Monitoring method and system for track roller and storage medium

Abstract

The invention discloses a monitoring method and system for a track thrust wheel and a storage medium, and the method comprises the following steps: obtaining track state parameter information of time nodes of all stable operation states within a preset duration; judging whether all the track state parameters in the stable operation state meet preset requirements or not; the running state of the thrust wheel at each effective time node is obtained; performing statistical analysis on the effective time node when each thrust wheel is in the obvious stall state to obtain an obvious stall ratio, and judging whether the obvious stall ratio is greater than a first preset threshold value or not: if so, enabling the corresponding thrust wheel to be in a to-be-overhauled state, and sending an overhaul early warning signal; if not, the corresponding thrust wheel is in a normal state. The running state of the thrust wheel is continuously monitored in real time, operation and maintenance personnel can be reminded in time to deal with faults before the faults are deteriorated, and abnormal abrasion, caused by intensification of the faults of the thrust wheel, of related parts such as a crawler belt and a driving wheel is effectively avoided.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery track structure technology, and in particular, to a monitoring method, system and storage medium for track support rollers. Background Technology

[0002] Tracked equipment, with its excellent ground adaptability and load-bearing capacity, is widely used in various fields such as agriculture and construction machinery. As the core load-bearing component of the tracked equipment's walking system, the track roller's operating status directly affects the equipment's driving stability, operational safety, and service life. During operation, the track roller bears the dual pressure of the equipment's own weight and the operating load, while also facing the complex environmental effects of harsh working conditions such as dust erosion, mud and water immersion, and severe vibration. This makes it highly susceptible to wear, jamming, and bearing damage, which can lead to track roller stalling. If a track roller stalling failure is not detected and addressed promptly, it will not only accelerate abnormal wear on the tracks, drive wheels, and other related components, increasing maintenance costs, but may also cause serious safety accidents such as track derailment and equipment loss of control. Therefore, real-time and accurate monitoring of the track roller's operating status, timely fault identification, and early warning are crucial requirements for ensuring the safe and reliable operation of tracked equipment.

[0003] Monitoring of track rollers typically relies on periodic manual inspections. Maintenance personnel observe, touch, or use simple tools to measure and determine if the rollers are faulty. However, manual inspections are inefficient, dependent on the experience of maintenance personnel, highly subjective, and prone to missing early fault signals due to human error. With the development of sensing and data processing technologies, some sensor-based track roller monitoring solutions have emerged, but existing solutions still have many shortcomings. For example, some solutions do not consider the interference of non-steady operating conditions on monitoring parameters, directly using parameters from all operating states for fault diagnosis, leading to a high false alarm rate; other solutions can only identify severe track roller faults and cannot effectively identify early stall conditions, failing to meet the needs of preventative maintenance. Summary of the Invention

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a monitoring method, system, and storage medium for tracked track rollers.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A monitoring method for tracked track rollers includes the following steps: S1, within a preset time period, acquiring track status parameter information for all time nodes of stable operation; S2, determining whether the track status parameters of all stable operation states meet preset requirements: if yes, then the time node is determined as a valid time node; if no, then the time node is determined as an invalid time node; S3, performing status analysis on all track rollers of all valid time nodes within the preset time period to obtain the operating status of the track roller at each valid time node; the operating status includes non-significant stall state and significant stall state; S4, performing statistical analysis on the valid time nodes where each track roller is in a significant stall state to obtain the significant stall percentage, and determining whether the significant stall percentage is greater than a first preset threshold: if yes, then the corresponding track roller is in a maintenance pending state and a maintenance warning signal is issued; if no, then the corresponding track roller is in a normal state.

[0006] Furthermore, the track status parameters include the force on the support rollers and the track tilt angle.

[0007] Furthermore, the preset requirements include that the force on the support roller is greater than a second preset threshold and the inclination angle of the track is less than a third preset threshold.

[0008] Further, step S1 specifically includes: S11, obtaining the rate of change of drive wheel speed for all time nodes within a preset time period; S12, performing the following judgment on all time nodes: determining whether at least one of the current time node and the N adjacent time nodes has a rate of change of drive wheel speed greater than a preset rate of change threshold: if yes, then the time node is determined to be in a non-stable operating state; if no, then the time node is determined to be in a stable operating state; S13, obtaining the track status parameter information of all time nodes in a stable operating state.

[0009] Further, step S3 specifically includes: S31, obtaining the rotational speeds of all support rollers at all valid time points, and calculating the rotational speed ratio between all support rollers and the drive wheel at all valid time points; S32, determining whether the rotational speed ratio is lower than a fourth preset threshold: if yes, the operating state of the support roller at the corresponding valid time point is a significant stall state; if no, the operating state of the support roller at the corresponding valid time point is a non-significant stall state; wherein the fourth preset threshold is lower than the standard value of the rotational speed ratio.

[0010] Furthermore, the percentage of obvious stalls is the ratio of the number of effective time points in which the support roller is in an obvious stall state to the total number of effective time points.

[0011] Furthermore, after step S2, the method further includes: obtaining the rotational speeds of all support rollers at all valid time points, calculating the rotational speed ratio between all support rollers and drive wheels at all valid time points; determining whether the rotational speed ratio is lower than the standard value and higher than the fifth preset threshold: if so, determining that the support roller at the corresponding valid time point is in a light stall state; calculating the ratio of valid time points in a light stall state to the total number of valid time points, obtaining the light stall percentage of support rollers; calculating the number of support rollers with a light stall percentage greater than the sixth preset threshold, obtaining the number of light stall wheels; determining whether the number of light stall wheels is greater than the seventh preset threshold: if so, issuing a track tension warning signal.

[0012] Furthermore, the fifth preset threshold is higher than the fourth preset threshold.

[0013] The present invention also provides a monitoring system for tracked track rollers, comprising: a parameter information acquisition module, which acquires track status parameter information for all time nodes of stable operation within a preset time period; a time node judgment module, which judges whether the track status parameters meet preset requirements: if yes, the time node is judged as a valid time node; if no, the time node is judged as an invalid time node; a track roller status analysis module, which performs status analysis on all track rollers of all valid time nodes within the preset time period to obtain the operating status of the track roller at each valid time node; the operating status includes non-significant stall state and significant stall state; and a stall ratio acquisition and judgment module, which performs statistical analysis on each valid time node where the track roller is in a significant stall state to obtain the significant stall ratio, and judges whether the significant stall ratio is greater than a first preset threshold: if yes, the corresponding track roller is in a maintenance pending state and a maintenance warning signal is issued; if no, the corresponding track roller is in a normal state.

[0014] The present invention also provides a storage medium, wherein the computer-readable storage medium stores the computer program, and the computer program, when executed by a processor, implements a method for monitoring track support rollers.

[0015] The present invention has the following beneficial effects: Step S1 prioritizes acquiring track status parameter information for stable operating time nodes within a preset time period, proactively eliminating interference from non-stable operating states such as equipment starting and braking. Step S2 then verifies the validity of parameters from the stable operating state, further filtering out valid time nodes that meet preset requirements, ensuring subsequent status analysis is based on accurate and reliable data. Eliminating invalid interference information at the data source significantly reduces the risk of misjudgment of faults due to non-stable operating conditions, improving the reliability of monitoring results. Step S3 explicitly divides the track roller operating state into non-obvious stall and obvious stall states. Step S4 statistically analyzes the valid time nodes of the obvious stall state, using the proportion of obvious stall as the core judgment indicator, and combining it with a first preset threshold to determine whether the track roller is in a maintenance-needed state, achieving a quantitative assessment of the track roller operating state. This accurately distinguishes between normal fluctuations and fault states requiring maintenance, avoiding over-warning of minor stall fluctuations and preventing the omission of early obvious stall faults, providing a scientific and objective basis for fault judgment. This invention can accurately identify early and obvious stall conditions of track rollers and determine the maintenance status through statistical analysis of the proportion of obvious stalls, avoiding misclassifying occasional speed detection errors or low-frequency stall conditions as maintenance-needed conditions. Compared with the shortcomings of traditional manual inspection, which is inefficient and prone to missing early faults, this invention achieves real-time and continuous monitoring of the track roller's operating status, and can promptly remind maintenance personnel to handle the situation before the fault worsens, effectively avoiding abnormal wear of tracks, drive wheels and other related components caused by the aggravation of track roller faults.

[0016] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the overall process of the present invention; Figure 2 This is a flowchart of step S1; Figure 3 This is a partial flowchart of the present invention. Detailed Implementation

[0018] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0021] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0022] Please refer to Figure 1 The present invention provides a preferred embodiment of a monitoring method for tracked track rollers, comprising steps S1, S2, S3 and S4.

[0023] S1: Within a preset time period, acquire the track status parameter information of all time nodes in stable operation.

[0024] S2, determine whether the track status parameters of all stable operating states meet the preset requirements: if yes, then the time node is determined as a valid time node; if no, then the time node is determined as an invalid time node.

[0025] S3 performs state analysis on all support rollers at all valid time nodes within a preset time period to obtain the operating state of the support rollers at each valid time node; the operating state includes non-obvious stall state and obvious stall state.

[0026] S4, perform statistical analysis on the effective time points when each support roller is in a significant stall state to obtain the percentage of significant stall, and determine whether the percentage of significant stall is greater than a first preset threshold: If so, the corresponding support roller is in a state of needing maintenance, and a maintenance warning signal will be issued; If not, the corresponding support roller is in normal condition. That is, each support roller needs to undergo data screening, analysis and judgment in steps S1, S2, S3 and S4 to determine whether each support roller is normal or in a state of needing maintenance.

[0027] This invention provides a monitoring method for tracked track rollers. Step S1 prioritizes acquiring track status parameter information for stable operating time nodes within a preset time period, proactively eliminating interference from non-stable operating states such as equipment starting and braking. Step S2 then verifies the validity of the stable operating parameters, further filtering out valid time nodes that meet preset requirements, ensuring subsequent status analysis is based on accurate and reliable data. Eliminating invalid interference information at the data source significantly reduces the risk of misjudgment due to non-stable operating conditions, improving the reliability of monitoring results. Step S3 explicitly divides the track roller operating state into non-significant stall state and significant stall state. Step S4 statistically analyzes the valid time nodes of the significant stall state, using the proportion of significant stall as the core judgment indicator, and combining it with a first preset threshold to determine whether the track roller is in a maintenance-needed state, achieving a quantitative assessment of the track roller operating state. This invention can accurately distinguish between normal fluctuations and fault states requiring maintenance, avoiding over-warning of minor stall fluctuations and preventing the omission of early, obvious stall faults, thus providing a scientific and objective basis for fault diagnosis. It can accurately identify early, obvious stall states of the track roller and determine the maintenance-needed state through statistical analysis of the proportion of obvious stalls, avoiding misclassifying occasional speed detection errors or low-frequency stalls as maintenance-needed states. Compared to the inefficiency and tendency to miss early faults in traditional manual inspections, this invention achieves real-time, continuous monitoring of the track roller's operating status, promptly alerting maintenance personnel before the fault worsens, effectively preventing abnormal wear of tracks, drive wheels, and other related components caused by the escalation of track roller faults. From data acquisition and validity screening to status analysis and fault determination, this invention forms a complete closed-loop monitoring process with clear operational logic, eliminating reliance on manual experience. It achieves fully intelligent operation through sensor acquisition and automated data processing, adapting to the monitoring needs of large tracked equipment operating continuously for extended periods.

[0028] In a specific embodiment of the present invention, the track status parameters include the load on the support rollers and the track tilt angle. The load on the support rollers directly reflects their load-bearing condition, while the track tilt angle is related to the stability of the equipment's operating posture. Together, they constitute the core dimension for evaluating the effectiveness of the time node, providing a clear and reliable judgment object for parameter selection in step S2.

[0029] In a specific embodiment of the present invention, the preset requirements include that the force on the support roller is greater than a second preset threshold and the track tilt angle is less than a third preset threshold. This clear quantitative standard enables precise selection of effective time points. A force on the support roller greater than the second preset threshold excludes forces acting on the equipment when the support roller is suspended, preventing misjudgments due to stalling when the support roller is suspended. A track tilt angle less than the third preset threshold eliminates interfering data from equipment operating on steep slopes, sloping ground, etc., ensuring that the analysis focuses on the stable operating state of the equipment under normal working conditions.

[0030] Reference Figure 2 In a specific embodiment of the present invention, step S1 specifically includes steps S11, S12 and S13.

[0031] S11, obtain the rate of change of drive wheel speed at all time points within the preset time period.

[0032] S12, perform the following judgments on all time points: Determine whether, among the current time point and the N adjacent time points, the rate of change of the drive wheel speed exceeds a preset threshold. If so, then the time point is determined to be in a non-stationary operating state; If not, then the time point is determined to be in a stable operating state; S13, obtain the track status parameter information for all time nodes of stable operation.

[0033] By combining the rate of change of drive wheel speed with the linkage judgment of N adjacent time points, a precise distinction between stable and non-stable operating states is achieved. Compared with the one-sidedness of existing technologies that judge the operating state based on only a single time point parameter, this technology takes into account the continuity of equipment operation. The rate of change of drive wheel speed directly reflects whether the equipment is in a non-stable state such as starting, braking, or accelerating. The linkage judgment of N adjacent time points can remove adjacent points before and after the point with a large rate of change of drive wheel speed, reducing interference to subsequent steps and ensuring that the determination of stable operating state is more consistent and reliable. The stable operating time points selected by this method can more realistically reflect the operating state of the support roller under normal working rhythm, providing data support that is more in line with actual working scenarios for subsequent analysis.

[0034] In some embodiments of the present invention, step S3 specifically includes steps S31, S32, and S33.

[0035] S31, obtain the rotational speed of all support rollers at all valid time points, and calculate the rotational speed ratio of all support rollers to drive rollers at all valid time points.

[0036] S32, determine whether the speed ratio is lower than the fourth preset threshold: If so, the operating state of the support roller at the corresponding effective time point is a clear stall state; If not, the operating state of the support roller at the corresponding effective time point is a non-obvious stall state; The fourth preset threshold is lower than the standard speed ratio value. By combining the speed ratio of the support roller to the drive roller with the fourth preset threshold, a quantitative distinction of stall conditions is achieved. The drive roller speed serves as a benchmark for equipment operation, and the speed ratio of the support roller to the drive roller directly reflects the rotational synchronicity of the support roller. Compared to the isolated judgment method of detecting only the support roller speed, this ratio eliminates the influence of overall equipment speed changes on the support roller status judgment, making stall condition identification more objective. Simultaneously, the limitation of the fourth preset threshold being lower than the standard speed ratio value sets a clear quantitative boundary for obvious stall conditions, avoiding ambiguous judgments of stall severity, making the distinction between insignificant and obvious stalls more accurate, further improving the scientific nature of fault identification, and providing a unified and reliable judgment standard for subsequent statistics on the proportion of obvious stalls. Furthermore, when the support roller speed fluctuates slightly and is lower than the standard speed ratio value, the fourth preset threshold being lower than the standard speed ratio value also prevents it from being misjudged as obvious stall, reducing the misjudgment rate.

[0037] In a specific embodiment of the present invention, the obvious stall ratio is the ratio of the number of effective time points in which the support roller is in an obvious stall state to the total number of effective time points. That is, the obvious stall ratio represents the proportion of effective time points in an obvious stall state, providing a standardized quantitative indicator for support roller fault diagnosis. Compared to the limitations of judging faults based on only a single or a few state detections, this ratio reflects the frequency and duration of support roller stall states, avoiding misjudging occasional momentary stalls or detection errors as faults requiring maintenance. It also accurately captures high-frequency, persistent obvious stall faults. This makes fault diagnosis more objective and reasonable, ensuring that maintenance warning signals are more closely aligned with actual fault conditions, avoiding the waste of maintenance resources caused by excessive warnings, and preventing the risk of overlooking potential faults.

[0038] Reference Figure 3 In a specific embodiment of the present invention, step S2 is followed by: Obtain the rotational speed of all support rollers at all valid time points, and calculate the rotational speed ratio of all support rollers to drive rollers at all valid time points; Determine if the speed ratio is lower than the standard speed ratio value and higher than the fifth preset threshold: If so, the support roller at the corresponding valid time point is determined to be in a slight stall state; The ratio of effective time points in which the support roller is in a light stall state to the total effective time points is calculated to obtain the light stall percentage of the support roller. Calculate the number of support rollers with a light stall ratio greater than the sixth preset threshold to obtain the number of light stall rollers; Determine if the number of wheels experiencing slight stall exceeds the seventh preset threshold: If so, a track tension warning signal will be issued.

[0039] The above steps add an early warning function for track tension, extending monitoring from track roller fault monitoring to overall track system status monitoring. Track roller slight stall, where the speed ratio is below the standard value but above the fifth preset threshold, is often related to insufficient track tension. An overly loose track leads to a decrease in the transmission efficiency between the track roller and the track, subsequently causing slight stalls in multiple track rollers. By counting the number of track rollers with a slight stall rate greater than the sixth preset threshold and combining this with the seventh preset threshold to determine whether to issue a tension warning, the problem of insufficient track tension can be accurately identified. Therefore, while monitoring track roller speed, it can also provide track tension warnings, not only detecting obvious track roller faults but also identifying track tension problems that cause slight track roller stalls in advance. This prevents more serious faults such as severe track roller stalls and track derailment caused by overly loose tracks, expanding the functional coverage of the monitoring system and more comprehensively ensuring the operational safety of tracked equipment.

[0040] In a specific embodiment of the present invention, the fifth preset threshold is higher than the fourth preset threshold. This clarifies the quantitative boundary between a slight stall state and a significant stall state, forming a multi-level state classification. A slight stall state corresponds to minor abnormalities such as insufficient track tension, while a significant stall state corresponds to systemic failures such as wear and jamming of the track rollers. This clear distinction ensures the accuracy of the warning signal.

[0041] The present invention also provides a monitoring system for tracked track rollers, comprising: a parameter information acquisition module, which acquires track status parameter information for all time nodes of stable operation within a preset time period; a time node judgment module, which judges whether the track status parameters meet preset requirements: if yes, the time node is judged as a valid time node; if no, the time node is judged as an invalid time node; a track roller status analysis module, which performs status analysis on all track rollers of all valid time nodes within the preset time period to obtain the operating status of the track roller at each valid time node; the operating status includes non-significant stall state and significant stall state; and a stall ratio acquisition and judgment module, which performs statistical analysis on each valid time node where the track roller is in a significant stall state to obtain the significant stall ratio, and judges whether the significant stall ratio is greater than a first preset threshold: if yes, the corresponding track roller is in a maintenance pending state, and a maintenance warning signal is issued; If not, the corresponding support roller is in normal condition. This system can automate the entire process of data acquisition, filtering, analysis, and judgment. Compared to traditional manual monitoring or distributed sensor monitoring, this system achieves integrated and intelligent monitoring. The system can complete data acquisition and analysis in real time and continuously without relying on manual intervention, adapting to the needs of tracked equipment for long-term continuous operation, significantly improving monitoring efficiency, and avoiding subjective errors caused by manual operation, ensuring the stability and reliability of monitoring results.

[0042] The present invention also provides a storage medium, a computer-readable storage medium storing a computer program, which, when executed by a processor, implements a method for monitoring track support rollers.

[0043] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A monitoring method for tracked track rollers, characterized in that, Includes the following steps: S1, within a preset time period, acquire track status parameter information for all time nodes of stable operation; S2, determine whether the track status parameters of all stable operating states meet the preset requirements: if yes, then the time node is determined as a valid time node; if no, then the time node is determined as an invalid time node. S3, perform state analysis on all support rollers at all valid time nodes within a preset time period to obtain the operating state of the support rollers at each valid time node; the operating state includes non-obvious stall state and obvious stall state; S4, perform statistical analysis on the effective time points when each support roller is in a significant stall state to obtain the percentage of significant stall, and determine whether the percentage of significant stall is greater than a first preset threshold: If so, the corresponding support roller is in a state of needing maintenance, and a maintenance warning signal will be issued; If not, then the corresponding support roller is in normal condition.

2. The monitoring method for tracked track rollers according to claim 1, characterized in that, The track condition parameters include the force on the support rollers and the track tilt angle.

3. The monitoring method for tracked track rollers according to claim 2, characterized in that, The preset requirements include that the force on the support roller is greater than a second preset threshold and the track tilt angle is less than a third preset threshold.

4. The monitoring method for tracked track rollers according to claim 1, characterized in that, Step S1 specifically includes: S11, obtain the rate of change of drive wheel speed at all time points within the preset time period; S12, perform the following judgments on all time points: Determine whether, among the current time point and the N adjacent time points, the rate of change of the drive wheel speed exceeds a preset threshold. If so, then the time point is determined to be in a non-stationary operating state; If not, then the time point is determined to be in a stable operating state; S13, obtain the track status parameter information for all time nodes of stable operation.

5. The monitoring method for track support rollers according to claim 4, characterized in that, Step S3 specifically includes: S31, obtain the rotational speed of all support rollers at all effective time points, and calculate the rotational speed ratio of all support rollers to drive rollers at all effective time points; S32, determine whether the speed ratio is lower than the fourth preset threshold: If so, the operating state of the support roller at the corresponding effective time point is a clear stall state; If not, the operating state of the support roller at the corresponding effective time point is a non-obvious stall state; The fourth preset threshold is lower than the standard value of the speed ratio.

6. The monitoring method for tracked track rollers according to claim 1, characterized in that, The percentage of obvious stalls is the ratio of the number of effective time points in which the support roller is in an obvious stall state to the total number of effective time points.

7. The monitoring method for tracked track rollers according to claim 1, characterized in that, Step S2 is followed by: Obtain the rotational speed of all support rollers at all valid time points, and calculate the rotational speed ratio of all support rollers to drive rollers at all valid time points; Determine if the speed ratio is lower than the standard speed ratio value and higher than the fifth preset threshold: If so, the support roller at the corresponding valid time point is determined to be in a slight stall state; The ratio of effective time points in which the support roller is in a light stall state to the total effective time points is calculated to obtain the light stall percentage of the support roller. Calculate the number of support rollers with a light stall ratio greater than the sixth preset threshold to obtain the number of light stall rollers; Determine if the number of wheels experiencing slight stall exceeds the seventh preset threshold: If so, a track tension warning signal will be issued.

8. The monitoring method for tracked track rollers according to claim 7, characterized in that, The fifth preset threshold is higher than the fourth preset threshold.

9. A monitoring system for tracked track rollers, characterized in that, include: The parameter information acquisition module acquires track status parameter information for all time nodes of stable operation within a preset time period; The time node determination module determines whether the track status parameters meet the preset requirements: if yes, the time node is determined to be a valid time node; if no, the time node is determined to be an invalid time node. The support roller state analysis module performs state analysis on all support rollers at all valid time nodes within a preset time period to obtain the operating state of the support roller at each valid time node; the operating state includes non-obvious stall state and obvious stall state; The stall percentage acquisition and judgment module statistically analyzes the effective time points when each support roller is in a significant stall state to obtain the significant stall percentage, and judges whether the significant stall percentage is greater than a first preset threshold. If so, the corresponding support roller is in a state of needing maintenance, and a maintenance warning signal will be issued; If not, then the corresponding support roller is in normal condition.

10. A storage medium, wherein the computer-readable storage medium stores the computer program, characterized in that, When the computer program is executed by the processor, it implements the monitoring method for track support rollers as described in any one of claims 1 to 8.

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