阅读说明：本技术 臂架液压系统的故障诊断方法、装置及作业机械 (Fault diagnosis method and device for boom hydraulic system and operation machine ) 是由 李熙 王伊 封杨 于 2021-07-28 设计创作，主要内容包括：本发明提供一种臂架液压系统的故障诊断方法、装置及作业机械,所述臂架液压系统包括多节臂架,所述方法包括：获取每一节臂架的倾角数据；基于所述臂架的倾角数据,从所述多节臂架中确定目标臂架；在未接收到所述目标臂架的控制信号的情况下,确定所述臂架液压系统发生故障。该方法通过获取臂架的倾角数据和控制信号,实现臂架液压系统的故障诊断,克服了现有技术无法实现臂架液压系统故障诊断的缺陷,无需增设其他传感器,有效降低了故障诊断的检测成本。(The invention provides a fault diagnosis method and a fault diagnosis device for a boom hydraulic system and an operating machine, wherein the boom hydraulic system comprises a multi-section boom, and the method comprises the following steps: acquiring inclination angle data of each arm support; determining a target arm frame from the multiple sections of arm frames based on the inclination angle data of the arm frames; and under the condition that the control signal of the target arm support is not received, determining that the arm support hydraulic system has a fault. According to the method, the fault diagnosis of the boom hydraulic system is realized by acquiring the inclination angle data and the control signal of the boom, the defect that the fault diagnosis of the boom hydraulic system cannot be realized in the prior art is overcome, other sensors are not required to be additionally arranged, and the detection cost of the fault diagnosis is effectively reduced.)

1. A fault diagnosis method for a boom hydraulic system is characterized in that the boom hydraulic system comprises a multi-section boom, and the method comprises the following steps:

acquiring inclination angle data of each arm support;

determining a target arm frame from the multiple sections of arm frames based on the inclination angle data of the arm frames;

and under the condition that the control signal of the target arm support is not received, determining that the arm support hydraulic system has a fault.

2. The method for diagnosing the fault of the boom hydraulic system as claimed in claim 1, wherein the determining a target boom from the plurality of sections of booms based on the boom inclination data comprises:

calculating the angle change rate of the arm support in a target time period based on the inclination angle data of the arm support;

determining the target boom from the multi-section boom based on the angle change rate of the boom.

3. The method as claimed in claim 2, wherein the determining the target boom from the plurality of sections of booms based on the angle change rate of the boom comprises:

and comparing the angle change rate of the arm support with a target range, and determining the arm support with the angle change rate out of the target range as the target arm support.

4. The boom hydraulic system fault diagnosis method according to any one of claims 1 to 3, wherein after determining that the boom hydraulic system has a fault, the method further comprises:

and under the condition that the control signal of the target arm support is not received and the control signal of the adjacent arm support of the target arm support is received, determining that a card issuing fault occurs to the arm support hydraulic system.

5. The boom hydraulic system fault diagnosis method according to any one of claims 1 to 3, wherein after determining that the boom hydraulic system has a fault, the method further comprises:

and under the condition that the control signal of the target arm support is not received and the control signal of the adjacent arm support of the target arm support is not received, determining that the internal leakage fault of the arm support hydraulic system occurs.

6. The boom hydraulic system fault diagnosis method according to any one of claims 1 to 3, wherein after determining the target boom from the plurality of sections of booms, the method further comprises:

and under the condition of receiving the control signal of the target arm support, determining that the arm support hydraulic system has no fault.

7. The method for diagnosing the fault of the boom hydraulic system according to any one of claims 1 to 3, wherein after the inclination angle data of each boom is acquired, the method further comprises the following steps:

and determining that the boom hydraulic system has no fault under the condition that the target boom cannot be determined from the boom device based on the tilt angle data of the boom.

8. The fault diagnosis device of the boom hydraulic system is characterized in that the boom hydraulic system comprises a multi-section boom, and the device comprises:

the acquisition module is used for acquiring the inclination angle data of each arm support;

the determining module is used for determining a target arm frame from the multiple sections of arm frames based on the inclination angle data of the arm frames;

and the processing module is used for determining that the boom hydraulic system breaks down under the condition that the control signal of the target boom is not received.

9. A work machine, comprising:

the boom hydraulic system comprises a multi-section boom;

the boom hydraulic system fault diagnosis device of claim 8.

10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the method for diagnosing a malfunction of a boom hydraulic system according to any one of claims 1 to 7.

Technical Field

The invention relates to the technical field of hydraulic systems, in particular to a fault diagnosis method and device for a boom hydraulic system and an operation machine.

Background

The operation machine is widely applied to various engineering constructions, and the fault detection has important significance for the safe operation and maintenance of the operation machine.

The boom hydraulic system of the operation machine with the boom is easily broken down due to the influence of various aspects such as the operation condition, the boom gesture and the like, so that potential safety hazards in the construction process are caused.

In the prior art, a hydraulic system of a working machine mainly performs fault diagnosis by pressure detected by a pressure sensor. The boom hydraulic system of the working machine with the boom is complex in structure, a pressure sensor is not usually installed, and the method is not suitable for fault diagnosis in the prior art.

Disclosure of Invention

The invention provides a fault diagnosis method and device for a boom hydraulic system and an operating machine, which are used for solving the defect that fault diagnosis cannot be performed on the boom hydraulic system in the prior art.

The invention provides a fault diagnosis method for a boom hydraulic system, wherein the boom hydraulic system comprises a multi-section boom, and the method comprises the following steps:

acquiring inclination angle data of each arm support;

determining a target arm frame from the multiple sections of arm frames based on the inclination angle data of the arm frames;

and under the condition that the control signal of the target arm support is not received, determining that the arm support hydraulic system has a fault.

According to the fault diagnosis method of the boom hydraulic system provided by the invention, the step of determining the target boom from the multiple sections of booms based on the inclination angle data of the boom comprises the following steps:

calculating the angle change rate of the arm support in a target time period based on the inclination angle data of the arm support;

determining the target boom from the multi-section boom based on the angle change rate of the boom.

According to the fault diagnosis method for the boom hydraulic system provided by the invention, the step of determining the target boom from the multiple sections of booms based on the angle change rate of the boom comprises the following steps:

and comparing the angle change rate of the arm support with a target range, and determining the arm support with the angle change rate out of the target range as the target arm support.

According to the fault diagnosis method for the boom hydraulic system provided by the invention, after the boom hydraulic system is determined to have a fault, the method further comprises the following steps:

and under the condition that the control signal of the target arm support is not received and the control signal of the adjacent arm support of the target arm support is received, determining that a card issuing fault occurs to the arm support hydraulic system.

According to the fault diagnosis method for the boom hydraulic system provided by the invention, after the boom hydraulic system is determined to have a fault, the method further comprises the following steps:

and under the condition that the control signal of the target arm support is not received and the control signal of the adjacent arm support of the target arm support is not received, determining that the internal leakage fault of the arm support hydraulic system occurs.

According to the fault diagnosis method of the boom hydraulic system provided by the invention, after the target boom is determined from the multiple sections of booms, the fault diagnosis method further comprises the following steps:

and under the condition of receiving the control signal of the target arm support, determining that the arm support hydraulic system has no fault.

According to the fault diagnosis method for the boom hydraulic system provided by the invention, after the inclination angle data of each boom is obtained, the fault diagnosis method further comprises the following steps:

and determining that the boom hydraulic system has no fault under the condition that the target boom cannot be determined from the boom device based on the tilt angle data of the boom.

The invention also provides a fault diagnosis device of the boom hydraulic system, wherein the boom hydraulic system comprises a multi-section boom, and the device comprises:

the acquisition module is used for acquiring the inclination angle data of each arm support;

the determining module is used for determining a target arm frame from the multiple sections of arm frames based on the inclination angle data of the arm frames;

and the processing module is used for determining that the boom hydraulic system breaks down under the condition that the control signal of the target boom is not received.

The present invention also provides a work machine comprising:

the boom hydraulic system comprises a multi-section boom;

the fault diagnosis device for the boom hydraulic system is disclosed.

The invention also provides electronic equipment which comprises a memory, a processor and a computer program which is stored on the memory and can be run on the processor, wherein the processor executes the program to realize the steps of any one of the above-mentioned boom hydraulic system fault diagnosis methods.

The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method for diagnosing a fault of a boom hydraulic system as described in any one of the above.

According to the fault diagnosis method and device for the boom hydraulic system and the operation machine, provided by the invention, the fault diagnosis of the boom hydraulic system is realized by acquiring the inclination angle data and the control signal of the boom, the defect that the fault diagnosis of the boom hydraulic system cannot be realized in the prior art is overcome, other sensors are not required to be additionally arranged, and the detection cost of the fault diagnosis is effectively reduced.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic flow chart of a fault diagnosis method of a boom hydraulic system provided by the invention;

FIG. 2 is a schematic step diagram of a fault diagnosis method for a boom hydraulic system provided by the invention;

fig. 3 is a schematic structural diagram of a fault diagnosis device of a boom hydraulic system provided by the invention;

fig. 4 is a schematic structural diagram of an electronic device provided in the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The method for diagnosing the fault of the boom hydraulic system according to the present invention is described below with reference to fig. 1 and fig. 2, where an execution main body of the method may be a controller of an equipment side, or a cloud side, or an edge server.

The boom hydraulic system is arranged on the operation machinery and comprises a multi-section boom and a hydraulic device for driving the multi-section boom to act.

The power element of the hydraulic device is a hydraulic pump, and the mechanical energy of an engine or a motor is converted into the pressure energy of liquid to provide power for the whole hydraulic system.

The hydraulic pump can be a gear pump, a vane pump, a plunger pump, a screw pump and the like.

The hydraulic device also comprises actuating elements such as a hydraulic cylinder, a hydraulic motor and the like, and the actuating elements convert pressure energy transmitted by the hydraulic pump into mechanical energy to drive the multi-section arm support of the load to do linear reciprocating motion or rotary motion.

The multi-section arm frame can realize various actions of lifting, rotating, amplitude changing, movable arm stretching and the like of the operation machinery through elements such as a rotary hydraulic motor, a lifting hydraulic motor, an amplitude changing hydraulic cylinder, a movable arm stretching hydraulic cylinder and the like connected with the multi-section arm frame.

The operation machine with the boom hydraulic system can be a concrete pump truck, a fire truck, a crane and other operation machines.

As shown in fig. 1, the method for diagnosing a fault of a boom hydraulic system provided by the present invention includes steps 110 to 130.

And step 110, acquiring inclination angle data of each section of arm support.

The working machine with the boom hydraulic system is provided with a multi-section boom, and when the multi-section boom is driven to act, the included angle between adjacent booms changes.

The inclination angle data of each arm support comprises an included angle between each arm support and an adjacent arm support and an angle between each arm support and a horizontal reference surface, wherein the horizontal reference surface can be a horizontal plane of an operation area of the operation machine.

It can be understood that a plurality of tilt sensors are arranged in the boom hydraulic system and used for measuring tilt data of each section of the boom in the plurality of sections of the boom.

And step 120, determining a target arm frame from the multi-section arm frame based on the inclination angle data of the arm frame.

In the step, based on the inclination angle data of each arm frame, the arm frame with abnormal inclination angle data is selected from the multiple arm frames as a target arm frame.

The target arm support refers to an arm support with abnormal inclination angle data and possibly having faults.

The abnormal inclination data of the target boom can be inclination data that the current inclination data of the target boom is not easy to appear or not consistent with the current boom action trend in the current use scene.

Taking a concrete pump truck as an example, a target boom is determined from a multi-section boom of the concrete pump truck based on the inclination angle data of the boom.

The concrete pump truck can comprise 5 arm supports, namely a No. 1 arm support, a No. 2 arm support, a No. 3 arm support, a No. 4 arm support and a No. 5 arm support.

A user operates 5 arm supports of the concrete pump truck to lift so as to pump concrete to a high position, and the included angle between the 5 arm supports and the adjacent arm supports and the angle between each arm support and the horizontal reference surface are gradually increased in the current use scene.

The inclination angle data of the No. 3 arm support comprises an included angle between the adjacent arm support and a horizontal reference surface, the included angle between the adjacent arm support and the horizontal reference surface is gradually reduced or kept unchanged, and the No. 3 arm support is taken as a target arm support.

It can be understood that the target boom is determined from the multiple sections of booms based on the inclination angle data of the booms, the selection of the target boom is the basis of the fault diagnosis of the boom hydraulic system, the target boom is not directly judged to be a fault boom, and the occurrence of the fault of the boom hydraulic system is not directly determined.

And step 130, determining that the boom hydraulic system has a fault under the condition that the control signal of the target boom is not received.

After the target arm support is determined, whether a control signal of the target arm support is received or not is detected, and whether a fault occurs in a hydraulic system of the arm support is judged.

In the step, the controller receives an operation instruction of a user to generate a control signal of the arm support.

The operation instruction of the user can be expressed in at least one of the following modes:

for one, the operation instruction may be represented as a touch input, including but not limited to a click input, a slide input, a press input, and the like.

In this embodiment, receiving the operation instruction of the user may be performed by receiving an operation instruction of the user in a display area of a display screen of the terminal.

In order to reduce the misoperation rate of the user, the action area of the operation instruction can be limited in a specific area, such as the upper middle area of a terminal display screen; or under the state that the terminal display screen of the cab displays the arm support control interface, displaying the target control operated by each section of the arm support on the current interface, and touching the target control to realize the operation instruction of the user.

And the terminal display screen receives an operation instruction of a user and generates a control signal corresponding to the arm support or the arm support combination.

Secondly, the operation command can also be expressed as physical key input.

In this embodiment, the body of the terminal is provided with an entity key corresponding to the arm support, and the receiving of the operation instruction of the user may be represented as receiving an operation instruction that the user presses the corresponding entity key.

Thirdly, the operation instruction can also be represented as voice input.

In this embodiment, the terminal may trigger the control interface for displaying the lifting of the boom when receiving a voice such as "lift the boom".

Of course, in other embodiments, the operation instruction may also be expressed in other forms, including but not limited to character input, and the like, which may be determined according to actual needs, and this is not limited in this application.

In this embodiment, the operation instruction of the user received by the controller is used to generate a control signal of the boom, and after the boom starts to perform corresponding action, the target boom is determined according to the tilt angle data of the boom, so as to determine whether the control signal of the target boom is received.

The inclination angle data of the target arm support is not easy to appear or not consistent with the current arm support action trend in the current use scene, and the arm support hydraulic system is determined to be in fault under the condition that the control signal of the target arm support is not received.

Taking a concrete pump truck as an example, the concrete pump truck can comprise 5 arm rests, namely a No. 1 arm rest, a No. 2 arm rest, a No. 3 arm rest, a No. 4 arm rest and a No. 5 arm rest.

A user operates the No. 1 arm support of the concrete pump truck to lift, only the control signal of the No. 1 arm support is received, the included angle between the No. 1 arm support and the No. 2 arm support is changed in the current use scene, and the included angles between the other three arm supports are not changed.

The inclination angle data of the No. 3 arm support is changed, and the included angle between the adjacent arm support and the angle between the horizontal reference surface are gradually reduced or kept unchanged, and at the moment, the No. 3 arm support is the target arm support.

Therefore, the controller does not receive the control signal of the No. 3 arm support, the No. 3 inclination angle is still changed, and the condition that the arm support hydraulic system breaks down is determined.

It can be understood that, when the control signal of the target boom is not received, it is determined that the boom hydraulic system has a fault, and the fault of the boom hydraulic system includes a card issuing fault, an internal leakage fault and the like.

In the related art, a pressure sensor is generally used for measuring the pressure of a hydraulic system for other hydraulic systems of a working machine, so as to diagnose the fault of the hydraulic system.

The boom hydraulic system is complex in structure, only a tilt sensor is generally arranged for assisting the boom operation, and the pressure sensor is additionally arranged for measuring, so that the diagnosis cost is increased, and meanwhile, the fault diagnosis of the boom hydraulic system structure cannot be realized.

According to the fault diagnosis method of the boom hydraulic system provided by the invention, the fault diagnosis of the boom hydraulic system is realized by acquiring the inclination angle data and the control signal of the boom, the defect that the fault diagnosis of the boom hydraulic system cannot be realized in the prior art is overcome, other sensors are not required to be additionally arranged, and the detection cost of the fault diagnosis is effectively reduced.

In some embodiments, step 120 comprises: calculating the angle change rate of the arm support in a target time period based on the inclination angle data of the arm support; and determining a target arm frame from the multi-section arm frames based on the angle change rate of the arm frame.

In the step, based on the inclination angle data of each section of the arm support, the angle change rate of the arm support in the target time period is calculated, and the target arm support is selected according to the angle change rate.

The target time interval is a received control signal of the boom to control the boom to correspond to the target time interval after the boom starts to act, wherein the target time interval can be a time interval from the boom starting to the boom finishing, and can also be a time interval in the boom acting process.

The angle change rate can be expressed as a ratio of a difference between the starting angle and the final angle to the target period duration.

And calculating the angle change rate of the arm support in a target time period, wherein the angle change rate which is not easy to appear or is inconsistent with the current arm support action trend appears in the current use scene of a certain arm support, and determining the arm support as the target arm support.

Taking a concrete pump truck as an example, the angle change rate of the arm support in a target time period is calculated, and the target arm support is determined from the multi-section arm supports of the concrete pump truck.

The concrete pump truck can comprise 5 arm supports, namely a No. 1 arm support, a No. 2 arm support, a No. 3 arm support, a No. 4 arm support and a No. 5 arm support; the target time period may be a time period from the boom starting to the boom ending.

A user operates 5 arm supports of the concrete pump truck to lift so as to pump concrete to a high position, the angle change rate of the 5 arm supports in a target time period under the current use scene is similar, and the included angles between the 5 arm supports and the adjacent arm supports and the angle between the 5 arm supports and a horizontal reference surface are gradually increased.

And determining the No. 3 arm support as a target arm support, wherein the angle change rate of the No. 3 arm support is obviously smaller than that of other arm supports.

It can be understood that the target boom is determined from the multiple sections of booms based on the angle change rate of the boom, the selection of the target boom is the basis of the fault diagnosis of the boom hydraulic system, and the target boom is not directly judged to be a fault boom, nor is the occurrence of the fault of the boom hydraulic system directly determined.

In some embodiments, the boom with the angle change rate outside the target range is determined to be the target boom by comparing the angle change rate of the boom with the target range.

It can be understood that when the hydraulic system of the boom fails, the boom starts to operate according to the received control signal in the current use scene, and the angle change rate of the boom is in the target range at the moment, and conforms to the current operation trend.

In this embodiment, the angle change rate of the boom is compared with a target range, and the boom is determined to be the target boom when the angle change rate of a certain boom is outside the target range.

Taking a concrete pump truck as an example, the angle change rate of the arm support is compared with a target range, and the target arm support is determined from the multi-section arm support.

The concrete pump truck can comprise 5 arm supports, namely a No. 1 arm support, a No. 2 arm support, a No. 3 arm support, a No. 4 arm support and a No. 5 arm support.

A user operates 5 arm supports of the concrete pump truck to lift so as to pump concrete to a high position, and the target range of the angle change rate can be 20 degrees/minute to 30 degrees/minute.

That is, in the current usage scenario, the 5-arm frame performs lifting motion at a lifting speed of 20 to 30 degrees/minute.

The angle change rate of the No. 3 arm support is obviously smaller than that of other arm supports, the angle change rate of the No. 3 arm support is 10 degrees/minute, and the No. 3 arm support is determined to be the target arm support.

It should be noted that the target range of the angle change rate may be calculated by the controller according to the current work analysis, or may be calculated by combining the operation data of the boom hydraulic system stored in the cloud.

It can be understood that the target boom is determined from the multi-section boom based on the comparison between the angle change rate of the boom and the target range, which is the basis of the fault diagnosis of the boom hydraulic system, and the target boom with the angle change rate outside the target range is not directly judged to be the fault boom, and the fault of the boom hydraulic system is not directly determined.

In some embodiments, after determining that the boom hydraulic system fails in step 130, it is determined that the boom hydraulic system fails to issue a card when the control signal of the target boom is not received and the control signal of the adjacent boom of the target boom is received.

In this embodiment, the operation instruction of the user received by the controller is used to generate a control signal of the boom, and the boom starts to act correspondingly.

The inclination angle data of the target arm support is not easy to appear or not consistent with the current arm support action trend in the current use scene, and the arm support hydraulic system is determined to be in fault under the condition that the control signal of the target arm support is not received.

At the moment, the received control signals are judged to include control signals of adjacent arm frames of the target arm frame, and the occurrence of the card issuing fault of the arm frame hydraulic system is determined.

The sending fault indicates that the multi-way valve of the arm support in the arm support hydraulic system is blocked, and when the adjacent arm support of the target arm support receives a control signal to start to act, the target arm support controlled by the oil way blocked in the multi-way valve is driven to act.

Taking a concrete pump truck as an example, the concrete pump truck comprises 5 arm supports, namely a No. 1 arm support, a No. 2 arm support, a No. 3 arm support, a No. 4 arm support and a No. 5 arm support.

A user operates the No. 2 arm support of the concrete pump truck to lift, only receives a control signal of the No. 2 arm support, and determines the No. 3 arm support as a target arm support according to the inclination angle data of the arm support.

Therefore, the controller does not receive the control signal of the No. 3 arm support, only receives the control signal of the No. 2 arm support, and the No. 2 arm support is adjacent to the No. 3 arm support to determine that the hydraulic system of the arm support has the card issuing fault.

It can be understood that the boom hydraulic system has a hairpin fault, which may be a hairpin fault of an execution element corresponding to the target boom, or a hairpin fault of an execution element corresponding to an adjacent boom of the target boom.

After the target arm support is determined through the inclination angle data, under the condition that the control signal of the target arm support is not received and the control signal of the adjacent arm support of the target arm support is received, the occurrence of a card issuing fault of an arm support hydraulic system is rapidly determined, and position information can be provided for maintenance.

In some embodiments, after determining that the boom hydraulic system has a fault in step 130, in the case that the control signal of the target boom is not received and the control signal of the adjacent boom of the target boom is not received, it is determined that the boom hydraulic system has an internal leakage fault.

In this embodiment, after the target boom is determined from the multiple sections of booms, the controller receives a control signal of the boom to perform judgment, receives no control signal of the target boom and no control signal of an adjacent boom of the target boom, and determines that an internal leakage fault occurs in the boom hydraulic system.

The internal leakage fault refers to internal leakage of a power element, an execution element or an internal hydraulic oil circuit of the boom hydraulic system, for example, the internal leakage of the hydraulic oil circuit of the target boom fails to transmit hydraulic energy to enable the target boom to act according to the control signal.

Taking a concrete pump truck as an example, the concrete pump truck comprises 5 arm supports, namely a No. 1 arm support, a No. 2 arm support, a No. 3 arm support, a No. 4 arm support and a No. 5 arm support.

A user operates the No. 1 and No. 3 arm frames of the concrete pump truck to lift, and the No. 3 arm frame is determined as a target arm frame according to the inclination angle data of the arm frame.

Therefore, the controller does not receive the control signal of the No. 3 arm support, and also does not receive the control signals of the No. 2 arm support and the No. 4 arm support adjacent to the controller, and the internal leakage fault of the arm support hydraulic system is determined.

After the target arm support is determined according to the inclination angle data, the internal leakage fault of the arm support hydraulic system is rapidly determined under the condition that the control signals of the target arm support and the adjacent arm support of the target arm support are not received, so that a clear maintenance direction is provided for maintenance of the arm support hydraulic system, and the maintenance efficiency is improved.

In some embodiments, after the target boom is determined from the multiple sections of booms in step 120, it is determined that the boom hydraulic system is not in fault in the case that the control signal of the target boom is received.

In this embodiment, after the target boom is determined from the multiple sections of booms, each received control signal of the boom is judged, and when the control signal corresponding to the control target boom is received, it is indicated that the target boom acts based on the corresponding control signal, and at this time, the boom hydraulic system has no fault.

Taking a concrete pump truck as an example, the concrete pump truck can comprise 5 arm rests, namely a No. 1 arm rest, a No. 2 arm rest, a No. 3 arm rest, a No. 4 arm rest and a No. 5 arm rest.

And (3) operating the arm support of the concrete pump truck by a user to act, changing the inclination angle data of the No. 3 arm support, gradually reducing the included angle between the adjacent arm supports and the horizontal reference surface, and determining the No. 3 arm support as the target arm support.

The controller judges the received control signal, detects that the control signal of the No. 3 arm support is received, and determines that the arm support hydraulic system has no fault when the No. 3 arm support acts based on the corresponding control signal and conforms to the current action trend.

In some embodiments, after the inclination data of each section of the boom is obtained in step 110, it is determined that the boom hydraulic system has no fault under the condition that the target boom cannot be determined from the boom device based on the inclination data of the boom.

In this embodiment, the tilt angle data of each section of arm support is analyzed, and the target arm support cannot be determined because the tilt angle data of each section of arm support in the plurality of sections of arm supports is not abnormal.

That is, the action of each arm support in the multiple arm supports is easy to appear in the current use scene, and is consistent with the action trend of the current arm support.

It can be understood that based on the tilt angle data of the arm support, the target arm support cannot be determined from the multi-section arm support, and the arm support hydraulic system has no fault and is in a normal operation condition.

A specific embodiment is described below.

As shown in fig. 2, the boom hydraulic system of the working machine is subjected to real-time fault diagnosis.

And step 210, acquiring the inclination angle data and the control signal of each section of arm support in real time.

And step 220, calculating the angle change rate of each arm support according to the acquired inclination angle data of each arm support.

And 230, comparing the angle change rate of each section of arm support with a target range, and determining the arm support with the angle change rate outside the target range as the target arm support.

If the target boom with the angle change rate outside the target range is not detected in step 230, it is determined that the boom hydraulic system is not in fault, and the step 210 is returned.

After determining that the boom with the angle change rate outside the target range is the target boom in step 230, the method proceeds to step 240 to detect a control signal of the target boom.

If the control signal of the target boom is detected in step 240, it is determined that the boom hydraulic system is not in fault, and the process returns to step 210.

If the control signal of the target boom is not detected in step 240, it is determined that the boom hydraulic system has a fault.

And step 250, judging whether a control signal of an adjacent arm support of the target arm support is received.

If the control signal of the adjacent arm support of the target arm support is judged to be received in the step 250, the step 260 is entered to determine that the card issuing fault of the arm support hydraulic system occurs.

If the control signal of the adjacent arm support of the target arm support is not received in the step 250, the step 270 is entered to determine that the internal leakage fault of the arm support hydraulic system occurs.

The fault diagnosis device for the boom hydraulic system provided by the invention is described below, and the fault diagnosis device for the boom hydraulic system described below and the fault diagnosis method for the boom hydraulic system described above can be referred to correspondingly.

As shown in fig. 3, the fault diagnosis device for the boom hydraulic system provided by the invention comprises:

an obtaining module 310, configured to obtain tilt angle data of each arm support;

the determining module 320 is configured to determine a target boom from multiple sections of booms based on the tilt angle data of the boom;

the processing module 330 is configured to determine that the boom hydraulic system fails when the control signal of the target boom is not received.

According to the fault diagnosis device of the boom hydraulic system, provided by the invention, the fault diagnosis of the boom hydraulic system is realized by acquiring the inclination angle data and the control signal of the boom, the defect that the fault diagnosis of the boom hydraulic system cannot be realized in the prior art is overcome, other sensors are not required to be additionally arranged, and the detection cost of the fault diagnosis is effectively reduced.

In some embodiments, the determining module 320 is configured to determine a target boom from a multi-section boom based on the tilt angle data of the boom, and includes: calculating the angle change rate of the arm support in a target time period based on the inclination angle data of the arm support; and determining a target arm frame from the multi-section arm frames based on the angle change rate of the arm frame.

In some embodiments, the determining module 320 is configured to determine the target boom from the multi-section boom based on the angle change rate of the boom, and includes: and comparing the angle change rate of the arm support with the target range, and determining the arm support with the angle change rate out of the target range as the target arm support.

In some embodiments, after determining that the boom hydraulic system fails, the processing module 330 is further configured to determine that the boom hydraulic system fails to issue a card when the control signal of the target boom is not received and the control signal of the adjacent boom of the target boom is received.

In some embodiments, after determining that the boom hydraulic system has a fault, the processing module 330 is further configured to determine that the boom hydraulic system has an internal leakage fault when the control signal of the target boom is not received and the control signal of the adjacent boom of the target boom is not received.

In some embodiments, after the determining module 320 determines the target boom from the multiple sections of booms, the processing module 330 is further configured to determine that the boom hydraulic system is not in fault if a control signal of the target boom is received.

In some embodiments, after the obtaining module 310 obtains the tilt angle data of each boom, the determining module 320 is further configured to determine that the boom hydraulic system is not in fault under the condition that the target boom cannot be determined from the boom device based on the tilt angle data of the boom.

The invention also provides a working machine which comprises the boom hydraulic system and the fault diagnosis device of the boom hydraulic system.

The boom hydraulic system is arranged on the operation machinery and comprises a multi-section boom and a hydraulic device for driving the multi-section boom to act.

The power element of the hydraulic device is a hydraulic pump, and the mechanical energy of an engine or a motor is converted into the pressure energy of liquid to provide power for the whole hydraulic system.

The hydraulic pump can be a gear pump, a vane pump, a plunger pump, a screw pump and the like.

The hydraulic device also comprises actuating elements such as a hydraulic cylinder, a hydraulic motor and the like, and the actuating elements convert pressure energy transmitted by the hydraulic pump into mechanical energy to drive the multi-section arm support of the load to do linear reciprocating motion or rotary motion.

The multi-section arm frame can realize various actions of lifting, rotating, amplitude changing, movable arm stretching and the like of the operation machinery through elements such as a rotary hydraulic motor, a lifting hydraulic motor, an amplitude changing hydraulic cylinder, a movable arm stretching hydraulic cylinder and the like connected with the multi-section arm frame.

The operation machine with the boom hydraulic system can be a concrete pump truck, a fire truck, a crane and other operation machines.

According to the working machine provided by the invention, the fault diagnosis device of the boom hydraulic system realizes the fault diagnosis of the boom hydraulic system by acquiring the inclination angle data and the control signal of the boom, overcomes the defect that the fault diagnosis of the boom hydraulic system of the working machine cannot be realized in the prior art, does not need to add other sensors, and effectively reduces the detection cost of the fault diagnosis of the working machine.

Fig. 4 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 4: a processor (processor)410, a communication Interface 420, a memory (memory)430 and a communication bus 440, wherein the processor 410, the communication Interface 420 and the memory 430 are communicated with each other via the communication bus 440. The processor 410 may invoke logic instructions in the memory 430 to perform a method for diagnosing a fault of a boom hydraulic system, the boom hydraulic system including a plurality of sections of booms, the method including: acquiring inclination angle data of each arm support; determining a target arm frame from the multiple sections of arm frames based on the inclination angle data of the arm frames; and under the condition that the control signal of the target arm support is not received, determining that the arm support hydraulic system has a fault.

In addition, the logic instructions in the memory 430 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In another aspect, the present invention further provides a computer program product, where the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, where the computer program includes program instructions, and when the program instructions are executed by a computer, the computer is capable of executing the method for diagnosing the fault of the boom hydraulic system provided by the above methods, where the boom hydraulic system includes a multi-section boom, and the method includes: acquiring inclination angle data of each arm support; determining a target arm frame from the multiple sections of arm frames based on the inclination angle data of the arm frames; and under the condition that the control signal of the target arm support is not received, determining that the arm support hydraulic system has a fault.

In another aspect, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented by a processor to execute the above-mentioned fault diagnosis method for the boom hydraulic system, where the boom hydraulic system includes multiple sections of booms, and the method includes: acquiring inclination angle data of each arm support; determining a target arm frame from the multiple sections of arm frames based on the inclination angle data of the arm frames; and under the condition that the control signal of the target arm support is not received, determining that the arm support hydraulic system has a fault.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.