Detection method and system of crown block system, electronic equipment and crown block system

Abstract

The application discloses a detection method, system and electronic equipment of a crown block system and the crown block system, wherein the detection method of the crown block system breaks through the conventional thinking of the traditional method, utilizes vibration data generated by multiple crown blocks in long-term operation in the same track system, and maps vibration data originally changing with time to track space positions, so that the crown block abnormality and the track abnormality can be accurately determined by comparing and analyzing vibration performances of the multiple crown blocks passing through the same track section and vibration performances of the same crown block in multiple track sections; meanwhile, the application can identify whether the degradation of the track section and / or the crown block is abnormal before the crown block and / or the track section is abnormal, output early warning information when the abnormal degradation is identified, perform maintenance and repair before the track section and / or the crown block is faulty, reduce the risk of sudden failure of the track section and the crown block, and provide data support for long-term preventive maintenance decision making.

Description

Technical Field

[0001] This invention relates to the field of automated material handling equipment, and in particular to detection methods, systems, electronic devices, and crane systems for crane systems such as overhead crane systems. Background Technology

[0002] Overhead crane systems are important pieces of equipment in semiconductor FAB (Fabrication Equipment) factories.

[0003] In a crane system, the crane (sky crane) moves along a track suspended in the air.

[0004] In order to understand the operation of the overhead crane, the prior art discloses a method for early warning by detecting the vibration of the overhead crane, as shown in the patent document with application publication number CN116853953A.

[0005] While this method can detect the vibration of the overhead crane, it is prone to misjudgment because abnormal vibration of the overhead crane could be caused by an abnormality in the crane itself or by an abnormality in the track. The abnormal vibration of a single crane cannot determine whether the crane is actually abnormal.

[0006] More importantly, this method is difficult to detect the degradation trend of tracks and cranes, and it is difficult to provide early warnings before abnormalities occur in cranes and tracks. Summary of the Invention

[0007] The purpose of this invention is to solve the above-mentioned problems existing in the prior art and to provide a detection method, system, electronic equipment and overhead crane system for overhead crane systems.

[0008] The objective of this invention is achieved through the following technical solution: This invention provides a detection method for an overhead crane system, comprising the following steps: Real-time acquisition and storage of vibration data and crane position information fed back by each crane; When the first triggering condition is met, the vibration index of each crane passing through each track section is periodically determined based on the vibration data and crane position information fed back by each crane in real time, and / or the degradation assessment parameters of each crane and / or each track section are periodically determined based on the vibration data and crane position information fed back by each crane in real time. After determining the vibration index of each track section when each crane passes through it, The vibration assessment value for each track section and / or the anomaly score for each crane are determined based on the vibration index of each crane passing through each track section each time. Whether each track segment is abnormal is determined based on the vibration assessment value and track anomaly threshold of each track segment determined each time and / or whether the degradation of each track segment is abnormal is determined based on the vibration assessment value of each track segment determined each time and the assessment reference value corresponding to each track area. And / or, determine whether each overhead crane is abnormal based on the abnormal score and abnormal threshold of each crane determined each time and / or determine whether the degradation of each crane is abnormal based on the abnormal score and the corresponding score reference value of each crane determined each time. Since the periodic determination of degradation assessment parameters for each crane and / or each track section began, The degradation change parameters of each crane are determined based on the degradation assessment parameters of each crane determined in every two adjacent detection cycles, and the degradation change parameters of each crane are used to determine whether the degradation of each crane is normal. And / or, based on the degradation assessment parameters of each track segment determined every two adjacent detection cycles, determine the degradation change parameters of each track segment and determine whether the degradation of each track segment is normal based on the degradation change parameters of each track segment.

[0009] Preferably, the vibration index of a crane passing through a track section is determined each time according to the following formula: VI (i，j) = w1×A rms(i，j) +w2×A peak(i，j) +w3×A pp(i，j) ; Among them, VI (i，j) Let be the vibration index of the j-th overhead crane passing through the i-th track section; A rms(i，j) The root mean square of the vibration data of the j-th overhead crane passing through the i-th track section; A peak(i，j) The peak value of the vibration data when the j-th overhead crane passes through the i-th track section; A pp(i，j) The peak-to-peak value of the vibration data of the j-th overhead crane passing through the i-th track section; w1, w2, and w3 are weighting coefficients.

[0010] Preferably, the overhead crane includes a first vibration sensor mounted on the moving body and a second vibration sensor mounted on the gripping mechanism.

[0011] Preferably, the vibration data fed back by the overhead crane each time is a comprehensive vibration value obtained by weighted fusion of the vibration data measured by the first vibration sensor and the second vibration sensor collected at the same time.

[0012] Preferably, the vibration assessment value of a track section determined at one time is the median or the mean of the median of the vibration indices of all cranes passing through the track section at that time.

[0013] Preferably, the anomaly score of each overhead crane is determined according to the following formula: ; Among them, VHI (j) Anomaly score for the j-th overhead crane; M represents the number of track segments; VI (i，j) Let be the vibration index of the j-th crane in the i-th track section; TVM (i) This is the vibration assessment value for the i-th track segment.

[0014] Preferably, when determining the vibration assessment value of a track section, the vibration index of the cranes that have been identified as abnormal when passing through the track section is excluded, and the value is determined based on the vibration index of the remaining cranes when passing through the track section. When determining the abnormality score of a crane, the vibration index when the crane passes through the track section where the abnormality has been determined is excluded, and the score is determined based on the vibration index when the crane passes through the remaining normal track section.

[0015] The detection system of the overhead crane system is used to implement any of the detection methods described above.

[0016] An electronic device includes a memory and a processor, wherein the memory stores a program that can be executed by the processor, and when the program is executed, it implements any of the detection methods described above.

[0017] The overhead crane system includes the electronic equipment described above.

[0018] The advantages of the technical solution of this invention are mainly reflected in: This invention breaks through the conventional thinking of traditional methods that only perform vibration detection and analysis on a single crane. It utilizes vibration data generated by multiple cranes operating in the same track system over a long period of time, and maps the vibration data, which originally only changes with time, to the spatial location of the track. By comparing and analyzing the vibration performance of multiple cranes passing through the same track section and the vibration performance of the same crane in multiple track sections, it can accurately determine crane anomalies and track anomalies. At the same time, this invention can identify whether the degradation of the track section and / or the crane is abnormal before anomalies occur. When abnormal degradation is identified, early warning information is output in advance, enabling maintenance and repair before track section and / or crane failures occur, reducing the risk of sudden track section and crane failures. This early warning of abnormal degradation also provides data support for medium- and long-term preventive maintenance decisions.

[0019] This invention calculates the abnormality score of the overhead cranes and makes a horizontal comparison of the vibration status of multiple overhead cranes. Maintenance personnel can prioritize the inspection of overhead cranes with higher vibration abnormalities based on the ranking results, thereby improving maintenance efficiency. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of a track according to the present invention. The diagram mainly shows the entry point and exit point of the track intersection area, as well as the entry port and exit port of the crane entering and exiting the track and the lifting device (MTL). Meanwhile, the arrows on the straight lines indicate the direction of movement of the crane on the track, and the circles with arrows indicate the crane. Figure 2 This is a flowchart of the method of the present invention. Detailed Implementation

[0021] The objectives, advantages, and features of this invention will be illustrated and explained through the following non-limiting description of preferred embodiments. These embodiments are merely typical examples of applying the technical solutions of this invention, and all technical solutions formed by equivalent substitutions or equivalent transformations fall within the scope of protection claimed by this invention.

[0022] In the description of the solution, it should be noted that the terms "center," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] Example 1 The detection method of the overhead crane system disclosed in this invention will be described below with reference to the accompanying drawings. Of course, in other embodiments, the detection method of this invention can also be used for rail transport systems set on the ground, such as RGV trolley systems.

[0024] Similar to known overhead crane systems, this overhead crane system includes a track suspended in the air and multiple overhead cranes running on the track, each crane being a single crane. Each crane typically includes a moving car body that moves along the track, and the moving car body is equipped with a lifting mechanism and a gripping mechanism driven by the lifting mechanism to move up and down. The gripping mechanism is used to grip and release materials. The specific structures of the track and the cranes are known technologies and are not innovative in this invention, and will not be described in detail here.

[0025] The overhead crane is equipped with vibration sensors for detecting vibrations. These sensors can be, for example, known piezoelectric accelerometers or electrodynamic speed sensors. In this embodiment, a piezoelectric accelerometer is used as an example. The specific location and number of vibration sensors can be determined as needed. In this embodiment, at least a first vibration sensor is provided on the main controller of the moving vehicle body. The first vibration sensor can also be located at other feasible locations on the moving vehicle body; this is not limited here. More preferably, a second vibration sensor can be simultaneously provided on the gripping control board of the gripping mechanism. The gripping control board can be a circuit board used to control the opening and closing actions and status detection of the gripping mechanism, and it is connected to the main controller. Of course, the second vibration sensor can also be located at other feasible locations on the gripping mechanism; this is not limited here.

[0026] When each of the aforementioned overhead cranes begins to move, the main controller and the grasping control board collect vibration data measured by the first and second vibration sensors simultaneously, according to a set sampling frequency (which can be customized as needed and is not limited here). The vibration data collected by the grasping control board is sent to the main controller. Simultaneously, the main controller determines the real-time position of the overhead crane on the track using a known positioning method, such as a combination of QR code positioning and encoder positioning. The main controller records the overhead crane position information (the real-time position of the overhead crane on the track) at the time of each vibration data collection from the first and second vibration sensors, and sends the two sets of vibration data collected simultaneously from the first and second vibration sensors, along with the overhead crane position information collected at the same time, to the scheduling system. The two sets of vibration data collected simultaneously from the first and second vibration sensors and the overhead crane position information collected at the same time have the same timestamp, which is subsequently detected by the scheduling system. Of course, the data fed back to the scheduling system by the main controller each time also includes the overhead crane number, the vibration data detection time, etc., which are not limited here.

[0027] Furthermore, since the first and second vibration sensors originally configured on the overhead crane are acceleration sensors, in order to improve the accuracy of the collected vibration data, a first dedicated vibration meter can be temporarily installed on or near the main controller of the overhead crane, and a second dedicated vibration meter can be temporarily installed on the gripping mechanism to calibrate the vibration data measured by the first and second vibration sensors respectively. After calibration, the first and second dedicated vibration meters can be disassembled, and the original first and second vibration sensors can be used for long-term online monitoring.

[0028] Specifically, a crane equipped with a first dedicated vibration meter and a second dedicated vibration meter can run on a track for a period of time (this can be customized as needed and is not limited here). During this period, vibration data measured by the first dedicated vibration meter and the first vibration sensor are collected simultaneously at a set sampling frequency. Linear regression analysis is then performed on the collected vibration data to determine the relationship between the vibration data measured by the first vibration sensor and the vibration data measured by the first dedicated vibration meter. The specific process of linear regression analysis is a known technique and not an innovation of this invention, so it will not be elaborated here. Similarly, the relationship between the vibration data measured by the second dedicated vibration meter and the vibration data measured by the second vibration sensor can be obtained by following the above steps.

[0029] After collecting vibration data from the first and second vibration sensors, the corrected vibration data can be obtained by substituting these data into their respective formulas and then sent to the scheduling system. Of course, the process of correcting the vibration data measured by the first and second vibration sensors is not mandatory and can be omitted.

[0030] Furthermore, in a more preferred embodiment, after acquiring and correcting the two vibration data points measured by the first and second vibration sensors simultaneously, the main controller can also perform a weighted fusion of the two vibration data points according to the following formula to obtain a comprehensive vibration value: a （t） =λa m(t) +(1-λ)a g(t) ; Among them, a （t） The comprehensive vibration value is represented by λ, which is a weighting coefficient with a value range of 0 ≤ λ ≤ 1. The specific value can be determined as needed. In a preferred embodiment, λ > 0.5, for example, λ is 0.6, 0.65, etc. This is not limited here. m(t) The vibration data measured by the first vibration sensor; a g(t) The vibration data is measured by the second vibration sensor. Of course, this weighted fusion calculation can also be performed by the scheduling system or server after obtaining the daily vibration data fed back by the overhead crane. By setting up the first and second vibration sensors at different locations on the overhead crane and performing weighted fusion, the limitations of single-point measurement can be better overcome, and the interference from single-point data anomalies can be reduced. Furthermore, placing the second vibration sensor on the gripping mechanism enables subsequent identification of vibration anomalies in the gripping mechanism.

[0031] Of course, in order to avoid the second vibration sensor from detecting excessive vibration data due to abnormalities in the lifting mechanism, translation mechanism, or gripping mechanism, which would affect the accuracy of subsequent data fusion, before performing weighted fusion of the vibration data measured by the first and second vibration sensors collected at the same time, it is also possible to further determine whether the absolute value of the difference between the two vibration data measured by the first and second vibration sensors collected at the same time exceeds the difference threshold (which can be customized as needed and is not limited here).

[0032] If not, the main controller will correct the data from the first vibration sensor and the second vibration sensor according to their respective corresponding formulas, perform weighted fusion, and then send them to the scheduling system.

[0033] If so, then weighted fusion of the two vibration data is not performed, and only the vibration data measured by the first vibration sensor is corrected according to its corresponding formula and sent to the scheduling system. Alternatively, the data measured by the second vibration sensor can be corrected according to its corresponding formula and sent to the scheduling system at the same time. In this case, the scheduling system does not receive the comprehensive vibration value, and only calculates the vibration index based on the vibration data measured by the first vibration sensor.

[0034] The main controller can also record abnormal vibration data difference situations and continuously monitor the absolute value of the difference between the vibration data measured by the first vibration sensor and the second vibration sensor of the crane. If the main controller determines that the absolute value of the difference between the vibration data measured by the first vibration sensor and the second vibration sensor exceeds the difference threshold and the vibration data measured by the second vibration sensor is greater than the vibration data measured by the first vibration sensor for multiple consecutive times (which can be customized as needed, such as 5 times, 10 times, etc., which is not limited here), the main controller of the crane can first report the information that there is an abnormal vibration in the grabbing mechanism to the dispatching system. At this time, the dispatching system can directly instruct the crane to move to the maintenance area for repair.

[0035] The vibration data that the main controller ultimately feeds back to the scheduling system is the comprehensive vibration value determined each time.

[0036] Of course, in other embodiments, the data fed back by each crane each time can also be sent to a dedicated server in real time for storage and detection and analysis, and the server will feed back the final detection results to the scheduling system.

[0037] Furthermore, to facilitate state analysis at different locations along the track, the track is divided into multiple track segments. The specific number and division principles of these segments can be designed as needed. For example, each physical segment assembled into the track can be divided into a track segment, or the segmentation can be based on the entry and exit points of all intersection areas along the track, as shown in the attached diagram. Figure 1 As shown, each box in the diagram represents an intersection area, and each intersection area includes an entry point and an exit point. For example, Figure 1 In the intersection area in the upper right corner, node 13 is the entry point, and nodes 14 and 33 are the exit points. When dividing the track sections based on the intersection area, one intersection area can be divided into one track section, and the track section between two intersection areas can be divided into another track section. For example, the intersection area between node 32 (entry point), node 11 (entry point), node 32 (exit point), and node 12 (exit point) is one track section; the track section between node 42 and node 32 is one track section; the track section between node 12 and node 13 is one track section; the track section between node 21 and node 11 is one track section, and so on. The specific division principle and the specific number of track sections are not limited here.

[0038] As attached Figure 2 As shown, the detection method for the overhead crane system includes the following steps: Real-time acquisition and storage of vibration data and crane position information fed back by each crane; Based on the real-time stored vibration data and crane position information, the vibration index of each crane when passing through each section of the track is periodically determined. After determining the vibration index of each track section when each crane passes through it, The vibration assessment value for each track section and / or the anomaly score for each crane are determined based on the vibration index of each crane passing through each track section each time. Whether each track segment is abnormal is determined based on the vibration assessment value and track anomaly threshold of each track segment determined each time and / or whether the degradation of each track segment is abnormal is determined based on the vibration assessment value of each track segment determined each time and the assessment reference value corresponding to each track area. And / or, determine whether each overhead crane is abnormal based on the abnormal score and abnormal threshold of each crane determined each time, and / or determine whether the degradation of each overhead crane is abnormal based on the abnormal score and the corresponding score reference value of each crane determined each time.

[0039] After the overhead crane system is put into operation, the scheduling system receives and stores the vibration data (comprehensive vibration value) and crane position information fed back by each overhead crane in real time. The scheduling system can determine the track section to which each comprehensive vibration value fed back by each overhead crane belongs based on the crane position information.

[0040] Simultaneously, the scheduling system can store the vibration data and crane position information fed back by each crane in an independent storage area within its memory. That is, the scheduling system's memory is divided into multiple independent storage areas, each specifically for storing the vibration data and position information fed back by one crane. Furthermore, each storage area can be divided into multiple circular buffers, each storing data for one track partition. In other words, all data fed back by a crane belonging to the same track partition is stored in the corresponding circular buffer. The storage capacity of each circular buffer can be customized as needed and is not limited here. The data in the circular buffer follows a first-in, first-out (FIFO) process, like a queue. When the circular buffer is full, it automatically overwrites the oldest data, thus achieving continuous storage. The specific implementation of this is a well-known technology and not an innovation of this invention; therefore, it will not be elaborated upon here.

[0041] While receiving and storing vibration data and crane position information from each crane in real time, the scheduling system determines whether a preset first trigger condition is met to determine when to perform the detection according to the above steps.

[0042] The first triggering condition can be determined as needed, for example: (1) After the overhead crane system is put into use, when the predetermined time period is reached, such as 24 hours or 3 days after it is put into use, the fixed detection cycle will be started.

[0043] (2) After the crane system is put into use, once it is determined that each crane has moved through all the track sections used for transportation, inspection will begin according to a fixed inspection cycle.

[0044] Of course, other triggering conditions are also possible. For example, when the scheduling system receives a command from the maintenance personnel to start the detection, it can begin to perform detection according to a fixed detection cycle. This is not limited here.

[0045] The detection cycle is, for example, every minute, every 5 minutes, every 10 minutes, every 30 minutes, etc., and is not limited here. For example, if the detection cycle is every 30 minutes, then after the first detection is triggered, a detection is performed every 30 minutes. One detection includes the following detection process: Determine the vibration index as the overhead crane passes through each track section; The vibration assessment value for each track section and / or the anomaly score for each crane are determined based on the vibration index. Based on the determined vibration assessment values ​​and / or anomaly scores, determine whether each track section and / or each crane is abnormal and / or determine whether the degradation of each track section and / or each crane is normal.

[0046] In addition to conducting inspections according to a fixed inspection cycle, an inspection can be triggered each time the vibration data reported by a crane exceeds the vibration threshold. Furthermore, maintenance personnel can also issue an instruction to the dispatch system to trigger an inspection at any time as needed.

[0047] During each detection, the scheduling system can determine the vibration characteristic value of the crane when it passes through a track segment based on the stored comprehensive vibration values ​​of each crane belonging to a specific track segment. For example, if the track has five track segments, and all data fed back by a crane is stored in five circular buffers according to the five track segments, when determining the vibration characteristic value of the crane when it passes through a track segment in a single detection, the scheduling system can calculate the vibration characteristic value of the crane when it passes through that track segment based on all the comprehensive vibration values ​​in the corresponding circular buffer.

[0048] The vibration characteristic values ​​can be set as needed, including but not limited to mean, root mean square, peak value, peak-to-peak value, etc. In a preferred embodiment, the vibration characteristic values ​​are preferably root mean square, peak value, peak-to-peak value.

[0049] The root mean square is determined according to the following formula: ; Among them, A rms(i，j) Let be the root mean square of the vibration data of the j-th crane passing through the i-th track segment during a single test; N is the total number of all the combined vibration values ​​stored during this test when the j-th crane passes through the i-th track segment, and a k This is the k-th comprehensive vibration value among all the comprehensive vibration values ​​stored when the j-th crane passes through the i-th track section during this test.

[0050] The peak value A peak(i，j) This refers to the maximum absolute value of all the comprehensive vibration values ​​obtained during a single test when a crane passes through a track section. It can be determined using the following formula: A peak(i，j) =max(|a k |); Here, max() means to find the maximum value, and || means to find the absolute value.

[0051] The peak value A pp(I，j) Determined according to the following formula: A pp(i，j) =a max -a min ; Among them, A pp(i，j) This represents the peak-to-peak value of the vibration data of the j-th overhead crane passing through the i-th track section during a single test; a maxa is the maximum value among all the combined vibration values ​​stored during this test when the j-th crane passes through the i-th track section. min This is the minimum value among all the combined vibration values ​​stored during this test, when the j-th overhead crane passes through the i-th track section.

[0052] After determining the aforementioned vibration characteristic values ​​when a crane passes through one of the track sections, the vibration index of the crane passing through the track section during a single test can be determined according to the following formula: VI (i，j) =w1×A rms(i，j) +w2×A peak(i，j) +w3×A pp(i，j) ; Among them, VI (i，j) Let be the vibration index of the j-th overhead crane passing through the i-th track section; w1, w2, and w3 are weighting coefficients that can be set as needed. For example, w1 can be set between 0.5 and 0.7, w2 between 0.2 and 0.25, and w3 between 0.1 and 0.15. There are no restrictions here.

[0053] After determining the vibration index of each overhead crane passing through each track section, the vibration index of all overhead cranes passing through any track section can be determined. At this time, the vibration assessment value of a track section is the median or the mean of the medians of the vibration indices of all overhead cranes passing through that track section.

[0054] Similarly, the anomaly score for each overhead crane is determined according to the following formula: ; Among them, VHI (j) Anomaly score for the j-th overhead crane; M represents the number of track segments; VI (i，j) Let be the vibration index of the j-th crane in the i-th track section; TVM (i) This is the vibration assessment value for the i-th track segment.

[0055] The purpose of this formula is to deduct the high vibration caused by the track itself and then check whether the overall vibration of a particular crane is too high.

[0056] When determining whether a track section is abnormal, the method is to check whether the vibration assessment value of the track section is greater than or equal to the track abnormality threshold. If so, the track section is determined to be abnormal; otherwise, the track section is determined to be normal. The track abnormality threshold can be customized according to actual needs, such as 1.3, 1.5, etc., and is not limited here.

[0057] Similarly, when determining whether an overhead crane is abnormal, the abnormality score of the crane is checked against the crane's abnormality threshold. If it is, the crane is determined to be abnormal. When an abnormality is determined, the storage of vibration data uploaded by the crane can be paused, although this is not mandatory. Conversely, if the score is not greater than or equal to the threshold, the crane is determined to be normal. The crane abnormality threshold can also be customized according to actual needs, such as 1.2, 1.3, etc., without limitation here.

[0058] When an anomaly is detected in a track section, the dispatching system can control the alarm to issue an alarm to remind maintenance personnel of the abnormal track section. Of course, alarms can also be issued through other known methods, such as pushing abnormal messages to the maintenance personnel's operation and maintenance terminals (smartphones, tablets, etc.), or displaying alarm information about an abnormal track section on the human-machine interface of the dispatching system. No limitation is made here.

[0059] When an anomaly is detected in a crane, the dispatching system can instruct the crane to move to the maintenance station for repair and issue an alarm in a known manner to remind maintenance personnel that the crane is abnormal and needs to be repaired.

[0060] Furthermore, when multiple track sections are identified as abnormal in a single detection, the dispatching system can sort the vibration assessment values ​​of these abnormal track sections in descending order and display the sorting results to maintenance personnel. Maintenance personnel can then perform maintenance on the abnormal track sections according to the sorting order; that is, the track sections ranked higher will be maintained first.

[0061] Similarly, when multiple overhead cranes are found to be abnormal in a single detection, the scheduling system can sort the abnormality scores of the abnormal cranes in descending order and determine their maintenance order according to the sorting order. That is, the abnormal cranes ranked higher will be dispatched to the maintenance station for maintenance first.

[0062] The detection method of the present invention will be illustrated below with a specific example: Assume the track is divided into 5 track segments, which are numbered sequentially as: S1, S2, S3, S4, S5; There are 10 overhead cranes running on the track, which are numbered sequentially as: C1, C2, C3, ..., C9, C10; The symbol Cj represents the j-th overhead crane, and Si represents the i-th track segment.

[0063] The vibration index determined during a single test, when each crane passes through each track section, is shown in Table (1).

[0064] Table (1): S1 1.00 0.95 1.05 0.98 1.02 1.00 1.60 0.97 1.03 1.01 S2 1.05 1.00 0.98 1.02 1.06 0.99 1.65 1.00 1.04 1.03 S3 0.96 1.02 1.00 1.05 0.99 1.01 1.55 1.03 0.97 1.00 S4 2.00 1.95 2.10 2.05 2.00 1.98 2.75 2.02 2.08 2.01 S5 1.02 0.96 1.00 1.01 0.98 1.04 1.58 1.00 1.03 0.99 According to the data in Table (1), the vibration index of each crane when passing through the track section numbered S4 is significantly higher than the vibration index when passing through other track sections, so the track section numbered S4 is likely to have an anomaly; at the same time, it can be seen that the vibration index of the crane numbered C7 when passing through each track section is higher than the vibration index of other cranes when passing through the same track section, so the crane numbered C7 is likely to have an anomaly.

[0065] The vibration index of all cranes passing through each track section can also be determined from Table (1) above. Therefore, the vibration assessment value of each track section can be determined, as shown in Table (2) below.

[0066] Table (2): S1 （1.00+1.01） / 2=1.005 no normal S2 （1.02+1.03） / 2=1.025 no normal S3 （1.00+1.01） / 2=1.005 no normal S4 （2.01+2.02） / 2=2.015 yes abnormal S5 （1.00+1.01） / 2=1.005 no normal As can be seen from Table (2), the vibration assessment value of track section S4 is significantly greater than the track anomaly threshold, indicating an anomaly, while the vibration assessment values ​​of other track sections are all less than the track anomaly threshold, indicating a normal state.

[0067] Correspondingly, the abnormal score of each crane can be determined according to Table (1) and Table (2), as shown in Table (3) below.

[0068] Table (3): C1 (1 / 5)*(1 / 1.005+1.05 / 1.025+0.96 / 1.005+2 / 2.015+1.02 / 1.005)≈0.986 normal C2 (1 / 5)*(0.95 / 1.005+1.00 / 1.025+1.02 / 1.005+1.95 / 2.015+0.96 / 1.005)≈0.972 normal C3 (1 / 5)*(1.05 / 1.005+0.98 / 1.025+1.00 / 1.005+2.10 / 2.015+1.00 / 1.005)≈1.007 normal C4 (1 / 5)*(0.98 / 1.005+1.02 / 1.025+1.05 / 1.005+2.05 / 2.015+1.01 / 1.005)≈1.007 normal C5 (1 / 5)*(1.02 / 1.005+1.06 / 1.025+0.99 / 1.005+2.00 / 2.015+0.98 / 1.005)≈1.000 normal C6 (1 / 5)*(1.00 / 1.005+0.99 / 1.025+1.01 / 1.005+1.98 / 2.015+1.04 / 1.005)≈0.997 normal C7 (1 / 5)*(1.60 / 1.005+1.65 / 1.025+1.55 / 1.005+2.75 / 2.015+1.58 / 1.005)≈1.536 abnormal C8 (1 / 5)*(0.97 / 1.005+1.00 / 1.025+1.03 / 1.005+2.02 / 2.015+1.00 / 1.005)≈0.992 normal C9 (1 / 5)*(1.03 / 1.005+1.04 / 1.025+0.97 / 1.005+2.08 / 2.015+1.03 / 1.005)≈1.012 normal C10 (1 / 5)*(1.01 / 1.005+1.03 / 1.025+1.00 / 1.005+2.01 / 2.015+0.99 / 1.005)≈0.997 normal As can be seen from Table (3), the abnormal score of the overhead crane numbered C7 is significantly greater than the health abnormality threshold. Therefore, it is determined that the overhead crane numbered C7 is abnormal. The abnormal scores of the other overhead cranes are all lower than the health abnormality threshold, that is, the other overhead cranes are normal.

[0069] If a crane's anomaly score is determined to be below the health anomaly threshold in a single detection, the crane may be considered to be in a normal state. However, at this point, the crane's state may have deteriorated to a state close to an anomaly. Therefore, the scheduling system can also determine whether the degradation of each crane is normal based on the anomaly score of each crane determined in each detection.

[0070] Specifically, when determining whether the degradation of an overhead crane is abnormal, the abnormal score of the crane determined in the current inspection can be compared with the corresponding reference score. The reference score for an overhead crane can be the mean, median, or average of the medians of the abnormal scores determined in a set number of inspections prior to the current inspection. The set number of inspections can be set as needed, such as 5, 10, 20, etc., and is not limited here. Furthermore, when the overhead crane system has just been put into use and the number of inspections already completed is less than the set number, the reference score can be determined without being limited by the set number of inspections. That is, the mean, median, or average of the medians of the abnormal scores determined in those inspections can be used as the reference score for the crane. For example, if the set number of inspections is 20 and 5 inspections have been completed, the mean, median, or average of the medians of the 5 abnormal scores determined in those 5 inspections can be used as the reference score for the crane.

[0071] If the absolute value of the ratio or difference between the abnormal score of a crane determined in the current detection and the corresponding score reference value of the crane is greater than or equal to the first threshold (which can be customized as needed and is not limited here), it can be determined that the crane has abnormal degradation. The dispatching system can issue an early warning to remind maintenance personnel and dispatch the crane with abnormal degradation to the maintenance station for repair.

[0072] Conversely, if the absolute value of the ratio or difference between the current test result and the rating reference value of a crane is less than the first threshold, then the crane's degradation is determined to be normal, and the crane can continue to be used.

[0073] Similarly, after determining the vibration assessment value of a track segment in each detection cycle, the scheduling system can determine whether the degradation of the track segment is abnormal based on the vibration assessment value of the track segment determined in the current detection and the corresponding assessment reference value of the track segment. The corresponding assessment reference value of the track segment can also be the mean, median, or mean of medians of the vibration assessment values ​​of the track segment determined in a set number of detections before the current detection. The set number of detections can be set as needed and is not determined here. If the number of completed detections is less than the set number of detections, the assessment reference value of each track segment is determined according to the vibration assessment values ​​of each track segment determined in the number of completed detections.

[0074] If the absolute value of the ratio or difference between the vibration assessment value of a track section determined in the current test and the assessment reference value corresponding to the track section is greater than or equal to the second threshold (which can be customized as needed and is not limited here), it can be determined that the track section has abnormal degradation. At this time, the dispatching system can issue an early warning message that the degradation of the track section is abnormal to remind maintenance personnel to check and maintain the corresponding track section. At the same time, the dispatching system can temporarily suspend the use of the track section until the maintenance personnel complete the inspection and the dispatching system receives the instruction from the operation and maintenance personnel to restore the use of the track section.

[0075] Conversely, if the absolute value of the ratio or difference between the vibration assessment value of a track segment determined in the current test and the assessment reference value corresponding to the track segment is less than the second threshold (which can be customized as needed and is not limited here), then it can be determined that the degradation of the track segment is normal and it can be used normally.

[0076] This enables long-term health diagnosis of tracks and cranes, especially the identification of degradation in the health status of tracks and cranes due to long-term operation, thereby allowing for preventive detection and maintenance before anomalies occur, greatly reducing operational risks.

[0077] Meanwhile, early warnings of abnormal degradation in overhead cranes and track sections can provide a basis for medium- and long-term maintenance decisions. For example, the operating intensity, track condition, and maintenance conditions vary at different customer sites, resulting in different equipment aging rates. If the dispatching system determines that the aging rate of a track section or overhead crane at a certain site is significantly higher than the aging rate of the standard test, it can provide advance notice for special analysis, maintenance plan adjustments, and large-scale spare parts preparation.

[0078] Furthermore, when determining the vibration assessment value of a track section, after removing the vibration index of cranes deemed abnormal when passing through that track section, the value is determined based on the vibration index of the remaining cranes passing through that track section. For example, in the above example, if crane C7 is abnormal, when subsequently determining the vibration assessment value of a track section, the vibration index of crane C7 passing through that track section is removed, and the vibration assessment value of the track section is determined based on the vibration index of the remaining 9 cranes passing through that track section. This process continues until crane C7 is inspected and maintained and confirmed to be normal. Afterwards, the previously stored vibration data in the storage area corresponding to crane C7 is cleared, and then the vibration index of crane C7 passing through each track section is used to calculate the vibration assessment value of each track section according to the detection cycle.

[0079] Similarly, when determining the anomaly score for a crane, the vibration index of the crane passing through the track section where anomalies have been identified is removed, and the score is determined based on the vibration index of the crane passing through the remaining normal track sections. For example, in the above example, if track section S4 is abnormal, then when determining the anomaly score for a crane, the vibration index of the crane passing through track section S4 is removed, and the anomaly score is determined based on the vibration index of the crane passing through the remaining four track sections. Furthermore, after track section S4 is inspected and maintained and determined to be normal, the vibration data corresponding to track section S4 can be cleared from the storage area of ​​each crane, and then the vibration index of each crane passing through track section S4 can be restored according to the detection cycle to determine the anomaly score for each crane.

[0080] This effectively avoids interference from abnormal overhead cranes on the condition assessment of track sections, as well as interference from abnormal track sections on the collision assessment of overhead cranes, which helps improve the accuracy of the analysis and enhance the reliability of vehicle-track decoupling.

[0081] Example 2 The detection method for the overhead crane system disclosed in this embodiment differs from that in Embodiment 1 in that: when analyzing whether the degradation of each overhead crane and / or each track section is normal, this embodiment no longer relies on the abnormality score of the overhead crane and the vibration assessment value of each track section, but instead determines it based on the degradation assessment parameters.

[0082] Specifically, when the second trigger condition is met, the scheduling system can periodically determine the degradation assessment parameters for each crane and / or each track segment based on the real-time stored vibration data and crane position information. The second trigger condition can be set as needed, for example, after the crane system has been in use for a certain period, such as one week, two weeks, or one month, etc., and is not limited here. Alternatively, the second trigger condition can be that the degradation assessment parameters for each crane and / or each track segment are determined immediately according to a set detection cycle when the crane system is put into use, or other feasible trigger conditions, which are not limited here.

[0083] The scheduling system can determine the degradation assessment parameters for each crane and / or each track section based on the set detection cycle. The detection cycle can be the same as or different from the detection cycle for determining the vibration index. For example, the detection cycle for determining the degradation assessment parameters can be 1 week, 1 month, etc., and can be set according to the specific needs. No limitation is made here.

[0084] In this embodiment, the degradation assessment parameter of one overhead crane in one detection cycle is illustrated by taking the average vibration value of the overhead crane in that detection cycle as an example. The average vibration value is obtained by averaging all the comprehensive vibration values ​​fed back by the overhead crane in that detection cycle. Of course, if the overhead crane has only one vibration sensor, the average vibration value is obtained by averaging the vibration data measured by the vibration sensor of the overhead crane collected in that detection cycle. Furthermore, in other embodiments, the degradation assessment parameter of the overhead crane in one detection cycle can also be the median, variance, standard deviation, etc. of all the vibration data fed back by the overhead crane in that detection cycle, which is not limited here.

[0085] When determining the degradation assessment parameters of an overhead crane in one inspection cycle, the difference between the degradation assessment parameters of the overhead crane in this inspection cycle and the degradation assessment parameters of the overhead crane in the previous inspection cycle can be used as the degradation change parameter of the overhead crane. That is, the degradation change parameter of the overhead crane is determined according to the following formula: Gj (k) =Ej （k） -Ej （k-1）； Among them, Gj (k) Let Ej be the degradation change parameter of the j-th overhead crane in the k-th detection cycle; （k） Let Ej be the average vibration value determined by the j-th overhead crane in the k-th detection cycle. （k-1） The vibration mean value determined for the j-th overhead crane during the (k-1)th detection cycle.

[0086] When determining whether an overhead crane has experienced abnormal degradation, the degradation change parameter Gj of the overhead crane, determined in the current two detection cycles, is used. (k) The standard degradation change parameter Gstd, determined using the same two testing cycles as the overhead crane during aging testing, is... (k) For comparison, Gstd (k) Satisfy the following formula: Gstd (k) = Estd （k） -Estd （k-1） ; Among them, Estd （k） Estd is the standard vibration mean of the overhead crane in the kth testing cycle, determined during aging testing. （k-1） Estd is the standard vibration mean of the overhead crane during the (k-1)th testing cycle, determined during aging testing. （k） Estd （k-1） The aging test results of the overhead crane can be obtained in advance according to the set test standards and stored in the scheduling system for future use. The specific aging test method is a known technology and is not an innovation of this invention, so it will not be described in detail here.

[0087] For example, the degradation change parameter Gj of the crane determined in the current two detection cycles. (2) It is determined based on two degradation assessment parameters established in the second and first testing cycles, corresponding to the standard degradation change parameter Gstd. (2) It is determined based on two degradation assessment parameters determined during the aging test, specifically in the second and first testing cycles.

[0088] If Gj is determined (k) ≥Gstd (k) If +△G is received, it is determined that the overhead crane has abnormal degradation, and an early warning message can be issued to the maintenance personnel to inform them that maintenance is required. Here, △G is a set value that can be customized as needed and is not limited here.

[0089] Conversely, if Gj is determined (k) <Gstd (k) If +△G is obtained, it is determined that the degradation of the overhead crane is normal and it can continue to be used. Furthermore, in the next inspection cycle, the degradation assessment parameters for each overhead crane are determined again, and the degradation status of each overhead crane is determined based on the degradation assessment parameters of the next and current inspection cycles. This process is repeated each time the degradation status of an overhead crane is determined to be normal; details are omitted here.

[0090] For the first testing cycle, if the overhead crane's degradation assessment parameters are determined according to the set testing cycle from the moment the overhead crane system is put into use, then degradation identification of the overhead crane is not required. If the degradation assessment parameters and degradation identification of the overhead crane only begin periodically after the overhead crane system has been in use for a period of time, then the absolute value of the difference between the average vibration value of an overhead crane in the first testing cycle and the standard average vibration value of the overhead crane in the first testing cycle during the aging test, or the ratio of the two, can be used as the degradation change parameter. Then, it can be determined whether the degradation change parameter reaches the abnormal alarm value (which can be determined as needed). If it does, it indicates abnormal degradation of the overhead crane; if it does not, it indicates normal degradation of the overhead crane.

[0091] Similarly, the degradation assessment parameter for a track section determined in a detection cycle is the mean of the vibration data of all cranes passing through the track section in that detection cycle. Of course, in other embodiments, it can also be the median, standard deviation, or variance of the vibration data of all cranes passing through the track section in that detection cycle, etc., which is not limited here.

[0092] After determining the degradation assessment parameters of a track segment in one detection cycle, the degradation change parameters of the track segment are obtained by subtracting the degradation assessment parameters of the track segment determined in the previous detection cycle from the degradation assessment parameters.

[0093] When determining whether there is abnormal degradation in the track section, the degradation change parameters of the track section determined based on the current two detection cycles are compared with the standard degradation assessment parameters corresponding to the same two detection cycles during the crane aging test. The specific comparison process can refer to the above-mentioned abnormal degradation determination process of the crane, which will not be elaborated here.

[0094] Of course, in other embodiments, the detection method can simultaneously employ both methods of Embodiment 1 and Embodiment 2 to determine whether there is abnormal degradation in each track section and / or each crane, and can issue a warning message to maintenance personnel when either method determines that there is abnormal degradation in the track section and / or crane.

[0095] Of course, in other embodiments, the detection method may also determine the degradation status of each crane and / or each track section based solely on the process of this embodiment, without needing to identify whether each track and / or crane is abnormal as in Embodiment 1.

[0096] Example 3 This embodiment discloses a detection system for a crane system, used to implement the detection method described above.

[0097] Example 4 This embodiment discloses an electronic device, including a memory and a processor. The memory stores a program that can be executed by the processor. When the program is executed, it implements the detection method described above.

[0098] Example 5 This embodiment discloses a crane system, including the electronic equipment described above. The electronic equipment may be a scheduling system or a server that communicates with the scheduling system and the crane, and is not limited here.

[0099] This invention has many other embodiments, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of this invention.

Claims

1. A detection method for an overhead crane system, characterized in that, Includes the following steps: Real-time acquisition and storage of vibration data and crane position information fed back by each crane; When the first triggering condition is met, the vibration index of each crane passing through each track section is periodically determined based on the vibration data and crane position information fed back by each crane in real time, and / or the degradation assessment parameters of each crane and / or each track section are periodically determined based on the vibration data and crane position information fed back by each crane in real time. After determining the vibration index of each track section when each crane passes through it, The vibration assessment value for each track section and / or the anomaly score for each crane are determined based on the vibration index of each crane passing through each track section each time. Whether each track segment is abnormal is determined based on the vibration assessment value and track anomaly threshold of each track segment determined each time and / or whether the degradation of each track segment is abnormal is determined based on the vibration assessment value of each track segment determined each time and the assessment reference value corresponding to each track area. And / or, determine whether each overhead crane is abnormal based on the abnormal score and abnormal threshold of each crane determined each time and / or determine whether the degradation of each crane is abnormal based on the abnormal score and the corresponding score reference value of each crane determined each time. Since the periodic determination of degradation assessment parameters for each crane and / or each track section began, The degradation change parameters of each crane are determined based on the degradation assessment parameters of each crane determined in every two adjacent detection cycles, and the degradation change parameters of each crane are used to determine whether the degradation of each crane is normal. And / or, based on the degradation assessment parameters of each track segment determined every two adjacent detection cycles, determine the degradation change parameters of each track segment and determine whether the degradation of each track segment is normal based on the degradation change parameters of each track segment.

2. The detection method for the overhead crane system according to claim 1, characterized in that: The vibration index of a crane as it passes through a track section is determined each time using the following formula: WE (i，j) =w1×A rms(i，j) +w2×A peak(i，j) +w3×A pp(i，j) ; Among them, VI (i，j) Let be the vibration index of the j-th overhead crane passing through the i-th track section; A rms(i，j) The root mean square of the vibration data of the j-th overhead crane passing through the i-th track section; A peak(i，j) The peak value of the vibration data when the j-th overhead crane passes through the i-th track section; A pp(i，j) The peak-to-peak value of the vibration data of the j-th overhead crane passing through the i-th track section; w1, w2, and w3 are weighting coefficients.

3. The detection method for the overhead crane system according to claim 1, characterized in that: The overhead crane includes a first vibration sensor mounted on the moving body and a second vibration sensor mounted on the gripping mechanism.

4. The detection method for the overhead crane system according to claim 3, characterized in that: The vibration data fed back by the overhead crane each time is a comprehensive vibration value obtained by weighted fusion of the vibration data measured by the first vibration sensor and the second vibration sensor collected at the same time.

5. The detection method for the overhead crane system according to claim 1, characterized in that: The vibration assessment value of a track section determined in one instance is the median or mean of the vibration indices of all overhead cranes passing through that track section.

6. The detection method for the overhead crane system according to claim 1, characterized in that: Anomaly score for each overhead crane is determined using the following formula: ； Among them, VHI (j) Anomaly score for the j-th overhead crane; M represents the number of track segments; VI (i，j) Let be the vibration index of the j-th crane in the i-th track section; TVM (i) This is the vibration assessment value for the i-th track segment.

7. The detection method for the overhead crane system according to any one of claims 1-6, characterized in that: When determining the vibration assessment value of a track section, the vibration index of the cranes that have been identified as abnormal when passing through the track section is excluded, and the value is determined based on the vibration index of the remaining cranes when passing through the track section. When determining the abnormality score of a crane, the vibration index when the crane passes through the track section where the abnormality has been determined is excluded, and the score is determined based on the vibration index when the crane passes through the remaining normal track section.

8. A detection system for an overhead crane system, characterized in that: Used to implement the detection method as described in any one of claims 1-7.

9. An electronic device, comprising a memory and a processor, wherein the memory stores a program executable by the processor, characterized in that: When the program is executed, it implements the detection method as described in any one of claims 1-7.

10. A crane system, characterized in that: Including the electronic device as described in claim 9.

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