of the sprocket.

[0046] It should be noted that, as Figure 2As shown, a schematic diagram of the driving assembly of the transfer trolley is shown, wherein the acceleration of the sprocket is sampled at a first time interval during a cycle of the sprocket rotation by a vibration acceleration sensor arranged on the sprocket box, so as to obtain an acceleration signal, and then the acceleration signal is subjected to band-pass filtering, integral conversion of the signal, vibration intensity calculation, and digital-to-analog conversion via a signal conversion module, and finally the vibration intensity signal in the form of an analog signal is output to the PLC, the PLC is connected with the servo driver of the motor through a control line to obtain a motor angular displacement signal, the industrial computer starts to resample the vibration intensity signal of the sprocket during the whole circle running process, the industrial computer is connected with the PLC through a network cable, and the vibration intensity signal and the motor angular displacement signal sent by the PLC are received at equal time intervals in real time through the Modbus tcp protocol, and a sprocket running whole circle counting variable is also set in the PLC. The display is used to display a visual interface, so as to detect whether the sprocket is abnormal, and the integral conversion of the signal is used to convert the acceleration signal into a speed signal.

[0047] As shown in Figure 3 When the value of the sprocket running whole circle counting variable changes, the industrial computer converts the received motor angular displacement signal into a sprocket angular displacement signal according to the angular velocity ratio between the output shaft of the motor and the driving shaft of the sprocket. Due to the speed fluctuation during the motor running process, the angular displacement corresponding to multiple vibration intensity values in the vibration intensity signal is not constant, so it is necessary to perform equal linear interpolation according to the buffered angular sequence range, and the number of sprocket teeth is used as the number of equal parts to obtain vibration intensity values at equal angular intervals.

[0048] In other embodiments of the present application, the sprocket state monitoring method further comprises performing band-pass filtering on the acceleration signal to determine a filtered acceleration signal.

[0049] In other embodiments of the present application, as shown in Figure 4 The integral conversion of the acceleration signal and the vibration intensity calculation to determine the vibration intensity signal include:

[0050] Step 401, dividing the acceleration signal into multiple sub-signals based on a second time interval.

[0051] That is, the multiple acceleration values in the acceleration signal are divided based on the second time interval, so as 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; and the second time interval is greater than the first time interval. Dividing the acceleration signal into a plurality of sub-signals at the second time interval can enable the time interval between the vibration intensity values obtained after the subsequent integration of each sub-signal and the vibration intensity calculation to be the second time interval, so that the final determined vibration intensity signal corresponds to each sampling point time in the motor angular displacement signal.

[0053] Step 402, integrating the target sub-signal to determine the target speed signal.

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

[0055] Specifically, each acceleration value in the target sub-signal is integrated to obtain a plurality of speed values, and finally the target speed signal is determined.

[0056] Step 403, performing vibration intensity calculation according to the target speed signal to determine the vibration intensity value corresponding to the target sub-signal.

[0057] That is, the root mean square value of the plurality of speed values in the target speed signal is calculated, and the root mean square value is taken as the vibration intensity value corresponding to the target sub-signal.

[0058] Step 404, determining the vibration intensity signal according to the intensity value corresponding to each sub-signal.

[0059] It should be noted that in this embodiment, only the target sub-signal is integrated and vibration intensity calculation is performed, but in actual application scenarios, integration and vibration intensity calculation are performed for 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 each sampling point time in the motor angular displacement signal. That is, the sampling point time of each vibration intensity value in the vibration intensity signal is the same as the sampling point time of each motor angular displacement in the motor angular displacement signal.

[0061] In other embodiments of the present application, determining the vibration intensity value corresponding to the target sub-signal according to the vibration intensity calculation of the target speed signal includes:

[0062] Step 1, performing statistical operation on the plurality of target speed values in the target speed signal to determine the root mean square value corresponding to the target speed signal.

[0063] Step 2, taking the root mean square value of the target speed signal as the vibration intensity value corresponding to the target sub-signal.

[0064] It should be noted that in this embodiment, the root mean square value of the plurality of target speed values is calculated to determine the vibration intensity value corresponding to the target sub-signal, which lays a foundation for subsequent abnormal monitoring based on the vibration intensity value corresponding to each tooth of the sprocket.

[0065] In other embodiments of the present application, 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 sprocket angular displacement signal corresponding to the sprocket is determined, including:

[0066] Divide the motor angular displacement signal by the angular velocity ratio between the output shaft of the motor and the drive shaft of the sprocket to determine the sprocket angular displacement signal.

[0067] It should be noted that angular displacement is equal to angular velocity multiplied by time, and in the case of the same time, the ratio of the motor angular displacement and the sprocket angular displacement is equal to the angular velocity ratio between the output shaft of the motor and the drive shaft of the sprocket, so the sprocket angular displacement signal is equal to the motor angular displacement signal divided by the angular velocity ratio between the output shaft of the motor and the drive shaft of the sprocket.

[0068] That is, respectively divide the plurality of motor angular displacements in the motor angular displacement signal by the angular velocity ratio between the output shaft of the motor and the drive shaft of the sprocket to obtain a plurality of sprocket angular displacements, thereby determining the sprocket angular displacement signal.

[0069] In other embodiments of the present application, the determination of 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, curve fitting is performed based on the vibration intensity signal and the sprocket angular displacement signal to obtain a vibration intensity curve.

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

[0072] That is, taking the sprocket angular displacement as the horizontal coordinate and the vibration intensity value as the vertical coordinate, curve fitting is performed based on the plurality of vibration intensities in the vibration intensity signal and the plurality of sprocket angular displacements in the sprocket angular displacement signal to obtain a vibration intensity curve.

[0073] Step 2, based on the preset correspondence between each tooth of the sprocket and the sprocket angular displacement, the vibration intensity curve is searched to determine the vibration intensity value corresponding to each tooth of the sprocket.

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

[0075] For example, the sprocket angular displacement corresponding to a certain tooth is zero, and the vibration severity value corresponding to the tooth is the vibration severity value corresponding to the sprocket angular displacement of zero on the vibration severity curve.

[0076] In other embodiments of the present application, the abnormality monitoring according to the vibration severity values corresponding to each tooth of the sprocket comprises:

[0077] Step 1: According to the vibration severity values corresponding to each tooth of the sprocket, a real-time vibration severity curve is constructed in the visual interface.

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

[0079] Step 2: A preset vibration severity threshold curve corresponding to the sprocket is loaded in the visual interface.

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

[0081] Step 3: If the target vibration severity value is greater than the corresponding target vibration severity threshold, a warning is given.

[0082] The target vibration severity value is any vibration severity value corresponding to each tooth of the sprocket, and the target vibration severity threshold is the vibration severity threshold corresponding to the target vibration severity value in the vibration severity threshold curve.

[0083] It should be noted that in this embodiment, although only the size of the target vibration severity value and the target vibration severity threshold is determined, in actual application scenarios, the vibration severity values corresponding to each tooth of the sprocket are all executed.

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

[0085] In an embodiment of the present application, the vibration severity threshold of each tooth is equal to the sum of the average and standard deviation of the vibration severity values of each tooth.

[0086] It should be noted that, for example, Figure 5As shown in FIG. 6, the visual interface shows that the vibration intensity of the sprocket is relatively stable during normal operation of the sprocket, and the vibration intensity value is lower than the threshold line. When there is no abnormality in each tooth of the sprocket, the vibration intensity value of each tooth is less than the corresponding vibration intensity threshold value, and no alarm is given. Figure 6 As shown in FIG. 7, the visual interface shows that there is an abnormality in each tooth of the sprocket. When an abnormality exists in a tooth, the vibration intensity value of the tooth is greater than the corresponding vibration intensity threshold value, and an alarm is given.

[0087] It should be noted that in other embodiments of the present application, in order to prevent false alarms caused by random abnormal interference, an M out of N alarm strategy is used, that is, if a tooth of the sprocket alarms N times in M consecutive rotations of the sprocket, it is determined that the tooth has an abnormality.

[0088] It should be noted that in other embodiments of the present application, the average value of the vibration intensity values of each tooth is calculated after the sprocket rotates M times in succession to monitor.

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

[0090] In other embodiments of the present application, the method further comprises: the abnormality monitoring according to the vibration intensity values of each tooth of the sprocket comprises:

[0091] Step 1, obtaining the vibration intensity values of each tooth of the sprocket corresponding to each rotation of the sprocket when the sprocket rotates multiple times.

[0092] Step 2, determining the average vibration intensity value of each tooth of the sprocket according to the vibration intensity values of each tooth of the sprocket corresponding to each rotation of the sprocket.

[0093] That is, the average value of the vibration intensity values of each tooth of the sprocket corresponding to each rotation of the sprocket is calculated to determine the average vibration intensity value of each tooth of the sprocket.

[0094] Step 3, performing abnormality monitoring according to the average vibration intensity value of each tooth of the sprocket.

[0095] Specifically, the abnormality monitoring according to the average vibration intensity value of each tooth of the sprocket comprises: constructing a real-time vibration intensity curve in the visual interface according to the average vibration intensity value of each tooth of the sprocket, then loading a preset vibration intensity threshold curve of the sprocket in the visual interface, and finally comparing the size relationship between the average vibration intensity value of each tooth and the corresponding vibration intensity threshold value. If the average vibration intensity value of a tooth is greater than the corresponding vibration intensity threshold value, it indicates that the tooth has an abnormality.

[0096] It should be understood that although the steps in the flowcharts involved in the embodiments described above are shown in sequence according to the arrows, the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the execution of the steps is not strictly limited in sequence, and the steps can be executed in other orders. Moreover, at least some of the steps in the flowcharts involved in the embodiments described above can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of the steps or stages is not necessarily sequential, but can be alternately or alternately executed with at least part of other steps or steps or stages in other steps.

[0097] Based on the same inventive concept, the embodiments of the present application also provide a sprocket state monitoring device for implementing the above-mentioned sprocket state monitoring method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more sprocket state monitoring device embodiments provided below can refer to the limitations of the sprocket state monitoring method described above, which will not be repeated here.

[0098] In an embodiment of the present application, as shown in Figure 7 a sprocket state monitoring device is provided, comprising:

[0099] The acquisition module 100 is configured to acquire an acceleration signal corresponding to one rotation of the sprocket and a motor angular displacement signal corresponding to a motor driving the sprocket.

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

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

[0102] The determination module 300 is further configured to determine a vibration severity value corresponding to each tooth of the sprocket according to the vibration severity signal and the sprocket angular displacement signal.

[0103] The detection module 400 is configured to perform abnormality monitoring according to the vibration severity value corresponding to each tooth of the sprocket.

[0104] In other embodiments of the present application, the determining module 300 is further configured to divide the acceleration signal into a plurality of sub-signals based on a second time interval; integrate the target sub-signal to determine a target speed signal, the target sub-signal being any one of the plurality of sub-signals; perform vibration intensity calculation based on the target speed signal to determine a vibration intensity value corresponding to the target sub-signal; and determine a vibration intensity signal based on the vibration intensity value corresponding to each of the sub-signals, the vibration intensity signal corresponding to each sampling point time of the motor angular displacement signal.

[0105] In other embodiments of the present application, the calculating module 200 is further configured to perform statistical operation on a plurality of target speed values in the target speed signal to determine a root mean square value corresponding to the target speed signal, and use the root mean square value corresponding to the target speed signal as the vibration intensity value corresponding to the target sub-signal.

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

[0107] In other embodiments of the present 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 including a vibration intensity value corresponding to each sampling point time, the sprocket angular displacement signal including a sprocket angular displacement corresponding to each sampling point time, the horizontal coordinate of the vibration intensity curve being the sprocket angular displacement, and the vertical coordinate of the vibration intensity curve being the vibration intensity value, and determining a vibration intensity value corresponding to each tooth of the sprocket by searching the vibration intensity curve based on a preset correspondence between each tooth of the sprocket and the sprocket angular displacement.

[0108] In other embodiments of the present application, the detecting 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 perform early warning if a target vibration intensity value is greater than a target vibration intensity threshold, the target vibration intensity value being any one of the vibration intensity values corresponding to each tooth of the sprocket, and the target vibration intensity threshold being a vibration intensity threshold corresponding to the target vibration intensity value in the vibration intensity threshold curve.

[0109] In other embodiments of the present application, the detecting module 400 is further configured to obtain a vibration intensity value corresponding to each tooth of the sprocket for each rotation of the sprocket, determine a vibration intensity average value of each tooth of the sprocket based on the vibration intensity values corresponding to each tooth of the sprocket for each rotation of the sprocket, and perform abnormality monitoring based on the vibration intensity average value of each tooth of the sprocket.

[0110] The modules in the sprocket state monitoring device can be implemented by software, hardware, or a combination thereof. The modules can be embedded in or independent of a processor in a computer device in hardware form, or stored in a memory in the computer device in software form, so that the processor can call and execute the operations corresponding to the modules.

[0111] In an embodiment of the present application, a computer device is provided, which can be a server. The internal structure of the computer device can be as shown in Figure 8 The computer device includes a processor, a memory, and a network interface connected by a system bus. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The database of the computer device is configured to store all related data for executing the sprocket state monitoring method. The network interface of the computer device is configured to communicate with an external terminal through a network connection. The computer program is executed by the processor to implement a sprocket state monitoring method.

[0112] Those skilled in the art can understand that Figure 8 The structure shown in the above

[0113] In an embodiment of the present application, a computer device is provided, which includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the steps of the sprocket state monitoring method in the above embodiments are implemented.

[0114] In an embodiment of the present application, a computer readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the steps of the sprocket state monitoring method in the above method embodiments are implemented.

[0115] In an embodiment of the present application, a computer program product is provided, which includes a computer program. When the computer program is executed by a processor, the steps of the sprocket state monitoring method in the above method embodiments are implemented.

[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 for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties.

[0117] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The above-mentioned computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. Any reference to memory, database or other medium used in the embodiments provided in the present 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 storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0118] The technical features of the above embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present disclosure.

[0119] The embodiments described above are only some of the embodiments of the present application, which are described in a more specific and detailed manner, but should not be understood as limiting the scope of the patent of the present application. It should be noted that, for those skilled in the art, some modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A sprocket condition monitoring method applied to a sprocket, characterized by, The method comprises: obtaining an acceleration signal corresponding to one rotation of a chain wheel and a motor angular displacement signal corresponding to a motor driving the chain wheel; 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 tooth of the chain wheel based on the vibration intensity signal and the chain wheel angular displacement signal; performing abnormality monitoring based on the vibration intensity value corresponding to each tooth of the chain wheel.

2. A sprocket condition monitoring method according to claim 1, characterised 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 integral conversion and vibration intensity calculation on the acceleration signal to determine a vibration intensity signal comprises: dividing the acceleration signal into a plurality of sub-signals based on the second time interval; performing integral conversion on a target sub-signal to determine a target speed signal; the target sub-signal is any one of the plurality of sub-signals; performing vibration intensity calculation based on the target speed signal to determine a vibration intensity value corresponding to the target sub-signal; determining a vibration intensity signal based on the vibration intensity value corresponding to each sub-signal; the vibration intensity signal corresponds to each sampling point time in the motor angular displacement signal.

3. A sprocket condition monitoring method according to claim 2, characterised in that, The vibration intensity calculation based on the target speed signal to determine a vibration intensity value corresponding to the target sub-signal comprises: performing statistical operation on a plurality of target speed values in the target speed signal to determine a root mean square value corresponding to the target speed signal; taking the root mean square value corresponding to the target speed signal 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 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 comprises: dividing the motor angular displacement signal by the angular velocity ratio between the output shaft of the motor and the driving shaft of the chain wheel to determine the chain wheel angular displacement signal.

5. The sprocket condition monitoring method of claim 1, wherein, The determination of a vibration intensity value corresponding to each tooth of the chain wheel based on the vibration intensity signal and the chain wheel angular displacement signal comprises: performing curve fitting based on the vibration intensity signal and the chain wheel angular displacement signal to obtain a vibration intensity curve; the vibration intensity signal comprises a vibration intensity value corresponding to each sampling point time; the chain wheel angular displacement signal comprises a chain wheel angular displacement corresponding to each sampling point time; the abscissa of the vibration intensity curve is the chain wheel angular displacement, and the ordinate of the vibration intensity curve is the vibration intensity value; determining a vibration intensity value corresponding to each tooth of the chain wheel based on a preset correspondence between each tooth of the chain wheel and the chain wheel angular displacement.

6. The sprocket condition monitoring method of claim 1, wherein, The abnormality monitoring based on the vibration intensity value corresponding to each tooth of the chain wheel comprises: constructing a real-time vibration intensity curve in a visual interface based on the vibration intensity value corresponding to each tooth of the chain wheel; loading a preset vibration intensity threshold curve corresponding to the chain wheel in the visual interface; If the target vibration intensity value is greater than a corresponding target vibration intensity threshold value, a warning is given; the target vibration intensity value is any of the vibration intensity values corresponding to each tooth of the sprocket; and the target vibration intensity threshold value is a vibration intensity threshold value corresponding to the target vibration intensity value in the vibration intensity threshold curve.

7. The sprocket condition monitoring method of claim 1, wherein The step of performing abnormality monitoring according to the vibration intensity values corresponding to each tooth of the sprocket comprises: obtaining the vibration intensity values corresponding to each tooth of the sprocket for each rotation of the sprocket; determining the average vibration intensity value of each tooth of the sprocket according to the vibration intensity values corresponding to each tooth of the sprocket for each rotation of the sprocket; and performing abnormality monitoring according to the average vibration intensity value of each tooth of the sprocket.

8. A sprocket condition monitoring device, characterised in that, The device comprises: an obtaining module configured to obtain an acceleration signal corresponding to each rotation of the sprocket and a motor angular displacement signal corresponding to a motor driving the sprocket; a calculating module configured to perform integral conversion and vibration intensity calculation on the acceleration signal to determine a vibration intensity signal; a determining module configured to determine a sprocket angular displacement signal corresponding to the sprocket based on a preset angular velocity ratio between an output shaft of the motor and a driving shaft of the sprocket and the motor angular displacement signal; the determining module is further configured to determine vibration intensity values corresponding to each tooth of the sprocket according to the vibration intensity signal and the sprocket angular displacement signal; a detecting module configured to perform abnormality monitoring according to the vibration intensity values corresponding to each tooth of the sprocket. 9.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-8 when the computer program is executed by the processor. The processor executes the computer program to implement the steps of the method in any one of claims 1 to 7.

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

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