A jumbo hydraulic oil level abnormality detection method and device and electronic equipment

Abstract

This application discloses a method, device, and electronic equipment for detecting abnormal hydraulic oil levels in a rock drilling rig. The method includes the following steps: S1, calculating the initial equivalent hydraulic level value after the rock drilling rig is powered on; S2, calculating the current equivalent hydraulic level value when the rig is working; S3, determining whether an abnormal hydraulic level exists based on the difference between the initial and current equivalent hydraulic level values ​​and the change in the effective volume of the cylinder; S4, when the rock drilling rig is in drilling mode, calculating the difference between the equivalent hydraulic level values ​​at the beginning and end of the nth drilling hole to determine whether an abnormal hydraulic level exists during each drilling operation; S5, determining whether an abnormal hydraulic level exists based on the total difference between the equivalent hydraulic level values ​​at the beginning and end of all drilling holes during the entire drilling period; S6, when the rock drilling rig is in traveling or standby mode, determining the presence of an abnormal hydraulic level based on the rate and duration of the hydraulic oil level drop in the tank. This application can promptly detect abnormal hydraulic levels in the rock drilling rig, thereby ensuring the normal operation of the system.

Description

Technical Field

[0001] This invention relates to the field of signal detection and fault diagnosis technology, and in particular, to a method, apparatus, and electronic device for detecting abnormal hydraulic oil levels in a rock drilling rig. Background Technology

[0002] As a key piece of equipment in tunnel excavation and mining, the stability of the hydraulic system and pipelines of rock drilling rigs directly affects the equipment's operating efficiency and safety. However, pipeline damage is a common type of failure during rig use. For example, the severe vibrations generated during drilling can cause the pipelines on the rock drill to collide with or rub against adjacent components (such as the tunnel wall and drill arm), leading to pipeline damage. Because operators are primarily focused on the drilling process and their field of vision is far from the boom, most pipeline damage is difficult to identify in time. By the time it is discovered, a large amount of hydraulic oil has already leaked, resulting in hydraulic oil loss and environmental pollution.

[0003] In addition, the hydraulic system of the rock drilling rig mainly uses a water cooler to control the hydraulic oil temperature. A breakdown of the water cooler can cause water to enter the hydraulic circuit. If it is not detected in time, it will contaminate the entire hydraulic system.

[0004] Therefore, it is necessary to detect abnormal hydraulic oil levels in a timely manner and issue corresponding alarm prompts. Summary of the Invention

[0005] This application provides a method for detecting abnormal hydraulic oil levels in rock drilling rigs, which addresses the technical problem that existing rock drilling rigs cannot detect abnormal hydraulic oil levels in a timely manner, thus affecting the normal operation of the hydraulic system.

[0006] This application is achieved through the following solution:

[0007] A method for detecting abnormal hydraulic oil levels in a rock drilling rig, comprising the following steps:

[0008] S1. Read the hydraulic oil level h from the level sensor in the hydraulic oil tank after the rock drilling rig is powered on. s and oil temperature T s The initial equivalent liquid level h is calculated based on the volume-temperature characteristics of the oil and converted to the standard temperature T. 0T ;

[0009] S2. Record the current hydraulic oil level h1 and current oil temperature T1 of the hydraulic oil tank in real time during the operation of the trolley, and convert them to the current equivalent hydraulic level h at the standard temperature T. 1T ;

[0010] S3. Determine whether there is an oil level abnormality based on the difference between the initial equivalent liquid level value and the current equivalent liquid level value and the change value of the effective volume of the oil cylinder. If so, issue a liquid level abnormality alarm.

[0011] S4. If not, then when the rock drilling rig is in drilling mode, record the liquid level sensor level and oil temperature at the start and end of the nth borehole, respectively, and calculate the equivalent liquid level value h at the start and end of the nth borehole. nT h nT The difference between the values ​​is used to determine whether there is an abnormal oil level during each drilling operation. If so, an abnormal oil level alarm is issued.

[0012] S5. If not, determine whether there is an oil level abnormality based on the total difference of the equivalent liquid level values ​​at the beginning and end of all boreholes during the entire drilling period. If so, issue a liquid level abnormality alarm.

[0013] S6. When the rock drilling rig is in the traveling or standby mode, monitor the hydraulic oil tank level. If the rate of decrease of the hydraulic oil tank level exceeds the set value and the duration exceeds the set time, it is determined that there is an oil level abnormality and an abnormal oil level alarm is issued.

[0014] Further, step S1 specifically includes the following steps:

[0015] S11. Read the hydraulic oil level h from the level sensor in the hydraulic oil tank after the rock drilling rig is powered on. s and oil temperature T s ;

[0016] S12. Calculate the oil-containing cavity volume of all hydraulic components, including hydraulic pipelines, cylinders, and coolers, and convert it into the equivalent hydraulic oil level height of the hydraulic tank:

[0017]

[0018] Where: h V The equivalent liquid level height calculated for the oil-containing cavity of a hydraulic component;

[0019] V n Let V be the volume of the oil-filled cavity of a hydraulic component;

[0020] S is the cross-sectional area of ​​the hydraulic oil tank;

[0021] S13, Set the liquid level sensor to level h s The initial equivalent liquid level h is calculated based on the volume-temperature characteristics of the oil at a standard temperature T. 0T :

[0022] h 0T =(h s +h V )(1+α(TT s ));

[0023] Where: α is the temperature-volume expansion coefficient.

[0024] Furthermore, step S2 specifically includes the following steps:

[0025] S21. Record the current hydraulic oil level h1 and current oil temperature T1 of the hydraulic oil tank in real time when the trolley is working.

[0026] S22. Convert the current liquid level h1 of the level sensor to the current equivalent liquid level h at standard temperature T according to the volume-temperature characteristics of the oil. 1T :

[0027] h 1T =(h1+h V (1+α(T-T1));

[0028] Where: α is the temperature-volume expansion coefficient.

[0029] Furthermore, step S3 specifically includes the following steps:

[0030] S31. Calculate the difference between the current equivalent liquid level and the initial equivalent liquid level. If the difference is greater than the equivalent liquid level height h corresponding to the change in the effective volume of the cylinder, then... CT Adding the allowable deviation Δh, the expression for determining abnormal oil level is:

[0031] |h 1T -h 0T -h CT |>Δh;

[0032] If so, an abnormal liquid level alarm will be issued. The equivalent liquid level height corresponding to the change in the effective volume of the hydraulic cylinder is calculated as follows:

[0033]

[0034] Where: V Cn For a single-piston rod double-acting cylinder, the effective volume change value is given by: d n ΔL is the cylinder rod diameter; ΔL is the change in cylinder stroke.

[0035] Further, in step S31, for an intelligent rock drilling rig with a boom position sensor, ΔL is calculated based on the boom sensor signal. For a rock drilling rig without a boom position sensor, ΔL is taken as the full stroke L of the hydraulic cylinder. The expression for determining an abnormal oil level is:

[0036] |h 1T -h 0T |-h CT >Δh;

[0037] If so, an abnormal liquid level alarm will be issued.

[0038] Furthermore, step S4 specifically includes the following steps:

[0039] S41. Use the impact pressure switch or pressure sensor to determine whether drilling has started or finished. Calculate the equivalent liquid level h at the start and finish of the nth borehole, respectively, referring to the current equivalent liquid level value. nT h nT ′;

[0040] S42. Based on the equivalent liquid level h at the start and end of the nth borehole. nT h nT The expression for judging abnormal liquid level is obtained by the difference between ′ and ′:

[0041] |h nT -h nT ′|>Δh x ;

[0042] If so, an abnormal liquid level alarm will be issued, where Δh x This represents the permissible level deviation during the drilling process.

[0043] Furthermore, step S5 specifically includes the following steps:

[0044] S51. Calculate the total difference between the equivalent liquid level values ​​at the start and end of all boreholes during the entire drilling period:

[0045] Δh total =|h nT -h 0T ′|;

[0046] Among them, h 0T ′ indicates the equivalent liquid level value at the instant when drilling the first hole begins after all preparations are complete;

[0047] S52, if Δh total If the deviation exceeds the set tolerance, an oil level anomaly is detected, and an alarm is triggered. Further, in step S6, the duration is set as follows:

[0048] T v = (5~10)T w ;

[0049] Among them, T w The fluctuation period of the oil level in the tank when the rock drilling rig is in the traveling or standby mode is affected by the ground undulation and the acceleration and deceleration of the journey.

[0050] The descent speed setting is:

[0051] V=Δh s / T v ;

[0052] Where, Δh s The effective volume change value of the steering cylinder:

[0053]

[0054] Where: d s Where is the diameter of the steering cylinder piston rod; L is the total stroke of the steering cylinder.

[0055] This application also provides a hydraulic oil level anomaly detection device for a rock drilling rig, comprising:

[0056] The initial equivalent liquid level calculation module is used to read the liquid level h of the hydraulic oil tank after the rock drilling rig is powered on. s and oil temperature T s The initial equivalent liquid level h is calculated based on the volume-temperature characteristics of the oil and converted to the standard temperature T. 0T ;

[0057] The current equivalent liquid level calculation module is used to record the current liquid level h1 of the hydraulic oil tank and the current oil temperature T1 in real time when the trolley is working, and convert them to the current equivalent liquid level h at the standard temperature T. 1T ;

[0058] The conventional liquid level anomaly detection module is used to determine whether there is an oil level anomaly based on the difference between the initial equivalent liquid level value and the current equivalent liquid level value and the change value of the effective volume of the oil cylinder. If so, a liquid level anomaly alarm is issued.

[0059] The single borehole fluid level anomaly detection module is used to, if not, record the fluid level and oil temperature at the start and end of the nth borehole when the drilling rig is in the drilling state, and calculate the equivalent fluid level value h at the start and end of the nth borehole. nT h nT The difference between the values ​​is used to determine whether there is an abnormal oil level during each drilling operation. If so, an abnormal oil level alarm is issued.

[0060] The borehole cumulative fluid level anomaly judgment module is used to determine whether there is an oil level anomaly based on the total difference of the equivalent fluid level values ​​at the beginning and end of all boreholes during the entire drilling period. If so, a fluid level anomaly alarm is issued.

[0061] The walking fluid level anomaly judgment module is used to monitor the hydraulic oil tank level when the rock drilling rig is in walking or standby mode. If the rate of decrease of the hydraulic oil tank level exceeds the set value and the duration exceeds the set time, it is judged that there is an oil level anomaly and an oil level anomaly alarm is issued.

[0062] This application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the rock drilling rig hydraulic oil level anomaly detection method.

[0063] This application also provides a storage medium including a stored program that, when the program is executed, controls the device containing the storage medium to perform the steps of the rock drilling rig hydraulic oil level anomaly detection method.

[0064] Compared with the prior art, this application has the following advantages:

[0065] (1) This application fully considers the liquid level change caused by the oil temperature-volume expansion characteristics, wherein the hydraulic oil volume includes the total oil-containing volume of the hydraulic oil tank, pipeline, cylinder, etc., which is more conducive to the precise detection of abnormal liquid level.

[0066] (2) By monitoring the liquid level changes in each drilling condition, this application can quickly identify the damage to the vulnerable pipes of the rock drill and the liquid level failure caused by the perforation of the water cooler. At the same time, when there is no abnormality in the liquid level in each drilling condition, the cumulative liquid level difference of each drilling process under the entire drilling condition can be further monitored, thereby identifying the liquid level abnormality caused by minor leakage, which is convenient for discovering minor leaks with high concealment.

[0067] (3) In both walking and standby modes, this application can improve the speed of liquid level anomaly judgment by identifying a continuous drop in liquid level over a certain period of time.

[0068] (4) The judgment of the total liquid level abnormality in this application is based on the change value of the effective volume of the oil cylinder. This judgment procedure is applied under any working condition and serves as the safety bottom line for abnormal hydraulic oil level, ensuring the safety of the hydraulic system.

[0069] In addition to the purposes, features, and advantages described above, this application has other purposes, features, and advantages. A further detailed description of this application will be provided below with reference to the figures. Attached Figure Description

[0070] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0071] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0072] Figure 1 This is a schematic flowchart of the preferred embodiment of the hydraulic oil level anomaly detection method for rock drilling rigs in this application;

[0073] Figure 2This is a schematic diagram of the process for detecting abnormal hydraulic oil levels on a rock drilling rig, according to another preferred embodiment of this application.

[0074] Figure 3 This is a schematic diagram of the hydraulic oil level anomaly detection device module of the rock drilling rig according to a preferred embodiment of this application;

[0075] Figure 4 This is a schematic block diagram of an electronic device according to a preferred embodiment of this application;

[0076] Figure 5 This is an internal structural diagram of a computer device according to a preferred embodiment of this application. Detailed Implementation

[0077] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0078] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0079] This embodiment proposes a method for detecting abnormal hydraulic oil levels in a rock drilling rig. The aim is to determine whether there is leakage or contamination of the hydraulic system oil by using dynamic level signals from the hydraulic oil tank. It should be noted that the executing device in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or a rock drilling rig hydraulic oil level anomaly detection device capable of performing the above functions. The following description uses a rock drilling rig hydraulic oil level anomaly detection device as the executing device to illustrate this embodiment and the subsequent embodiments.

[0080] like Figure 1 As shown, a preferred embodiment of this application provides a method for detecting abnormal hydraulic oil levels in a rock drilling rig, including the following steps:

[0081] S1. Read the hydraulic oil level h from the level sensor in the hydraulic oil tank after the rock drilling rig is powered on. s and oil temperature T s The initial equivalent liquid level h is calculated based on the volume-temperature characteristics of the oil and converted to the standard temperature T. 0T ;

[0082] S2. Record the current hydraulic oil level h1 and current oil temperature T1 of the hydraulic oil tank in real time during the operation of the trolley, and convert them to the current equivalent hydraulic level h at the standard temperature T. 1T ;

[0083] S3. Determine whether there is an oil level abnormality based on the difference between the initial equivalent liquid level value and the current equivalent liquid level value and the change value of the effective volume of the oil cylinder. If so, issue a liquid level abnormality alarm.

[0084] S4. If not, then when the rock drilling rig is in drilling mode, record the liquid level sensor level and oil temperature at the start and end of the nth borehole, respectively, and calculate the equivalent liquid level value h at the start and end of the nth borehole. nT h nT The difference between the values ​​is used to determine whether there is an abnormal oil level during each drilling operation. If so, an abnormal oil level alarm is issued.

[0085] S5. If not, determine whether there is an oil level abnormality based on the total difference of the equivalent liquid level values ​​at the beginning and end of all boreholes during the entire drilling period. If so, issue a liquid level abnormality alarm.

[0086] S6. When the rock drilling rig is in the traveling or standby mode, monitor the hydraulic oil tank level. If the rate of decrease of the hydraulic oil tank level exceeds the set value and the duration exceeds the set time, it is determined that there is an oil level abnormality and an abnormal oil level alarm is issued.

[0087] This embodiment provides a method for detecting abnormal hydraulic oil levels in a rock drilling rig. Compared with existing technologies, this method has the following advantages:

[0088] (1) This embodiment fully considers the liquid level change caused by the oil temperature-volume expansion characteristics. The hydraulic oil volume includes the total oil-containing volume of the hydraulic oil tank, pipeline, cylinder, etc., which is more conducive to accurately detecting abnormal liquid level.

[0089] (2) By monitoring the liquid level changes in each drilling condition, this embodiment can quickly identify the damage to the vulnerable pipes of the rock drill and the liquid level failure caused by the perforation of the water cooler. At the same time, when there is no abnormality in the liquid level in each drilling condition, the cumulative liquid level difference of each drilling process under the entire drilling condition can be further monitored, thereby identifying the liquid level abnormality caused by minor leakage, which is convenient for discovering minor leaks with high concealment.

[0090] (3) In this embodiment, when in walking mode and standby mode, the ability to identify a continuous drop in liquid level over a certain period of time can be improved to improve the speed of liquid level anomaly judgment.

[0091] (4) In this embodiment, the judgment of the total liquid level abnormality is based on the change value of the effective volume of the oil cylinder. This judgment procedure is applied to any working condition and serves as the safety bottom line for hydraulic oil level abnormalities, ensuring the safety of the hydraulic system.

[0092] Preferably, step S1 specifically includes the following steps:

[0093] S11. Read the hydraulic oil level h from the level sensor in the hydraulic oil tank after the rock drilling rig is powered on. s and oil temperature T s ;

[0094] S12. Calculate the oil-containing cavity volume of all hydraulic components, including hydraulic pipelines, cylinders, and coolers, and convert it into the equivalent hydraulic oil level height of the hydraulic tank:

[0095]

[0096] Where: h V The equivalent liquid level height calculated for the oil-containing cavity of a hydraulic component;

[0097] V n Let V be the volume of the oil-filled cavity of a hydraulic component;

[0098] S is the cross-sectional area of ​​the hydraulic oil tank;

[0099] S13, Set the liquid level sensor to level h s The initial equivalent liquid level h is calculated based on the volume-temperature characteristics of the oil at a standard temperature T. 0T :

[0100] h 0T =(h s +h V )(1+α(TT s (2)

[0101] Where: α is the temperature-volume expansion coefficient.

[0102] In calculating the initial equivalent liquid level, this embodiment fully considers the influence of the oil-containing cavity volume of the hydraulic components, the oil temperature, and the temperature-volume expansion coefficient on the liquid level, thereby ensuring the accuracy of the calculated initial equivalent liquid level, which reflects the total hydraulic oil volume of the entire vehicle.

[0103] Preferably, step S2 specifically includes the following steps:

[0104] S21. Record the current hydraulic oil level h1 and current oil temperature T1 of the hydraulic oil tank in real time when the trolley is working.

[0105] S22. Convert the current liquid level h1 of the level sensor to the current equivalent liquid level h at standard temperature T according to the volume-temperature characteristics of the oil. 1T :

[0106] h 1T =(h1+h V (1+α(T-T1)) (3)

[0107] Where: α is the temperature-volume expansion coefficient.

[0108] In calculating the current equivalent liquid level, this embodiment fully considers the influence of the equivalent liquid level height converted from the oil-containing cavity of the hydraulic component, the oil temperature, and the temperature-volume expansion coefficient on the liquid level, thereby ensuring the accuracy of the calculated current equivalent liquid level value.

[0109] Preferably, step S3 specifically includes the following steps:

[0110] S31. Calculate the difference between the current equivalent liquid level and the initial equivalent liquid level. If the difference is greater than the equivalent liquid level height h corresponding to the change in the effective volume of the cylinder, then... CT Adding the allowable deviation Δh, the expression for determining abnormal oil level is:

[0111] |h 1T -h 0T -h cT |>Δh (4)

[0112] If so, an abnormal liquid level alarm will be issued. The equivalent liquid level height corresponding to the change in the effective volume of the hydraulic cylinder is calculated as follows:

[0113]

[0114] Where: V Cn For a single-piston rod double-acting cylinder, the effective volume change value is given by: d n ΔL is the cylinder rod diameter; ΔL is the change in cylinder stroke.

[0115] This embodiment is used to determine the total fluid level abnormality. The determination of the total fluid level abnormality is based on the change in the effective volume of the hydraulic cylinder. This determination procedure is applied under any working condition and serves as the safety baseline for abnormal hydraulic oil levels, ensuring the safety of the hydraulic system.

[0116] Preferably, in step S31, for an intelligent rock drilling rig with a boom position sensor, ΔL is calculated based on the boom sensor signal; for a rock drilling rig without a boom position sensor, ΔL is taken as the full stroke L of the hydraulic cylinder, and the expression for determining an abnormal oil level is:

[0117] |h 1T -h 0T |-h CT >Δh (6);

[0118] If so, an abnormal liquid level alarm will be issued.

[0119] This embodiment can calculate the change in hydraulic cylinder stroke for both rock drilling rigs with and without boom position sensors, thereby meeting the requirements for judging abnormal hydraulic levels for rock drilling rigs with different configurations and improving the applicability.

[0120] Preferably, step S4 specifically includes the following steps:

[0121] S41. Use the impact pressure switch or pressure sensor to determine whether drilling has started or finished. Calculate the equivalent liquid level h at the start and finish of the nth borehole, referring to the current equivalent liquid level value in expression (3). nT h nT ′;

[0122] S42. Based on the equivalent liquid level h at the start and end of the nth borehole. nT h nT The expression for judging abnormal liquid level is obtained by the difference between ′ and ′:

[0123] |h nT -h nT ′|>Δh x (7);

[0124] If so, an abnormal liquid level alarm will be issued, where Δh x This represents the permissible level deviation during the drilling process.

[0125] Since the boom posture remains unchanged during drilling, and the drill will retract to its initial position after drilling is completed, there is no change in the stroke of the hydraulic cylinder before and after drilling, and the effective volume of the cylinder remains unchanged. Theoretically, the equivalent liquid level in the oil tank should remain constant before and after drilling. This characteristic can be used for liquid level anomaly detection. In this embodiment, liquid level anomaly judgment is performed during each drilling operation. The advantages of single-hole detection include:

[0126] (1) The boom posture remains unchanged during the start and end of a single hole. For a rock drilling rig without a boom position sensor, the liquid level change caused by the change in the extension and retraction stroke of each cylinder can be avoided. The threshold setting does not need to take into account the change in the extension and retraction stroke of the cylinder, thereby improving the detection sensitivity.

[0127] (2) Single-hole detection is mainly used to detect large leaks in a short period of time. Its level anomaly judgment threshold is different from that of overall detection. The independent setting of the thresholds for these two detection methods can also improve the sensitivity of anomaly detection. If only the less sensitive overall detection is used, the oil loss will be greater;

[0128] (3) Single-hole inspection mainly focuses on vulnerable pipelines related to rock drilling, such as pipelines on rock drills and all impact pipelines. After detecting abnormalities, the leak point can be quickly found, which helps to improve maintenance efficiency.

[0129] Preferably, step S5 specifically includes the following steps:

[0130] S51. Calculate the total difference between the equivalent liquid level values ​​at the start and end of all boreholes during the entire drilling period:

[0131] Δh total=|h nT -h 0T ′| (8);

[0132] Among them, h 0T ′ indicates the equivalent liquid level value at the instant when drilling the first hole begins after all preparations are complete;

[0133] S52, if Δh total If the deviation exceeds the set tolerance, an abnormal oil level is detected, and an abnormal oil level alarm is issued.

[0134] Expression (7) is mainly used to detect the current situation of large leakage in the pipeline of rock drill. However, in many cases, the leakage amount during each drilling is very small, and the single leakage amount does not reach the standard of abnormal liquid level. However, the leakage amount after multiple drilling may be relatively large. If it is not monitored, it is easy to miss the case of abnormal oil level. Therefore, this embodiment further calculates the total difference of the equivalent liquid level values ​​at the beginning and end of all drilling during the entire drilling period. If the total difference is greater than the set allowable deviation, it is judged that there is an abnormal oil level. Its advantages include:

[0135] (1) Overall detection is mainly used to identify minor leaks. Minor leaks can accumulate into a considerable amount of leakage over a long period of time. During a single borehole cycle, the amount of leakage is small and the change is overwhelmed by other interfering factors, making it difficult to identify. It requires long-term observation of liquid level differences to confirm. In order to filter out interfering factors, the anomaly judgment threshold of overall detection is generally higher than that of single borehole detection.

[0136] (2) The overall abnormal liquid level detected may be caused by pipeline leakage or damage inside the water cooler causing oil and water to cross-contaminate, and the detection range is wider and more comprehensive.

[0137] (3) Overall inspection is a backup measure, because abnormal liquid levels will amplify over time. As long as there is a leak, overall inspection will eventually detect the abnormality.

[0138] Preferably, in step S6, the duration is set to be:

[0139] T v = (5~10)T w (9);

[0140] Among them, T w When the rock drilling rig is in the traveling or standby mode, the oil level in the tank fluctuates due to the ground undulations and the acceleration and deceleration of the vehicle. The fluctuation period is the time difference between two peaks (or troughs) at the same position when the oil surface moves regularly after being disturbed by external factors. The fluctuation period can be obtained directly through a simple test, such as when the vehicle suddenly stops during travel, and then determined based on the real-time reading of the liquid level sensor.

[0141] The descent speed setting is:

[0142] V=Δh s / T v (10);

[0143] Where, Δh s The effective volume change value of the steering cylinder:

[0144]

[0145] Where: d s Where is the diameter of the steering cylinder piston rod; L is the total stroke of the steering cylinder.

[0146] When the system is in traveling or standby mode, the boom cylinders are not moving. At this time, the oil level in the tank is only affected by ground undulations and acceleration / deceleration during travel, causing fluctuations in the oil level with a period T. w This is related to the tank structure and the properties of the oil itself. If there are several fluctuation periods T... w If the rate of drop in hydraulic level exceeds a set value within a specified time period, a leak is detected. This method of monitoring oil level anomalies based on the rate of change in hydraulic level can quickly identify oil leaks and has higher sensitivity. In this embodiment, the trolley is monitored for whether it is in a traveling or standby state using gear position signals and boom hydraulic system loading signals. When in this state, the hydraulic oil tank level is monitored. If the rate of drop exceeds the set value V for a continuous period exceeding T_v, an oil leak is determined. In this embodiment, the duration T is... v When the rock drilling rig is in both traveling and standby modes, the oil level in the tank fluctuates due to ground undulations and acceleration / deceleration, with a fluctuation period T. w Link the descent speed setpoint V with the effective volume change of the steering cylinder and the duration T. v In connection, its purpose and benefits include: (1) filtering the level change behavior caused by oil sloshing during walking to avoid false alarms; (2) filtering the hydraulic change behavior caused by steering to avoid false alarms; (3) judging by the speed of level change to improve the alarm response sensitivity, which is faster than "judging by level difference" and avoids excessive oil loss.

[0147] Figure 2 A flowchart illustrating another preferred embodiment of the method for detecting abnormal hydraulic oil levels in a rock drilling rig is provided.

[0148] like Figure 3 As shown, another preferred embodiment of this application also provides a hydraulic oil level anomaly detection device for a rock drilling rig, comprising:

[0149] The initial equivalent liquid level calculation module is used to read the liquid level h of the hydraulic oil tank after the rock drilling rig is powered on. s and oil temperature T s The initial equivalent liquid level h is calculated based on the volume-temperature characteristics of the oil and converted to the standard temperature T. 0T ;

[0150] The current equivalent liquid level calculation module is used to record the current liquid level h1 of the hydraulic oil tank and the current oil temperature T1 in real time when the trolley is working, and convert them to the current equivalent liquid level h at the standard temperature T. 1T ;

[0151] The conventional liquid level anomaly detection module is used to determine whether there is an oil level anomaly based on the difference between the initial equivalent liquid level value and the current equivalent liquid level value and the change value of the effective volume of the oil cylinder. If so, a liquid level anomaly alarm is issued.

[0152] The single borehole fluid level anomaly detection module is used to, if not, record the fluid level and oil temperature at the start and end of the nth borehole when the drilling rig is in the drilling state, and calculate the equivalent fluid level value h at the start and end of the nth borehole. nT h nT The difference between the values ​​is used to determine whether there is an abnormal oil level during each drilling operation. If so, an abnormal oil level alarm is issued.

[0153] The borehole cumulative fluid level anomaly judgment module is used to determine whether there is an oil level anomaly based on the total difference of the equivalent fluid level values ​​at the beginning and end of all boreholes during the entire drilling period. If so, a fluid level anomaly alarm is issued.

[0154] The walking fluid level anomaly judgment module is used to monitor the hydraulic oil tank level when the rock drilling rig is in walking or standby mode. If the rate of decrease of the hydraulic oil tank level exceeds the set value and the duration exceeds the set time, it is judged that there is an oil level anomaly and an oil level anomaly alarm is issued.

[0155] The hydraulic oil level anomaly detection device for rock drilling rigs provided in this application adopts the hydraulic oil level anomaly detection method for rock drilling rigs in the above embodiments, which can solve the technical problem that existing rock drilling rigs cannot detect abnormal hydraulic oil levels in a timely manner, thus affecting the normal operation of the hydraulic system. Compared with the prior art, the beneficial effects of the hydraulic oil level anomaly detection device for rock drilling rigs provided in this application are the same as those of the hydraulic oil level anomaly detection method for rock drilling rigs provided in the above embodiments, and other technical features in the rock drilling rig hydraulic oil level anomaly detection device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0156] like Figure 4As shown, a preferred embodiment of this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the rock drilling rig hydraulic oil level anomaly detection method in the above embodiments.

[0157] The electronic device provided in this application employs the hydraulic oil level anomaly detection method for rock drilling rigs described in the above embodiments, which can solve the technical problem that existing rock drilling rigs cannot detect hydraulic oil level anomalies in a timely manner, thus affecting the normal operation of the hydraulic system. Compared with the prior art, the beneficial effects of the electronic device provided in this application are the same as those of the hydraulic oil level anomaly detection method for rock drilling rigs provided in the above embodiments, and other technical features of the electronic device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0158] like Figure 5 As shown, a preferred embodiment of this application also provides a computer device, which may be a terminal or a liveness detection server, and its internal structure diagram may be as follows. Figure 5 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface is used to communicate with other external computer devices via a network connection. When the computer program is executed by the processor, it implements the steps of the aforementioned method for detecting abnormal hydraulic oil levels in a rock drilling rig.

[0159] Those skilled in the art will understand that Figure 5 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.

[0160] The computer equipment provided in this application, employing the hydraulic oil level anomaly detection method for rock drilling rigs described in the above embodiments, can solve the technical problem that existing rock drilling rigs cannot promptly detect abnormal hydraulic oil levels, thus affecting the normal operation of the hydraulic system. Compared with the prior art, the beneficial effects of the computer equipment provided in this application are the same as those of the hydraulic oil level anomaly detection method for rock drilling rigs provided in the above embodiments, and other technical features of the electronic equipment are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0161] A preferred embodiment of this application also provides a storage medium, the storage medium including a stored program, which, when the program is executed, controls the device where the storage medium is located to perform the steps of the rock drilling rig hydraulic oil level anomaly detection method in the above embodiments.

[0162] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0163] If the functions described in this embodiment are implemented as software functional units and sold or used as independent products, they can be stored in one or more computing device-readable storage media. Based on this understanding, the parts of this application's embodiments that contribute to the prior art or the technical solutions can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a computing device (which may be a personal computer, server, mobile computing device, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage media include: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0164] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of this application can be implemented in various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0165] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0166] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0167] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0168] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described method for detecting abnormal hydraulic oil levels in a rock drilling rig.

[0169] The computer program product provided in this application can solve the technical problem that existing rock drilling rigs cannot detect abnormal hydraulic oil levels in a timely manner, thus affecting the normal operation of the hydraulic system. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the rock drilling rig hydraulic oil level abnormality detection method provided in the above embodiments, and will not be repeated here.

[0170] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0171] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for detecting abnormal hydraulic oil levels in a rock drilling rig, characterized in that, Including the following steps: S1. Read the hydraulic oil level sensor of the hydraulic oil tank after the rock drilling rig is powered on. and oil temperature And converted to standard temperature according to the volume-temperature characteristics of the oil. Initial equivalent liquid level value ; S2. Real-time recording of the current hydraulic oil level sensor level in the hydraulic oil tank during trolley operation. and current oil temperature And converted to standard temperature The current equivalent liquid level value ; S3. Determine whether there is an oil level abnormality based on the difference between the initial equivalent liquid level value and the current equivalent liquid level value and the change value of the effective volume of the oil cylinder. If so, issue a liquid level abnormality alarm. S4. If not, then when the drilling rig is in drilling mode, record the liquid level sensor level and oil temperature at the start and end of the nth borehole, respectively, and calculate the equivalent liquid level value at the start and end of the nth borehole. , The difference is used to determine whether there is an abnormal oil level during each drilling operation. If so, an abnormal oil level alarm is issued. S5. If not, determine whether there is an oil level abnormality based on the total difference of the equivalent liquid level values ​​at the beginning and end of all boreholes during the entire drilling period. If so, issue a liquid level abnormality alarm. S6. When the rock drilling rig is in traveling or standby mode, monitor the hydraulic oil tank level. If the rate of decrease in the hydraulic oil tank level exceeds a set value and the duration exceeds a set time, an oil level abnormality is determined, and an abnormal oil level alarm is issued. Step S1 specifically includes the following steps: S11. Read the hydraulic oil level sensor of the hydraulic oil tank after the rock drilling rig is powered on. and oil temperature ; S12. Calculate the oil-containing cavity volume of all hydraulic components, including hydraulic pipelines, cylinders, and coolers, and convert it into the equivalent hydraulic oil level height of the hydraulic tank: ； in: The equivalent liquid level height calculated for the oil-containing cavity of a hydraulic component; Let V be the volume of the oil-filled cavity of a hydraulic component; This refers to the cross-sectional area of ​​the hydraulic oil tank. S13, Adjust the liquid level sensor liquid level Converted to standard temperature based on the volume-temperature characteristics of the oil. Initial equivalent liquid level value : ； in: It is the coefficient of thermal expansion. Step S2 specifically includes the following steps: S21. Real-time recording of the current hydraulic oil level sensor level in the hydraulic oil tank during trolley operation. and current oil temperature ; S22, Set the current liquid level sensor level... Converted to standard temperature based on the volume-temperature characteristics of the oil. The current equivalent liquid level value : ； in: It is the coefficient of thermal expansion. Step S3 specifically includes the following steps: S31. Calculate the difference between the current equivalent liquid level and the initial equivalent liquid level. If the difference is greater than the equivalent liquid level height corresponding to the change in the effective volume of the cylinder, then... Plus allowable deviation The expression for determining an abnormal oil level is: ； If so, an abnormal liquid level alarm will be issued. The equivalent liquid level height corresponding to the change in the effective volume of the hydraulic cylinder is calculated as follows: ； in: For a single-piston rod double-acting cylinder, the effective volume change value is given by: : The diameter of the cylinder rod; This represents the change in the cylinder stroke.

2. The method for detecting abnormal hydraulic oil levels in a rock drilling rig according to claim 1, characterized in that, In step S31, for the intelligent rock drilling rig equipped with a boom position sensor, Based on the boom sensor signals, for rock drilling rigs without boom position sensors, the following is calculated: For the full stroke of the hydraulic cylinder The expression for determining an abnormal oil level is: ； If so, an abnormal liquid level alarm will be issued.

3. The method for detecting abnormal hydraulic oil levels in a rock drilling rig according to claim 1, characterized in that, Step S4 specifically includes the following steps: S41. Use the impact pressure switch or pressure sensor to determine whether drilling has started or finished. Calculate the equivalent liquid level at the start and finish of the nth borehole, respectively, referring to the current equivalent liquid level. , ; S42. Based on the equivalent liquid level values ​​at the start and end of the nth borehole. , The expression for judging abnormal liquid level is obtained by the difference: ； If so, an abnormal liquid level alarm will be issued, in which... This represents the permissible level deviation during the drilling process.

4. The method for detecting abnormal hydraulic oil levels in a rock drilling rig according to claim 3, characterized in that, Step S5 specifically includes the following steps: S51. Calculate the total difference between the equivalent liquid level values ​​at the start and end of all boreholes during the entire drilling period: ； in, This indicates the equivalent liquid level value at the instant the first hole is drilled after all preparations are complete. S52, if If the deviation exceeds the set tolerance, an abnormal oil level is detected, and an abnormal oil level alarm is issued.

5. The method for detecting abnormal hydraulic oil levels in a rock drilling rig according to claim 1, characterized in that, In step S6, the duration is set to be: ； in, The fluctuation period of the oil level in the tank when the rock drilling rig is in the traveling or standby mode is affected by the ground undulation and the acceleration and deceleration of the journey. The descent speed setting is: ； in, The effective volume change value of the steering cylinder: ； in: The diameter of the steering cylinder piston rod; This is the total stroke of the steering cylinder.

6. A device for detecting abnormal hydraulic oil levels on a rock drilling rig, characterized in that, include: The initial equivalent liquid level calculation module is used to read the liquid level from the level sensor of the hydraulic oil tank after the rock drilling rig is powered on. and oil temperature And converted to standard temperature according to the volume-temperature characteristics of the oil. Initial equivalent liquid level value Specifically used for: Read the hydraulic oil level sensor of the hydraulic oil tank after the rock drilling rig is powered on. and oil temperature ; Calculate the oil-containing cavity volume of all hydraulic components, including hydraulic lines, cylinders, and coolers, and convert it into the equivalent hydraulic oil level height of the hydraulic tank: ； in: The equivalent liquid level height calculated for the oil-containing cavity of a hydraulic component; Let V be the volume of the oil-filled cavity of a hydraulic component; This refers to the cross-sectional area of ​​the hydraulic oil tank. Liquid level sensor liquid level Converted to standard temperature based on the volume-temperature characteristics of the oil. Initial equivalent liquid level value : ； in: It is the coefficient of thermal expansion. The current equivalent liquid level calculation module is used to record the current liquid level of the hydraulic oil tank from the level sensor in real time when the trolley is working. and current oil temperature And converted to standard temperature The current equivalent liquid level value Specifically used for: Real-time recording of the current hydraulic oil level sensor in the hydraulic tank during trolley operation. and current oil temperature ; The current liquid level sensor level Converted to standard temperature based on the volume-temperature characteristics of the oil. The current equivalent liquid level value : ； in: It is the coefficient of thermal expansion. The standard liquid level anomaly detection module is used to determine whether there is an oil level anomaly based on the difference between the initial equivalent liquid level value and the current equivalent liquid level value, and the change in the effective volume of the hydraulic cylinder. If so, a liquid level anomaly alarm is issued; specifically used for: Calculate the difference between the current equivalent liquid level and the initial equivalent liquid level. If the difference is greater than the equivalent liquid level height corresponding to the change in the effective volume of the cylinder, then... Plus allowable deviation The expression for determining an abnormal oil level is: ； If so, an abnormal liquid level alarm will be issued. The equivalent liquid level height corresponding to the change in the effective volume of the hydraulic cylinder is calculated as follows: ； in: For a single-piston rod double-acting cylinder, the effective volume change value is given by: : The diameter of the cylinder rod; This represents the change in the cylinder stroke. The single borehole fluid level anomaly detection module is used to, if not, record the fluid level and oil temperature at the start and end of the nth borehole when the drilling rig is in the drilling state, and calculate the equivalent fluid level values ​​at the start and end of the nth borehole. , The difference is used to determine whether there is an abnormal oil level during each drilling operation. If so, an abnormal oil level alarm is issued. The borehole cumulative fluid level anomaly judgment module is used to determine whether there is an oil level anomaly based on the total difference of the equivalent fluid level values ​​at the beginning and end of all boreholes during the entire drilling period. If so, a fluid level anomaly alarm is issued. The walking fluid level anomaly judgment module is used to monitor the hydraulic oil tank level when the rock drilling rig is in walking or standby mode. If the rate of decrease of the hydraulic oil tank level exceeds the set value and the duration exceeds the set time, it is judged that there is an oil level anomaly and an oil level anomaly alarm is issued.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the rock drilling rig hydraulic oil level anomaly detection method as described in any one of claims 1 to 5.

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