A Fault Detection and Identification Method and System Based on Characteristic Pulses

Abstract

This invention relates to a fault detection and identification method and system based on characteristic pulses, relating to the field of fault detection and identification using characteristic pulses. The method includes: acquiring ultrasonic data to obtain a detection voltage and comparing it with a preset reference voltage; marking the signal point as a start time if the detection voltage is higher than the reference voltage, and marking the signal point as an end time if the detection voltage is lower than the reference voltage; obtaining the pulse width based on the difference between the start and end times; obtaining the highest and lowest detection values ​​by comparing the detection voltages; obtaining the amplitude based on the difference between the highest and lowest detection values; obtaining an abnormal pulse based on the pulse width and amplitude; and detecting and uploading the fault by comparing the abnormal pulse with a preset characteristic pulse. This application improves the accuracy of fault detection and identification.

Description

Technical Field

[0001] This invention relates to the technical field of characteristic pulses, and in particular to a fault detection and identification method and system based on characteristic pulses. Background Technology

[0002] Fault detection based on characteristic pulses is a specialized detection technology that uses detection equipment as the target, and achieves fault location, cause identification, and status monitoring through pulse signal acquisition, waveform feature extraction and comparison.

[0003] In the process of detecting and identifying faults based on characteristic pulses, manual on-site calibration of the sensor attitude, adjustment of probe installation tightness and position, manual verification of line conditions and manual screening of valid pulses are usually performed. Then, by manually observing the pulse waveform characteristics of valid pulses and manually comparing them with the fault sample library, the correspondence between pulses and fault causes is determined to obtain the fault cause.

[0004] Since sensor calibration, pulse screening, and fault comparison all rely on manual operation, they are easily affected by human experience and subjective judgment, resulting in insufficient data acquisition accuracy, large fault pulse matching errors, difficulty in determining the cause of the fault, and reduced accuracy of characteristic pulse fault detection. Summary of the Invention

[0005] To improve the accuracy of fault detection based on characteristic pulses, this invention provides a fault detection and identification method and system based on characteristic pulses.

[0006] In a first aspect, the present invention provides a fault detection and identification method based on characteristic pulses, employing the following technical solution: A fault detection and identification method based on characteristic pulses includes: The ultrasonic data is collected to obtain the detection voltage, which is then compared with a preset reference voltage. If the detected voltage is higher than the reference voltage, the signal point is marked as the start time; if the detected voltage is lower than the reference voltage, the signal point is marked as the end time. The pulse width is obtained based on the difference between the start time and the end time; The highest and lowest detected values ​​are obtained by comparing the detected voltages. The amplitude is obtained based on the difference between the highest and lowest detected values; Abnormal pulses are obtained by controlling pulse width and amplitude. The fault is detected and uploaded by comparing the abnormal pulse with the preset characteristic pulse.

[0007] By adopting the above technical solution, the pulse start and end time marking, pulse width and amplitude calculation are automatically completed based on the voltage signal acquired by ultrasound. The fault is automatically identified by comparing the abnormal pulse with the preset characteristic pulse. This reduces the cumbersome and time-consuming process of manual analysis and judgment, improves the efficiency of fault detection, reduces the impact of errors in manual detection and identification, and improves the accuracy of fault detection.

[0008] Optionally, methods prior to acquiring ultrasonic data to obtain the detection voltage include: Collect the actual location of the shielding ring; The reference position is obtained by combining the preset detection time and preset device parameters; The detected radian and the reference radian are obtained by using device parameters, actual position, and reference position; The actual radian is obtained based on the detected radian and the reference radian; The offset and start signal are obtained based on the actual radian and device parameters; The ultrasonic sensor is reinforced based on the offset and the start signal.

[0009] By adopting the above technical solution, before acquiring ultrasonic data, the actual position of the shielding ring on the sensor transmission line is compared and analyzed with the reference position. The reference arc, detection arc and offset are calculated, and a start signal is automatically generated to reinforce and correct the ultrasonic sensor. This reduces the influence of sensor probe offset on the ultrasonic signal detection direction and improves the accuracy of acquiring ultrasonic detection data.

[0010] Optional, also includes: The ultrasonic data was reacquired to obtain the pulse waveform; The detection waveform is obtained based on the pulse waveform and the preset damage pulse; The extent of damage is determined by detecting the waveform and comparing it with a preset transmission line type. The shielding location is determined based on the extent of the damage; The control direction is obtained based on the shielding position and the actual position; The damaged area is shielded according to the control direction and shielding position.

[0011] By adopting the above technical solution, after the ultrasonic sensor is reinforced and calibrated, the detection waveform is accurately extracted based on the acquired pulse waveform and the preset damage pulse. The damage range is determined in combination with the transmission line type, and the shielding position and control direction are automatically determined to achieve automatic shielding of the transmission line damage range, reduce the impact of transmission line damage on signal transmission, and improve the accuracy of ultrasonic data transmission.

[0012] Optionally, methods for shielding the damaged area based on the control direction and shielding position include: The tilt angle is obtained by using a reference radian. The gravity-compensated speed and friction force are obtained based on the tilt angle, device parameters, and preset shielding ring specifications. The final speed is obtained based on the gravity-compensated speed and the preset moving speed; The vibration frequency is obtained by combining the final velocity with frictional force. The deceleration value is obtained based on the difference between the detected vibration frequency and the preset stable frequency; The control speed and shift position are determined based on the final speed, deceleration value, and shielding ring specifications. The shielding control information is obtained by controlling the speed and shift position, and then uploaded to the shielding ring.

[0013] By adopting the above technical solution, combined with the transmission line tilt angle, device parameters and shielding ring specifications, the gravity compensation speed, friction force and detected vibration frequency are dynamically calculated. Based on the vibration frequency deviation, a deceleration value is generated and the control speed and speed change position are determined. Shielding control information is generated and uploaded. The speed generated by gravity is used to reduce the energy consumption caused by moving the shielding ring. The control information is used to move the shielding ring to the target position, thereby improving the accuracy of the shielding ring's coverage position.

[0014] Optionally, methods for shielding the damaged area based on the control direction and shielding position also include: The tightness value is obtained based on the offset; The actual gravitational velocity and actual vibration frequency are obtained based on the detected tightness value and the specifications of the shielding ring. The control speed and shift position are updated by combining the detected tightness value, actual gravity velocity, and actual vibration frequency. The shielding control information is updated by controlling the speed, shift position, and using preset verification methods.

[0015] By adopting the above technical solution, the detection tightness value is determined by combining the actual curvature and offset. The actual gravity velocity and actual vibration frequency are dynamically calculated according to the specifications of the shielding ring. The control speed and speed change position of the shielding ring are updated with the actual gravity velocity, actual vibration frequency and tightness value. The shielding control information is then updated in real time according to the control speed, speed change position and inspection method. This reduces the influence of mechanical vibration on the sensor probe offset and improves the accuracy of ultrasonic data acquisition.

[0016] Optional, preset testing methods include: Collect the propagation direction and intensity of external electromagnetic interference; The coverage area is determined based on the shielding location, pulse waveform, and detection waveform. The adjustable distance is determined based on the coverage area and the specifications of the shielding ring. The interference threshold is obtained by combining the adjustable distance and the propagation direction; The adjustment distance is obtained by comparing the interference intensity with the interference threshold; The actual coverage location is obtained by adjusting the distance, coverage area, and propagation direction, and the shielding control information is updated.

[0017] By adopting the above technical solution, the propagation direction and interference intensity of external electromagnetic interference are collected. The shielding range and adjustable distance are determined by combining the shielding position, shielding ring specifications, pulse waveform characteristics and detection waveform. The distance is adjusted according to the interference threshold comparison, the actual shielding position is located and the shielding control information is updated. Under the premise of completely shielding the damaged area, the shielding position is further adjusted to improve the accuracy of the shielding ring shielding position information.

[0018] Optionally, the preset detection methods also include: The mechanical vibration frequency is obtained by pulse waveform; The combined vibration frequency is obtained by combining the mechanical vibration frequency and the detected vibration frequency. The current parameters are obtained and uploaded based on the comprehensive vibration frequency and the preset vibration specifications; The actual deceleration value is obtained based on the difference between the comprehensive vibration frequency and the preset stable frequency; The shift position is updated based on the actual deceleration value and the control speed, and then uploaded to the shielding ring.

[0019] By adopting the above technical solution, the mechanical vibration frequency can be extracted from the pulse waveform and fused to obtain the detected vibration frequency to obtain the comprehensive vibration frequency. Then, the comprehensive vibration frequency is matched with the current parameters corresponding to the vibration specification. The actual deceleration value is calculated based on the deviation between the comprehensive vibration frequency and the stable frequency. The speed change position is updated in real time and control commands are issued, which reduces the influence of mechanical vibration on the pulse and improves the accuracy of the acquired ultrasonic detection data.

[0020] Optionally, the methods for obtaining fault detection also include: The fault voltage value is obtained based on the pulse waveform; High and low detection points are obtained based on the fault voltage value and a preset high-level threshold. The pulse slope is obtained by comparing high and low detection points. The actual detected fault is obtained by combining the pulse slope with the preset fault slope; Update the detected faults based on the actual faults detected.

[0021] By adopting the above technical solution, the fault voltage value can be extracted from the pulse waveform, the high detection point and the low detection point can be determined and the pulse slope can be calculated. By comparing the pulse slope with the preset fault slope, the fault can be accurately identified and updated, thereby improving the accuracy of fault detection judgment.

[0022] Optionally, methods for updating abnormal pulses include: The duration is obtained by combining the pulse width with abnormal pulses; Instantaneous noise pulses and continuous noise pulses are obtained based on amplitude, duration, and pulse slope; The inverse continuous pulse is obtained based on the continuous noise pulse; The detection pulse is obtained by eliminating instantaneous noise pulses based on the duration and preset abnormal time. The actual pulse is obtained by combining the detection pulse and the reverse continuous pulse, and the abnormal pulse is updated.

[0023] By adopting the above technical solution, it is possible to distinguish between instantaneous noise pulses and continuous noise pulses based on pulse width, amplitude, duration and pulse slope, generate inverse continuous pulses to cancel continuous noise interference, and obtain real and effective actual pulses after eliminating instantaneous noise pulses and completing abnormal pulse updates, thereby reducing the interference of noise on fault detection and improving the accuracy of fault identification.

[0024] Secondly, this application provides a fault detection and identification system based on characteristic pulses, employing the following technical solution: A fault detection and identification system based on characteristic pulses, comprising: The acquisition module is used to acquire ultrasonic detection data and the propagation direction of electromagnetic interference; A memory for storing a program for a fault detection and identification method based on characteristic pulses; The processor is used to load and execute programs stored in memory.

[0025] In summary, this application includes at least one of the following beneficial technical effects: 1. Based on the voltage signal acquired by ultrasound, the system automatically completes the pulse start and end time marking, pulse width and amplitude calculation, and automatically identifies faults by comparing abnormal pulses with preset characteristic pulses. No manual analysis and judgment are required, reducing human error and effectively improving the efficiency and accuracy of transmission line fault detection. 2. After the ultrasonic sensor is reinforced and calibrated, the detection waveform is accurately extracted based on the acquired pulse waveform and the preset damage pulse. The damage range is determined in combination with the transmission line type, and the shielding position and control direction are automatically determined to achieve automatic shielding of the transmission line damage range, thereby improving the accuracy of ultrasonic data acquisition. 3. By combining the transmission line tilt angle, device parameters, and shielding ring specifications, the gravity compensation speed, friction force, and detection vibration frequency are dynamically calculated. Based on the vibration frequency deviation, a deceleration value is generated, and the control speed and speed change position are determined. Shielding control information is generated and uploaded, which improves the accuracy of the acquired ultrasonic data. Attached Figure Description

[0026] Figure 1 This is a flowchart of a fault detection and identification method based on feature pulses according to an embodiment of the present invention. Detailed Implementation

[0027] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0028] Reference Figure 1 This application discloses a fault detection and identification method based on characteristic pulses, including the following steps: S10: Collect ultrasonic data to obtain the detection voltage and compare it with the preset reference voltage.

[0029] The detection voltage refers to the voltage signal output by the signal conversion circuit after the ultrasonic sensor collects the ultrasonic signal of the mechanical device being detected.

[0030] The reference voltage is the voltage value of the waveform on the x-axis that is preset by the technician (the x-axis of the waveform represents time, and the y-axis represents voltage).

[0031] The measured voltage in real time is compared with the reference voltage to determine the amplitude change of the ultrasonic signal.

[0032] S11: If the detected voltage is higher than the reference voltage, mark the signal point as the start time; if the detected voltage is lower than the reference voltage, mark the signal point as the end time.

[0033] The start time refers to the starting point of the pulse corresponding to the waveform.

[0034] The end time refers to the point in time when the pulse corresponding to the waveform ends.

[0035] By judging the relationship between the detected voltage and the reference voltage in real time, the x-axis coordinate value corresponding to when the detected voltage is higher than the reference voltage is marked as the start time, and the x-axis coordinate value corresponding to when the detected voltage is lower than the reference voltage is marked as the end time.

[0036] S12: The pulse width is obtained based on the difference between the start time and the end time.

[0037] Pulse width refers to the duration of a pulse within one cycle.

[0038] The pulse width is calculated by taking the difference between the end time and the start time.

[0039] S13: The highest and lowest detection values ​​are obtained by comparing the detection voltages.

[0040] The highest detected value refers to the maximum voltage value among all detected voltages within the acquisition period.

[0041] The lowest detection value refers to the minimum voltage among all detected voltages within the acquisition period.

[0042] By comparing the detected voltages within the same acquisition cycle, the positive and negative extreme values ​​of the selected amplitude are taken as the highest and lowest detected values.

[0043] S14: The amplitude is obtained based on the difference between the highest and lowest detected values.

[0044] Amplitude refers to the voltage fluctuation range of a pulse. It is obtained by calculating the difference between the highest and lowest detected values, and thus the voltage fluctuation range is used as the amplitude.

[0045] S15: Abnormal pulses are obtained by controlling the pulse width and amplitude.

[0046] A normal pulse is a pulse waveform set by technicians to indicate that the device is working properly and there is no malfunction.

[0047] Abnormal pulses refer to pulse waveforms that do not conform to the characteristics of normal pulse signals. The calculated pulse width and amplitude are combined and matched with normal pulses to filter out abnormal pulse signals.

[0048] S16: Detect faults by comparing abnormal pulses with preset characteristic pulses and upload the results.

[0049] Characteristic pulses refer to typical pulse signals pre-calibrated by technicians based on historical fault data, which include the standard pulse width range and amplitude range corresponding to various faults.

[0050] The corresponding equipment fault result obtained by comparing and matching the pulse width and amplitude of the abnormal pulse with the characteristic pulse one by one is used as the fault detection.

[0051] Methods prior to acquiring ultrasonic data to obtain the detection voltage include: S17: Collect the actual position of the shielding ring.

[0052] The testing time is a specific length of time that the shielding ring needs to move when inspecting the curvature of the transmission line, as preset by the technicians.

[0053] The actual position refers to the three-dimensional coordinate position of the shielding ring. Before the shielding ring moves, the position coordinates of the positioning device on the shielding ring are collected as the starting coordinates. After the starting coordinates are collected, the shielding ring is moved by detecting time and speed. After the movement is completed, the position of the shielding ring is collected again as the actual position. The speed here is a standard speed for the shielding ring to move on the transmission line, preset by the technicians.

[0054] A shielding ring is a movable device used to shield interference signals within the damaged area of ​​a transmission line. The device has an overall hollow ring structure and, when energized, generates an expanding magnetic repulsive force inside the woven mesh shielding ring without affecting the transmission signal. This allows the shielding ring to tighten onto the transmission line when energized.

[0055] S18: The reference position is obtained by combining the preset detection time and preset device parameters.

[0056] The reference position refers to the horizontal and vertical coordinates of the shielding ring when the sensor probe moves during the detection time without shifting.

[0057] The device parameters are preset by technicians, including the position of the ultrasonic sensor probe and system transmission line interface from the ground, the installation radius of the sensor probe, the dimensions of the fixed structure, and the corresponding friction coefficient of the transmission line.

[0058] Referring to the method for obtaining the actual coordinates in S17, the moving distance obtained by calculating the product of the detection time and the speed is used as the reference distance for the movement of the shielding ring. Then, the arc of the transmission line of the ultrasonic sensor probe under normal conditions is retrieved from the device parameters. Based on the starting position in S17, the position reached after moving the reference distance on the arc is used as the reference position.

[0059] S19: The detected radian and the reference radian are obtained through the device parameters, the actual position, and the reference position.

[0060] The detection arc refers to the arc formed by the transmission line where the shielding ring is located when it is uncertain whether the sensor probe has shifted.

[0061] Using the horizontal direction of the shielding ring corresponding to the actual position as the opposite side of the angle, and the distance between the sensor's transmission line connector and the shielding ring as the adjacent side of the angle, the angle is calculated using trigonometric functions. The detected radian is then obtained using the formula (angle × 180 / π = radians). Referring to S18, the radian of the transmission line under normal probe conditions is used as the reference radian.

[0062] S20: Obtain the actual radian based on the detected radian and the preset reference radian.

[0063] The reference radian is the radian formed by the transmission line where the shielding ring is located, which is pre-set by the technicians so that the sensor probe does not deviate.

[0064] The actual radian refers to the radian formed by the transmission line where the shielding ring is located when the sensor probe is offset.

[0065] The detected radian is compared with the reference radian; if they are inconsistent, the detected radian is taken as the actual radian.

[0066] S21: Obtain the offset and start signal based on the actual radian and device parameters.

[0067] Offset refers to the angular deviation between the actual radian and the reference radian.

[0068] The start signal is a control signal used to trigger the sensor hardening action.

[0069] The deviation value in radians is obtained by calculating the difference between the actual radian and the preset reference radian. Then, the corresponding angle is obtained using the angular radian calculation formula in S19 as the angular deviation value. Finally, the linear offset distance of the probe head in the circumferential direction is obtained by multiplying the installation radius of the sensor probe in the device parameters by the angular deviation value. The offset amount for performing correction is finally obtained. When the offset amount occurs, the system automatically generates a start signal to start the ruggedized sensor probe device.

[0070] S22: Strengthen the ultrasonic sensor based on the offset and start signal.

[0071] An ultrasonic sensor includes a sensor probe, a transmission line, and a sensor system, and the sensor probe is fixed to the testing machine using a suction cup.

[0072] Based on the offset, the corresponding power of the suction pump is retrieved from a preset power lookup table. A start signal is generated from the power reading, driving the suction pump to tighten the suction cup, thus fixing the sensor in place after the offset. Then, the corresponding correction coefficient is retrieved from a correction coefficient lookup table based on the offset. The correction coefficient refers to the value used to correct the data when the ultrasonic sensor probe experiences angular offset.

[0073] The parameters in the correction factor lookup table are preset by technicians based on actual conditions. The greater the offset of the sensor probe, the greater the corresponding correction factor of the ultrasonic sensor.

[0074] The power lookup table stores the pumping power and pumping angle corresponding to different offsets. The parameters in the power lookup table are preset by those skilled in the art based on actual conditions.

[0075] For example, when the probe offset is 0-2mm, the pumping power is 0.18-0.75kW.

[0076] When the probe offset is 2-5mm, the pumping power is 1.5-5.5kW.

[0077] When the probe offset is 5-10mm, the pumping power is 7.5-15kW.

[0078] When the probe offset is greater than 10mm, the pumping power is greater than 22kW.

[0079] Also includes: S23: Reacquire ultrasonic data to obtain pulse waveform.

[0080] A pulse waveform refers to the voltage change over time as a result of the ultrasonic sensor acquiring the echo signal and converting it. The pulse signal on the acquisition transmission line after the ultrasonic sensor is hardened in step S22 is used as the pulse waveform.

[0081] S24: Obtain the detection waveform based on the pulse waveform and the preset damage pulse.

[0082] A failure pulse refers to a typical fault pulse signal, pre-calibrated by technicians, corresponding to a transmission line failure. Typical fault pulse signals include: transmission line failure pulse characteristics, gear tooth surface failure pulse characteristics, and bearing loosening pulse characteristics, etc.

[0083] The detection waveform refers to the pulse waveform when there is a break in the transmission line.

[0084] The pulse waveform acquired in real time is compared, matched and feature extracted with the preset damage pulse to obtain the pulse waveform when the transmission line is damaged, which is then used as the detection waveform.

[0085] S25: The extent of damage is determined by detecting the waveform and the preset transmission line type.

[0086] Transmission line types include the material, diameter, length, and standard propagation parameters of the transmission line.

[0087] The damage range refers to the area defined by the damaged location based on the detected waveform. The duration of the abnormal waveform is obtained by analyzing the pulse width, amplitude, and duration of the detected waveform. The product of the abnormal waveform duration and the propagation speed is used as the lateral distance of the damage. Then, a rectangular area is divided according to the lateral distance and the transmission line type as the damage range.

[0088] S26: Determine the shielding location based on the extent of damage.

[0089] The shielding location refers to the point on the transmission line that needs to be shielded from damage. The shielding location is determined by selecting the center point of the damaged area.

[0090] S27: The control direction is obtained based on the shielding position and the actual position.

[0091] The control direction refers to the direction in which the shielding ring moves.

[0092] By comparing the shielding position with the actual position, the direction in which the shielding ring needs to move along the transmission line axis is obtained as the control direction.

[0093] S28: Shield the damaged area according to the control direction and shielding position.

[0094] The shielding ring is driven to move by analyzing the control direction and shielding position, so that the shielding ring reaches the specified shielding position.

[0095] Methods for shielding the damaged area based on the control direction and shielding location include: S29: Obtain the tilt angle using the reference radian.

[0096] The tilt angle refers to the angle between the transmission line slope and the horizontal plane. The tilt angle is calculated by taking the horizontal plane as the base angle and performing angular-radian calculations on a reference radian.

[0097] S30: Gravity-compensated speed and friction force are obtained based on tilt angle, device parameters, and preset shielding ring specifications.

[0098] Gravity-compensated speed refers to the speed generated by the gravitational component of the shielding ring on the transmission line.

[0099] Friction refers to the resistance generated between the shielding ring and the transmission line during movement.

[0100] The specifications of the shielding ring are predetermined by technicians and include the weight, coverage area, and dimensions of the shielding ring.

[0101] The component of gravity in the direction of the shielding ring's movement is calculated by the tilt angle. The gravity compensation speed is then retrieved from a speed lookup table, taking into account the weight component of the shielding ring, the tilt angle, and the shielding ring specifications. Real-time friction is calculated by combining the device parameters and the shielding ring specifications. The friction coefficient is determined by matching the shielding ring specifications and transmission line type from a pre-set friction lookup table. This table stores the friction forces corresponding to different shielding ring specifications and transmission line types. The parameters in the friction lookup table are preset by those skilled in the art based on actual conditions.

[0102] The speed comparison table stores gravity-compensated speeds corresponding to different components of gravity, tilt angles, and shielding ring specifications. The parameters in the speed comparison table were preset by those skilled in the art based on actual conditions.

[0103] For example: S31: The final speed is obtained based on the gravity compensation speed and the preset moving speed.

[0104] Final speed refers to the actual speed of the shielding ring on the transmission line.

[0105] The moving speed is the initial speed that the technicians set for the shielding ring in advance.

[0106] The final velocity is obtained by vector addition of the gravity-compensated velocity and the moving velocity.

[0107] S32: The vibration frequency is obtained by the final velocity and friction.

[0108] The vibration frequency to be detected refers to the vibration frequency generated by friction when the shielding ring moves at its final speed on the transmission line.

[0109] Using the final velocity of the shielding ring as the motion excitation input, combined with the alternating resistance load formed by the dynamic fluctuations generated by the real-time friction on the transmission line, a dynamic calculation relationship is established according to the structure and mass corresponding to the specifications of the shielding ring. The disturbance load caused by friction is coupled with the structure and moving speed to obtain the natural vibration response of the shielding ring in the current motion state. Then, the corresponding real-time vibration frequency is used as the detection vibration frequency.

[0110] S33: The deceleration value is obtained based on the difference between the detected vibration frequency and the preset stable frequency.

[0111] A stable frequency is a vibration frequency threshold that is preset by technicians and will not affect signal transmission.

[0112] The frequency deviation is obtained by calculating the difference between the detected vibration frequency and the stable frequency, and the deceleration value is retrieved from the deceleration reference table based on the frequency deviation.

[0113] The deceleration reference table stores the deceleration values ​​corresponding to different frequency deviations. The parameters of the deceleration reference table are preset by those skilled in the art based on actual conditions. For example, the larger the frequency deviation, the larger the corresponding deceleration value.

[0114] S34: The control speed and shift position are obtained based on the final speed, deceleration value and shielding ring specifications.

[0115] Control speed refers to the actual speed at which the shielding ring moves.

[0116] The speed change position refers to the point where the shielding ring needs to decelerate.

[0117] The control speed that the shielding ring needs to execute is obtained by the difference between the final speed and the deceleration value. Then, by combining the center point of the dimensions in the shielding ring specification, the deceleration value and the center of gravity, the specific position where the shielding ring begins to decelerate is calculated through the kinematic relationship of the shielding ring as the speed change position.

[0118] S35: Obtain shielding control information by controlling speed and shift position, and upload the shielding control information to the shielding ring.

[0119] The shielded control information is a complete control command that includes the direction of movement, control speed, shift position, and target position.

[0120] The control speed and shift position are used as shielding control information and uploaded to the shielding ring, so that the shielding ring operates according to the instructions.

[0121] Methods for shielding the damaged area based on the control direction and shielding position also include: S36: Detect the tightness value based on the offset.

[0122] The tightness value refers to the tightness of the sensor probe.

[0123] The tightness value is obtained from the tightness comparison table by the offset.

[0124] The tension comparison table stores the detection tension values ​​of the suction cup corresponding to different offsets during suction cup operation. The parameters of the tension comparison table are preset by those skilled in the art based on actual conditions.

[0125] Referring to S22, since the sensor probe is fixed by a suction cup, this tightness represents the maximum torque that the suction cup can withstand under suction conditions. A larger deviation indicates a greater degree of sensor probe offset, requiring more power from the suction cup, and therefore, a greater torque that the suction cup can withstand.

[0126] For example: When the offset is -0.15 rad, the detected tightness is 22 N·m.

[0127] When the offset is -0.10 rad, the tightness is detected as 30 N·m.

[0128] When the offset is -0.20 rad, the detected tightness is 38 N·m.

[0129] When the offset is 0 rad, the tightness is detected as 45 N·m.

[0130] When the offset is +0.05 rad, the detected tightness is 52 N·m.

[0131] When the offset is +0.10 rad, the tightness is detected as 60 N·m.

[0132] When the offset is +0.15 rad, the detected tightness is 68 N·m.

[0133] S37: The actual gravity velocity and actual vibration frequency are obtained based on the detected tightness value and the specifications of the shielding ring.

[0134] Actual gravitational velocity refers to the actual velocity component of the shielding ring under the action of gravity after taking into account the effects of assembly tightness.

[0135] The actual vibration frequency refers to the real vibration frequency generated during the movement of the shielding ring under the current tightness or looseness.

[0136] By detecting the tightness value, the gap and stress state between the shielding ring and the transmission line are determined. Combined with the weight and size of the shielding ring, the corresponding actual gravitational velocity and actual vibration frequency are calculated.

[0137] S38: Update the control speed and shift position by combining the detected tightness value, actual gravity velocity and actual vibration frequency.

[0138] By repeating step S33 on the detected tension value, actual gravity velocity, and actual vibration frequency, the control speed and shift position are recalculated.

[0139] S39: Update the shielding control information by controlling the speed, shift position and preset verification method.

[0140] The verification method refers to the method for obtaining the actual occlusion position through a series of calculations in steps S41 to S46.

[0141] By matching and correcting the recalculated control speed, shift position, and verification method, the speed parameters, target position, and masking method in the original masking control information are updated to form a new, adapted control command.

[0142] The preset testing methods include: S40: Collects the propagation direction and intensity of external electromagnetic interference.

[0143] The propagation direction of external electromagnetic interference refers to the spatial angle and path of the interference signal as it propagates to the damaged area of ​​the transmission line.

[0144] Interference intensity refers to the energy level of the interference signal within the damaged area.

[0145] Interference signals in the environment are collected in real time by electromagnetic sensors to obtain the direction of interference propagation and the intensity of interference.

[0146] S41: The coverage area is obtained based on the shielding position, pulse waveform, and detection waveform.

[0147] The coverage area refers to the area that the shielding ring needs to cover to effectively block electromagnetic interference from entering the damaged area.

[0148] The shielding ring is moved left and right at the center of the damaged area, and the pulse waveform during the movement is compared with the detected waveform. Under the condition that the pulse waveform during the movement is inconsistent with the detected waveform (which is equivalent to the shielding ring continuously covering the damaged area of ​​the transmission line during the movement), the distance obtained by the maximum distance the shielding ring moves to the left, the maximum distance it moves to the right, and the length of the shielding ring is taken as the coverage area.

[0149] S42: Adjustable distance is obtained based on the coverage area and the specifications of the shielding ring.

[0150] Adjustable distance refers to the distance that the shielding ring can be slightly adjusted left and right while fully covering the shielding area.

[0151] The adjustable distance is obtained by measuring the difference between the coverage area and the dimensions specified in the shielding ring, which corresponds to the distance in the axial direction of the transmission line.

[0152] S43: The interference threshold is obtained by combining the adjustable distance and the propagation direction.

[0153] Interference threshold refers to the interference intensity that a shielding ring experiences when it is in different shielding positions.

[0154] Interference thresholds are obtained from the interference intensity lookup table for each masking position and propagation direction within the adjustable distance. The interference intensity lookup table stores the interference intensity corresponding to different masking positions. The parameters of the interference lookup table are preset by those skilled in the art based on actual conditions.

[0155] For example, the larger the area of ​​the shielding ring within the propagation direction, the greater the interference threshold that the shielding ring can withstand.

[0156] S44: The adjustment distance is obtained by comparing the interference intensity with the interference threshold.

[0157] The adjustment distance refers to the distance that needs to be adjusted when optimally covering the damaged area. The interference threshold at the covering position is obtained by moving the shielding ring. This is compared with the interference threshold obtained when the damaged area is fully covered, and the maximum interference threshold is extracted. The distance obtained from the difference between the covering position and the covering area corresponding to the maximum interference threshold is used as the adjustment distance.

[0158] S45: The actual shielding position is obtained by adjusting the distance, shielding range and propagation direction, and the shielding control information is updated.

[0159] The actual coverage location refers to the final coverage location that the shielding ring needs to cover.

[0160] By using the shielding position as a reference and adjusting the distance and propagation direction to correct the position, the actual shielding position that can optimally block the interference path is obtained. The parameters corresponding to this position are then substituted into the original control commands to complete the update of the shielding control information.

[0161] The preset detection methods also include: S46: Obtain the mechanical vibration frequency through pulse waveform.

[0162] Mechanical vibration frequency refers to the natural vibration frequency generated by equipment during movement.

[0163] By extracting vibration signal segments from pulse waveforms and identifying the dominant frequency with the strongest energy and largest amplitude, the frequency corresponding to the dominant frequency is taken as the mechanical vibration frequency.

[0164] S47: The combined vibration frequency is obtained based on the mechanical vibration frequency and the detected vibration frequency.

[0165] The mechanical vibration frequency is fused with the detected vibration frequency to obtain a vibration frequency that is closer to the actual working condition, and then the actual vibration frequency is updated.

[0166] S48: Obtain current parameters based on the comprehensive vibration frequency and preset vibration specifications, and upload them.

[0167] Current parameters refer to the signal parameters that can drive an active vibration control system to generate a signal that cancels out the overall vibration frequency.

[0168] Vibration specifications are pre-set by technicians and include the power supply of the control system, the type of actuator, etc.

[0169] The vibration difference is calculated by taking the difference between the overall vibration frequency and the natural frequency of the shielding ring, and the corresponding current parameter is retrieved from the current lookup table based on the vibration difference. The current lookup table stores the current parameter values ​​corresponding to different control speeds. The parameters in the current lookup table are preset by those skilled in the art based on actual conditions.

[0170] For example, when the vibration difference is ≤-30, the current amplitude is 0.1A.

[0171] When the vibration difference is >-30 and ≤-10, the current amplitude is 0.5A.

[0172] When the vibration difference is >-10 and ≤0, the current amplitude is 1.8A.

[0173] When the vibration difference is 0, the current amplitude is 4.2A.

[0174] When the vibration difference is >0 and ≤10, the current amplitude is 1.8A.

[0175] When the vibration difference is ≥10 and ≤30, the current amplitude is 0.5A.

[0176] When the vibration difference is ≥30, the current amplitude is 0.1A.

[0177] S49: The actual deceleration value is obtained based on the difference between the comprehensive vibration frequency and the preset stable frequency.

[0178] The actual deceleration value refers to the actual amount of deceleration obtained by taking into account the mechanical vibration.

[0179] The actual deceleration amount obtained by repeating the calculation method of step S33 is used as the actual deceleration value.

[0180] S50: Updates the shift position based on the actual deceleration value and control speed, and uploads it to the shielding ring.

[0181] The position of speed change is obtained by repeating the calculation process of step S34 with the updated control speed, and this position is uploaded as the new speed change position.

[0182] Methods for detecting faults also include: S51: Obtain the fault voltage value based on the pulse waveform.

[0183] The fault voltage value refers to the voltage amplitude corresponding to the abnormal fluctuation of the pulse waveform at the fault reflection point.

[0184] The pulse waveform is analyzed, and the characteristic voltage of the waveform distortion region is extracted as the fault voltage value.

[0185] S52: High detection point and low detection point are obtained based on the fault voltage value and the preset high and low level thresholds.

[0186] The high and low level thresholds are critical voltage values ​​preset by technicians for abnormal level states.

[0187] By comparing the fault voltage value with the high and low level thresholds, points that are higher than the threshold are recorded as high detection points, and points that are lower than the threshold are recorded as low detection points.

[0188] S53: The pulse slope is obtained by using high and low detection points.

[0189] Pulse slope refers to the steepness of the rise or fall of a pulse waveform.

[0190] The slope of the pulse in the corresponding interval is obtained by calculating the ratio between the voltage difference and the time difference between the high detection point and the low detection point.

[0191] S54: The actual detected fault is obtained by combining the pulse slope with the preset fault slope.

[0192] The fault slope is a standard slope reference value pre-set by technicians for various typical faults.

[0193] Actual fault detection refers to the characteristic type of a specific fault that matches the fault slope. For example, by comparing the fault slope of a loose bearing, the fault cause corresponding to the pulse is determined to be a loose bearing.

[0194] By matching and comparing the calculated pulse slope with the preset fault slope, the fault type is determined based on the similarity, and the fault type is used as the actual detected fault.

[0195] S55: Update the detected faults based on the actual detected faults.

[0196] By comparing, supplementing, and correcting the actual detected faults obtained through steps S53 to S57 with the original detected fault results, the fault information is updated.

[0197] Methods for updating abnormal pulses include: S56: The duration is obtained by the pulse width and the abnormal pulse.

[0198] Duration refers to the complete time span from the generation of an abnormal pulse to its disappearance.

[0199] The duration is determined by summing the pulse widths of abnormal pulses when they occur.

[0200] S57: Instantaneous noise pulses and continuous noise pulses are obtained based on amplitude, duration and pulse slope.

[0201] Transient noise pulses are pulses with small amplitude, short duration, and gentle slope, caused by transient interference.

[0202] Continuous noise pulses refer to persistent noise pulses with large amplitude, long duration, and steep slope that affect fault detection.

[0203] By classifying and determining the pulse based on its amplitude, calculated duration, and the steepness of its slope (pulse with small amplitude, short duration, and gentle slope is classified as instantaneous noise pulse, while pulse with large amplitude, long duration, and steep slope is classified as continuous noise pulse), instantaneous noise pulses and continuous noise pulses are obtained.

[0204] S58: Obtain the reverse continuous pulse based on the continuous noise pulse.

[0205] A reverse continuous pulse is a pulse with the opposite amplitude and phase to the continuous noise pulse.

[0206] By using the amplitude, duration, and slope of the continuous noise pulse as a reference, an inverse pulse signal with equal amplitude, opposite phase, and consistent duration is generated as an inverse continuous pulse.

[0207] S59: The detection pulse is obtained by removing instantaneous noise pulses based on the duration and the preset abnormal time.

[0208] Abnormal time is a threshold value for the duration of instantaneous noise pulses preset by technicians.

[0209] By comparing the duration of each pulse with the preset abnormal time, instantaneous noise pulses with a duration shorter than the abnormal time are eliminated, and pulses with a duration equal to or exceeding the abnormal time are retained as detection pulses.

[0210] S60: Combine the detection pulse with the reverse continuous pulse to obtain the actual pulse and update the abnormal pulse.

[0211] By superimposing the detection pulse and the reverse continuous pulse, the reverse continuous pulse cancels out the pulse generated by the residual continuous noise interference in the detection pulse, and the actual pulse after noise removal is obtained. The actual pulse replaces the original abnormal pulse, thus completing the update of the abnormal pulse.

[0212] Based on the same inventive concept, embodiments of the present invention provide a fault detection and identification system based on characteristic pulses, comprising: The acquisition module is used to acquire ultrasonic detection data and the propagation direction of electromagnetic interference; A memory for storing a program for a fault detection and identification method based on characteristic pulses; The processor is used to load and execute programs stored in memory.

[0213] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0214] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A fault detection and identification method based on characteristic pulses, characterized in that, include: The ultrasonic data is collected to obtain the detection voltage, which is then compared with a preset reference voltage. If the detected voltage is higher than the reference voltage, the signal point is marked as the start time; if the detected voltage is lower than the reference voltage, the signal point is marked as the end time. The pulse width is obtained based on the difference between the start time and the end time; The highest and lowest detected values ​​are obtained by comparing the detected voltages. The amplitude is obtained based on the difference between the highest and lowest detected values; Abnormal pulses are obtained by controlling pulse width and amplitude. The fault is detected and uploaded by comparing the abnormal pulse with the preset characteristic pulse. Also includes: The ultrasonic data was reacquired to obtain the pulse waveform; The detection waveform is obtained based on the pulse waveform and the preset damage pulse; The extent of damage is determined by detecting the waveform and comparing it with a preset transmission line type. The shielding location is determined based on the extent of the damage; The control direction is obtained based on the shielding position and the actual position; The damaged area is shielded according to the control direction and shielding position.

2. The fault detection and identification method based on characteristic pulses according to claim 1, characterized in that, Methods prior to acquiring ultrasonic data to obtain the detection voltage include: Collect the actual location of the shielding ring; The reference position is obtained by combining the preset detection time and preset device parameters; The detected radian and the reference radian are obtained by using device parameters, actual position, and reference position; The actual radian is obtained based on the detected radian and the reference radian; The offset and start signal are obtained based on the actual radian and device parameters; The ultrasonic sensor is reinforced based on the offset and the start signal.

3. The fault detection and identification method based on characteristic pulses according to claim 1, characterized in that, Methods for shielding the damaged area based on the control direction and shielding location include: The tilt angle is obtained by using a reference radian. The gravity-compensated speed and friction force are obtained based on the tilt angle, device parameters, and preset shielding ring specifications. The final speed is obtained based on the gravity-compensated speed and the preset moving speed; The vibration frequency is obtained by combining the final velocity with frictional force. The deceleration value is obtained based on the difference between the detected vibration frequency and the preset stable frequency; The control speed and shift position are determined based on the final speed, deceleration value, and shielding ring specifications. The shielding control information is obtained by controlling the speed and shift position, and then uploaded to the shielding ring.

4. The fault detection and identification method based on characteristic pulses according to claim 3, characterized in that, Methods for shielding the damaged area based on the control direction and shielding position also include: The tightness value is obtained based on the offset; The actual gravitational velocity and actual vibration frequency are obtained based on the detected tightness value and the specifications of the shielding ring. The control speed and shift position are updated by combining the detected tightness value, actual gravity velocity, and actual vibration frequency. The shielding control information is updated by controlling the speed, shift position, and using preset verification methods.

5. The fault detection and identification method based on characteristic pulses according to claim 4, characterized in that, The preset testing methods include: Collect the propagation direction and intensity of external electromagnetic interference; The coverage area is determined based on the shielding location, pulse waveform, and detection waveform. The adjustable distance is determined based on the coverage area and the specifications of the shielding ring. The interference threshold is obtained by combining the adjustable distance and the propagation direction; The adjustment distance is obtained by comparing the interference intensity with the interference threshold; The actual coverage location is obtained by adjusting the distance, coverage area, and propagation direction, and the shielding control information is updated.

6. The fault detection and identification method based on characteristic pulses according to claim 5, characterized in that, The preset detection methods also include: The mechanical vibration frequency is obtained by pulse waveform; The combined vibration frequency is obtained by combining the mechanical vibration frequency and the detected vibration frequency. The current parameters are obtained based on the comprehensive vibration frequency and the preset vibration specifications; The actual deceleration value is obtained based on the difference between the comprehensive vibration frequency and the preset stable frequency; The shift position is updated by combining the actual deceleration value with the control speed, and the shift position and current parameters are uploaded to update the shielding control information.

7. The fault detection and identification method based on characteristic pulses according to claim 1, characterized in that, Methods for detecting faults also include: The fault voltage value is obtained based on the pulse waveform; High and low detection points are obtained based on the fault voltage value and a preset high-level threshold. The pulse slope is obtained by comparing high and low detection points. The actual detected fault is obtained by combining the pulse slope with the preset fault slope; Update the detected faults based on the actual faults detected.

8. The fault detection and identification method based on characteristic pulses according to claim 1, characterized in that, Methods for updating abnormal pulses include: The duration is obtained by combining the pulse width with abnormal pulses; Instantaneous noise pulses and continuous noise pulses are obtained based on amplitude, duration, and pulse slope; The inverse continuous pulse is obtained based on the continuous noise pulse; The detection pulse is obtained by eliminating instantaneous noise pulses based on the duration and preset abnormal time. The actual pulse is obtained by combining the detection pulse and the reverse continuous pulse, and the abnormal pulse is updated.

9. A fault detection and identification system based on characteristic pulses, characterized in that, include: The acquisition module is used to acquire ultrasonic detection data and the propagation direction of electromagnetic interference; A memory for storing a program that implements a fault detection and identification method based on characteristic pulses as described in any one of claims 1 to 8; The processor is used to load and execute programs stored in memory.

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