CN113529845B - Excavator fault diagnosis method, excavator, electronic device and readable storage medium - Google Patents
Excavator fault diagnosis method, excavator, electronic device and readable storage medium Download PDFInfo
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- CN113529845B CN113529845B CN202110910195.3A CN202110910195A CN113529845B CN 113529845 B CN113529845 B CN 113529845B CN 202110910195 A CN202110910195 A CN 202110910195A CN 113529845 B CN113529845 B CN 113529845B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/267—Diagnosing or detecting failure of vehicles
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
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- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01P—COOLING OF MACHINES OR ENGINES IN GENERAL; COOLING OF INTERNAL-COMBUSTION ENGINES
- F01P11/00—Component parts, details, or accessories not provided for in, or of interest apart from, groups F01P1/00 - F01P9/00
- F01P11/14—Indicating devices; Other safety devices
- F01P11/16—Indicating devices; Other safety devices concerning coolant temperature
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Abstract
The invention provides an excavator fault diagnosis method, an excavator, electronic equipment and a readable storage medium, wherein the method is used for acquiring parameter data of the excavator in a preset time period and the ambient temperature of the place where the excavator is located, wherein the parameter data comprises the actual cooling water temperature of an engine, the rotating speed of the engine and the oil consumption of the engine; calculating an engine theoretical cooling water temperature of the excavator based on the ambient temperature, the engine speed, the engine oil consumption and a first cooling water temperature model; and fault diagnosis is carried out on the excavator based on the actual cooling water temperature of the engine and the theoretical cooling water temperature of the engine, the method finds out abnormality before the actual cooling water temperature of the engine reaches an alarm value, and the fault of the excavator is judged and processed in advance, so that the fault is prevented from being enlarged.
Description
Technical Field
The present invention relates to the field of excavator technologies, and in particular, to an excavator fault diagnosis method, an excavator, an electronic device, and a readable storage medium.
Background
With the increasing infrastructure construction, the excavator is widely applied to a plurality of fields such as hydraulic engineering, engineering construction and open pit mining, and in order to ensure the safety and the working efficiency of the excavator, it is very necessary to perform fault pre-diagnosis on the excavator.
At present, a fault pre-diagnosis method for an excavator is realized by an engine cooling water temperature alarm system, namely, when the engine cooling water temperature exceeds a certain value, an alarm signal is sent, but because the engine cooling water temperature is influenced by a plurality of factors such as environment temperature, engine oil consumption, rotating speed, a thermostat and the like, the change of the engine cooling water temperature is very complex, and therefore, the abnormality before the cooling water temperature reaches the threshold value cannot be found only by one threshold value.
Disclosure of Invention
The invention provides an excavator fault diagnosis method, an excavator, electronic equipment and a readable storage medium, which are used for solving the defect that the excavator fault is judged only through one threshold value in the prior art and realizing more accurate fault diagnosis on the excavator.
The invention provides an excavator fault diagnosis method, which comprises the following steps:
acquiring parameter data of the excavator in a preset time period and the environment temperature of the place where the excavator is located, wherein the parameter data comprise the actual cooling water temperature of an engine, the rotating speed of the engine and the oil consumption of the engine;
calculating an engine theoretical cooling water temperature of the excavator based on the ambient temperature, the engine speed, the engine oil consumption and a first cooling water temperature model;
performing fault diagnosis on the excavator based on the actual cooling water temperature of the engine and the theoretical cooling water temperature of the engine;
the first cooling water temperature model is used for representing a functional relation between the theoretical cooling water temperature of the engine of the excavator in the preset time period and the engine speed, the engine oil consumption and the ambient temperature of the place where the excavator is located.
According to the fault diagnosis method for the excavator, provided by the invention, the parameter data further comprises an action code;
the method for acquiring the parameter data of the excavator in the preset time period further comprises the following steps:
screening parameter data of the excavator within a preset time period based on the actual cooling water temperature of the engine, the engine rotating speed and the action code to obtain preselected parameter data of the excavator within the preset time period;
calculating the average value and the standard deviation of the oil consumption of the engine in the pre-selected parameter data;
and screening the preselected parameter data based on the average value and the standard deviation of the oil consumption of the engine to obtain target parameter data of the excavator in a preset time period.
According to the fault diagnosis method for the excavator provided by the invention, the parameter data of the excavator in the preset time period are screened based on the actual cooling water temperature of the engine, the rotating speed of the engine and the action code, and the preselected parameter data of the excavator in the preset time period are obtained, and the fault diagnosis method specifically comprises the following steps:
and eliminating parameter data in which the actual cooling water temperature of the engine in the parameter data is less than a preset cooling water temperature threshold value, or the rotating speed of the engine in the parameter data is less than a preset rotating speed threshold value, or an action code in the parameter data is not in a preset action code range, so as to obtain preselected parameter data of the excavator in a preset time period.
According to the fault diagnosis method for the excavator, the first cooling water temperature model is established based on the following method:
acquiring parameter data samples of an excavator sample and environmental temperature samples of the location of the excavator sample, wherein the parameter data samples comprise: the method comprises the steps of sampling actual cooling water temperature of an engine, sampling engine speed, sampling engine oil consumption and sampling action codes;
screening parameter data samples of the excavator within a preset time period based on the actual cooling water temperature sample of the engine, the engine rotating speed sample and the motion coding sample to obtain preselected parameter data samples of the excavator within the preset time period;
calculating the average value and the standard deviation of the engine oil consumption samples in the pre-selected parameter data samples; screening the pre-selected parameter data samples based on the average value and the standard deviation of the engine oil consumption samples to obtain target parameter data samples of the excavator in a preset time period;
establishing the first cooling water temperature model based on the target parameter data samples and the ambient temperature samples.
According to the fault diagnosis method for the excavator, the establishing of the first cooling water temperature model based on the target parameter data sample and the environment temperature sample specifically comprises the following steps:
determining an ambient temperature function based on the engine actual cooling water temperature samples and the ambient temperature samples in the target parameter data samples;
and determining the first cooling water temperature model based on a heat balance principle in the processes of heat generation of an engine, heat absorption of cooling water and heat dissipation of a heat dissipation system and the environment temperature function.
The invention also provides an excavator fault diagnosis method, which comprises the following steps:
acquiring parameter data of the excavator in a preset time period and the environment temperature of the place where the excavator is located, wherein the parameter data comprise the actual cooling water temperature of an engine, the rotating speed of the engine and the oil consumption of the engine;
inputting the parameter data and the environment temperature into a second cooling water temperature model to obtain the theoretical cooling water temperature of the engine output by the second cooling water temperature model;
performing fault diagnosis on the excavator based on the actual cooling water temperature of the engine and the theoretical cooling water temperature of the engine;
the second cooling water temperature model is obtained by training based on parameter data samples carrying an engine theoretical cooling water temperature label and an environment temperature label.
According to the fault diagnosis method for the excavator, provided by the invention, the parameter data further comprises an action code;
the method for acquiring the parameter data of the excavator in the preset time period further comprises the following steps:
screening the parameter data of the excavator in a preset time period based on the actual cooling water temperature of the engine, the rotating speed of the engine and the action code to obtain preselected parameter data of the excavator in the preset time period;
calculating the average value and the standard deviation of the oil consumption of the engine in the pre-selected parameter data;
and screening the preselected parameter data based on the average value and the standard deviation of the oil consumption of the engine to obtain target parameter data of the excavator in a preset time period.
The invention further provides an excavator, which comprises an excavator fault diagnosis system, wherein the excavator fault diagnosis system is used for carrying out fault diagnosis on the excavator based on any one of the excavator fault diagnosis methods.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the excavator fault diagnosis method.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the excavator fault diagnosis method as described in any one of the above.
According to the excavator fault diagnosis method, the excavator, the electronic equipment and the readable storage medium, parameter data of the excavator in a preset time period and the environment temperature of the place where the excavator is located are obtained, the theoretical cooling water temperature of the engine is calculated based on the environment temperature, the engine rotating speed, the engine oil consumption and the first cooling water temperature model, finally fault diagnosis is carried out on the excavator by comparing the actual cooling water temperature of the engine with the theoretical cooling water temperature of the engine, abnormality is found before the actual cooling water temperature of the engine reaches an alarm value, the fault of the excavator is judged and processed in advance, and the fault is prevented from being enlarged.
Drawings
In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of 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 other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic flow chart of a fault diagnosis method for an excavator provided by the invention;
FIG. 2 is a scatter diagram of an actual engine cooling water temperature in the present invention;
FIG. 3 is a graph comparing actual engine cooling water temperature and theoretical engine cooling water temperature in the present invention;
FIG. 4 is a second flowchart of the excavator fault diagnosis method provided by the present invention;
FIG. 5 is a schematic structural diagram of an excavator fault diagnosis system provided by the present invention;
FIG. 6 is a second schematic structural diagram of the excavator fault diagnosis system provided by the present invention;
fig. 7 is a schematic structural diagram of an electronic device provided by 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.
In the parameter data of the excavator, the engine cooling water temperature is an important index for judging whether the excavator is healthy or not. The excavator is at the in-process of operation, and the produced heat of fuel burning, partly is utilized by the engine, and external acting, partly takes away the heat through exhaust emission, and partly externally scatters and disappears through the engine body in addition, and the most heat of scattering and disappearing externally through the engine body is taken away by the recirculated cooling water in the engine housing, and the subtotal heat is taken away through the air convection. The heat carried away by the cooling water needs to be balanced by the heat convection between the radiator and the air.
Therefore, whether the cooling water temperature of the engine is abnormal can reflect whether the engine generates heat abnormally or not, and can reflect whether the heat dissipation capacity of a heat dissipation system is insufficient or not. That is, whether the engine cooling water temperature of the excavator is normal or not is a problem in many respects such as the engine system and the heat radiation system, and therefore, it is significant to determine a potential failure of the excavator using the engine cooling water temperature.
In the engine cooling water temperature alarm system in the prior art, the engine cooling water temperature is judged by only using one threshold value, namely an alarm signal is sent when the engine cooling water temperature exceeds a certain value, but the fault of the excavator in a low-temperature environment or under low oil consumption cannot be found by the method, so that the invention provides the excavator fault diagnosis method.
Fig. 1 is a schematic flow chart of a fault diagnosis method for an excavator, which is provided by the present invention, and as shown in fig. 1, the method includes:
s11, acquiring parameter data of the excavator in a preset time period and the ambient temperature of the place where the excavator is located, wherein the parameter data comprise the actual cooling water temperature of an engine, the rotating speed of the engine and the oil consumption of the engine;
s12, calculating the theoretical cooling water temperature of the engine of the excavator based on the environment temperature, the engine rotating speed, the engine oil consumption and a first cooling water temperature model;
s13, performing fault diagnosis on the excavator based on the actual cooling water temperature of the engine and the theoretical cooling water temperature of the engine;
the first cooling water temperature model is used for representing a functional relation between the theoretical cooling water temperature of the engine of the excavator in the preset time period and the engine speed, the engine oil consumption and the ambient temperature of the place where the excavator is located.
In the excavator fault diagnosis method provided in the embodiment of the present invention, the execution main body is a server, the server may be a local server or a cloud server, and the local server may specifically be a computer, a tablet computer, a smart phone, and the like.
Step S11 is performed first. Acquiring parameter data of the excavator in a preset time period and the environment temperature of the place where the excavator is located, wherein the parameter data comprises the actual cooling water temperature of an engine, the rotating speed of the engine and the oil consumption of the engine.
The parameter data of the excavator in the preset time period can comprise offline parameter data and online parameter data. The off-line parameter data refers to the acquired parameter data of the excavator, and the on-line parameter data refers to the parameter data of the excavator acquired in real time in the working process of the excavator.
The parameter data of the excavator in the preset time period CAN be acquired through the CAN bus. The CAN (Controller Area Network, CAN) bus refers to a Controller Area Network, and is a multi-host serial bus standard for connecting electronic control units. The data communication among all nodes of the network of the CAN bus is strong in real-time performance, so that all parameter data of the excavator CAN be directly acquired through the CAN bus.
The preset time period may be set according to actual needs, which is not specifically limited in the embodiment of the present invention, and may be set to 5 minutes, for example. The environmental temperature of the place where the excavator is located refers to the environmental temperature of the area where the excavator works, and can be obtained by inquiring the meteorological temperature of the area where the excavator is located or through the Internet.
The parameter data of the excavator in the preset time period corresponds to the environment temperature of the location of the excavator, for example, the parameter data of the excavator in the preset time period is the parameter data of 10 minutes to 15 minutes in 10 fifths in the afternoon of 26 days in 7 months in 2021, and the environment temperature of the location of the excavator is the environment temperature of 10 minutes to 15 minutes in the afternoon of 26 days in 7 months in 2021.
The parameter data of the excavator includes an actual engine cooling water temperature of the excavator, and the actual engine cooling water temperature is an actual engine cooling water temperature of the excavator in an operation state.
Then step S12 is performed. And calculating the theoretical cooling water temperature of the engine of the excavator based on the environment temperature, the engine rotating speed, the engine oil consumption and the first cooling water temperature model. The first cooling water temperature model is used for representing a functional relation between the theoretical cooling water temperature of the engine of the excavator in the preset time period and the engine speed, the oil consumption of the engine and the ambient temperature of the place where the excavator is located.
The first cooling water temperature model is a functional relation between the theoretical cooling water temperature of the engine of the characterized excavator in the preset time period and the engine speed, the engine oil consumption and the environment temperature of the place where the excavator is located, so that the first cooling water temperature model can be obtained by fitting a plurality of groups of different excavator historical engine speed samples, historical engine oil consumption samples, historical engine actual cooling water temperature samples and historical environment temperature samples in the preset time period. The fitting method may be nonlinear least square fitting, polynomial fitting, or the like.
After the first cooling water temperature model is determined, the theoretical cooling water temperature of the engine of the excavator can be calculated through the first cooling water temperature model according to the obtained environment temperature, the engine rotating speed and the engine oil consumption.
And finally, executing a step S13, and diagnosing the fault of the excavator based on the actual cooling water temperature of the engine and the theoretical cooling water temperature of the engine.
After the theoretical cooling water temperature of the engine is obtained by using the first cooling water temperature model, the theoretical cooling water temperature of the engine and the actual cooling water temperature of the engine can be compared, and therefore fault diagnosis is conducted on the excavator.
When the difference between the theoretical cooling water temperature of the engine and the actual cooling water temperature of the engine is smaller than a preset threshold value, the actual cooling water temperature of the engine at the moment is in a normal range, and the excavator is quite likely to have no fault; when the difference between the theoretical cooling water temperature of the engine and the actual cooling water temperature of the engine is larger than a preset threshold value, it is indicated that the actual cooling water temperature of the engine at the moment exceeds a normal range, the excavator may have a fault, and corresponding processing needs to be performed, for example, an alarm signal is sent. The preset threshold may be set according to actual needs, which is not specifically limited in the embodiment of the present invention.
Fig. 2 is a scatter diagram of an actual engine cooling water temperature in the present invention, fig. 3 is a comparison diagram of an actual engine cooling water temperature and a theoretical engine cooling water temperature in the present invention, and a curve in fig. 3 shows the theoretical engine cooling water temperature. As shown in fig. 3, the larger the normalized index deviation 1 corresponding to the temperature spike point is, the more the state of the excavator deteriorates.
According to the excavator fault diagnosis method in the embodiment of the invention, parameter data of the excavator in a preset time period and the ambient temperature of the place where the excavator is located are obtained, the theoretical cooling water temperature of the engine is calculated based on the ambient temperature, the engine speed, the oil consumption of the engine and a first cooling water temperature model, finally, fault diagnosis is carried out on the excavator by comparing the actual cooling water temperature of the engine with the theoretical cooling water temperature of the engine, abnormality is found before the actual cooling water temperature of the engine reaches an alarm value, and the fault of the excavator is judged and processed in advance, so that the fault is prevented from being enlarged.
On the basis of the above embodiment, in the excavator fault diagnosis method provided by the embodiment of the present invention, the parameter data further includes an action code;
the method for acquiring the parameter data of the excavator in the preset time period further comprises the following steps:
screening the parameter data of the excavator in a preset time period based on the actual cooling water temperature of the engine, the rotating speed of the engine and the action code to obtain preselected parameter data of the excavator in the preset time period;
calculating the average value and the standard deviation of the oil consumption of the engine in the preselected parameter data;
and screening the preselected parameter data based on the average value and the standard deviation of the oil consumption of the engine to obtain target parameter data of the excavator in a preset time period.
Specifically, in the embodiment of the present invention, the parameter data of the excavator in the preset time period further includes an action code. The motion codes are used for representing the motion of the excavator in each stage during operation.
After parameter data of the excavator in a preset time period are obtained, the parameter data of the excavator in the preset time period can be screened based on the actual cooling water temperature of the engine, the rotating speed of the engine and the action code, and preselected parameter data of the excavator in the preset time period are obtained.
For example, parameter data that the engine speed data is less than a preset speed threshold, the motion encoding data is not within a preset motion encoding range, or the actual cooling water temperature data of the engine is less than the thermostat opening temperature may be screened. The thermostat opening temperature is an inherent parameter of the thermostat, and is related to the type of the thermostat used in the excavator, and the preset rotation speed threshold value and the preset action coding range can be set according to actual needs.
After the parameter data of the excavator in the preset time period are screened according to the process, the pre-selected parameter data can be obtained. After the pre-selected parameter data is obtained, the average and standard deviation of the engine oil consumption in the pre-selected parameter data can be calculated.
And screening the preselected parameter data according to the average value and the standard deviation of the oil consumption of the engine, so as to obtain the target parameter data of the excavator in a preset time period.
After the average value and the standard deviation of the oil consumption of the engine are obtained, the relation between the oil consumption of any engine in the pre-selection parameter data and the difference value between the average value and two times of the standard deviation can be judged, namely, if the average value of the oil consumption of the engine is mu and the standard deviation is sigma, the relation between the oil consumption of any engine in the pre-selection parameter data and mu-2 sigma needs to be judged, if the oil consumption of any engine is less than mu-2 sigma through judgment, the pre-selection parameter data containing the oil consumption of any engine can be removed, and finally the target parameter data are obtained.
According to the excavator fault diagnosis method in the embodiment of the invention, after the parameter data of the excavator in the preset time period are obtained, the parameter data are grouped and cleaned to obtain the pre-selection parameter data, the pre-selection parameter data are screened to obtain the target parameter data, the parameter data and other unsteady data in the starting process of the excavator are effectively removed, and the fault diagnosis accuracy is improved.
On the basis of the foregoing embodiment, the method for diagnosing a fault of an excavator according to an embodiment of the present invention, where the screening is performed on parameter data of the excavator in a preset time period based on the actual cooling water temperature of the engine, the engine speed, and the motion code, so as to obtain pre-selected parameter data of the excavator in the preset time period, specifically includes:
and removing parameter data in which the actual cooling water temperature of the engine in the parameter data is smaller than a preset cooling water temperature threshold value, or the rotating speed of the engine in the parameter data is smaller than a preset rotating speed threshold value, or the action code in the parameter data is not in a preset action code range, so as to obtain preselected parameter data of the excavator in a preset time period.
Specifically, in the embodiment of the invention, since the actual cooling water temperature of the engine is increased in the starting process of the excavator, the starting process needs to be identified, and the data in the starting process needs to be removed. The parameter data with the small engine speed, the parameter data with the motion code not in the preset range and the parameter data with the small actual cooling water temperature of the engine all possibly represent that the excavator is in the starting process at the moment, and therefore the parameter data need to be eliminated.
The preset cooling water temperature threshold may be an opening temperature of the thermostat, and the preset rotation speed threshold and the preset motion coding range may be set according to actual needs, which is not specifically limited in the embodiment of the present invention.
According to the fault diagnosis method for the excavator, parameter data in the parameter data are removed, wherein the actual cooling water temperature of the engine in the parameter data is smaller than the preset cooling water temperature threshold value, the rotating speed of the engine in the parameter data is smaller than the preset rotating speed threshold value, or the action code in the parameter data is not in the preset action code range, so that the starting process of the excavator is effectively identified, the parameter data in the starting process of the excavator are effectively removed, and the fault diagnosis accuracy is improved.
On the basis of the above embodiment, in the excavator fault diagnosis method according to the embodiment of the present invention, the first cooling water temperature model is established based on the following method:
acquiring a parameter data sample of an excavator sample and an environment temperature sample of the location of the excavator sample, wherein the parameter data sample comprises: the method comprises the steps of sampling actual cooling water temperature of an engine, sampling engine speed, sampling engine oil consumption and sampling action codes;
screening parameter data samples of the excavator in a preset time period based on the actual cooling water temperature sample of the engine, the rotating speed sample of the engine and the motion coding sample to obtain preselected parameter data samples of the excavator in the preset time period;
calculating the average value and the standard deviation of the engine oil consumption samples in the pre-selected parameter data samples; screening the pre-selected parameter data samples based on the average value and the standard deviation of the engine oil consumption samples to obtain target parameter data samples of the excavator in a preset time period;
establishing the first cooling water temperature model based on the target parameter data samples and the ambient temperature samples.
Specifically, in the embodiment of the present invention, a parameter data sample of an excavator sample and an environmental temperature sample of a location where the excavator sample is located may be obtained first, where the parameter data sample includes: the method comprises the steps of engine actual cooling water temperature samples, engine rotating speed samples and engine oil consumption samples. These excavator samples are from different excavators of the same model.
After the parameter data samples of the excavator in the preset time period are obtained, the parameter data samples of the excavator in the preset time period can be screened based on the actual cooling water temperature samples of the engine, the engine rotating speed samples and the motion coding samples, and the preselected parameter data samples of the excavator in the preset time period are obtained.
And eliminating parameter data samples of which the actual cooling water temperature samples of the engine in the parameter data samples are smaller than a preset cooling water temperature threshold value, or of which the engine rotating speed samples are smaller than a preset rotating speed threshold value, or of which the motion coding samples are not in a preset motion coding range, so as to obtain preselected parameter data samples of the excavator in a preset time period.
The preset cooling water temperature threshold may be an opening temperature of the thermostat, and the preset rotation speed threshold and the preset motion coding range may be set according to actual needs, which is not specifically limited in the embodiment of the present invention.
After the parameter data samples of the excavator in the preset time period are screened according to the process, the preselected parameter data samples can be obtained. After the pre-selected parameter data samples are obtained, the average and standard deviation of engine oil consumption in the pre-selected parameter data samples can be calculated.
And screening the pre-selected parameter data samples according to the average value and the standard deviation of the engine oil consumption samples to obtain target parameter data samples of the excavator in a preset time period.
After the average value and the standard deviation of the engine oil consumption samples are obtained, the relation between any one of the engine oil consumption samples in the pre-selection parameter data samples and the difference value between the average value and two times of the standard deviation can be judged, namely, if the average value of the engine oil consumption samples is mu and the standard deviation is sigma, the relation between any one of the engine oil consumption in the pre-selection parameter data samples and mu-2 sigma needs to be judged, if the judgment shows that any one of the engine oil consumption samples is smaller than mu-2 sigma, the pre-selection parameter data samples containing any one of the engine oil consumption samples can be removed, and finally the target parameter data samples are obtained.
After the target parameter data sample is obtained, the target parameter data sample comprises an actual cooling water temperature sample of the engine, an engine rotating speed sample and an engine oil consumption sample, so that a first cooling water temperature model can be established by the fitting method based on the target parameter data sample and the environment temperature sample.
According to the fault diagnosis method for the excavator, parameter data samples are obtained, the parameter data samples are screened, modeling is carried out by using the screened parameter data samples, and due to the fact that the parameter data samples in the starting process of the excavator and other non-quasi-steady-state data are removed in the screening process, the accuracy of a first cooling water temperature model which is subsequently established is improved.
On the basis of the foregoing embodiment, the method for diagnosing a fault of an excavator according to an embodiment of the present invention, where the establishing of the first cooling water temperature model based on the target parameter data sample and the environmental temperature sample specifically includes:
determining an ambient temperature function based on the engine actual cooling water temperature samples and the ambient temperature samples in the target parameter data samples;
and determining the first cooling water temperature model based on a heat balance principle in the processes of heat generation of an engine, heat absorption of cooling water and heat dissipation of a heat dissipation system and the environment temperature function.
Specifically, in the embodiment of the invention, the ambient temperature function can be determined through the actual cooling water temperature sample of the engine and the ambient temperature sample.
Because each engine actual cooling water temperature sample corresponds to one environment temperature sample, an environment temperature function can be determined through least square fitting or polynomial fitting and other fitting modes, and the environment temperature function can be used for representing the influence of the environment temperature on the engine actual cooling water temperature.
After the environment temperature function is determined, a first cooling water temperature model can be established according to the heat balance principle in the processes of heat generation of the engine, heat absorption of cooling water and heat dissipation of a heat dissipation system. The heat balance principle means that part of heat generated by diesel combustion in the engine needs to exchange heat with cooling water in a cylinder body, namely the calorific value of the diesel combustion is absorbed by the cooling water according to a proportion, and the calorific value of the diesel combustion is related to the oil consumption of the engine, so that the temperature of the cooling water is increased from T 1 Is raised to T 2 (ii) a Meanwhile, after the cooling water absorbs heat, the heat is taken away through the cooling fan radiator, and the heat balance state is kept, namely the environment temperature is changed from T through the heat absorbed by the cooling water e Heating to T out And T is out And also with T 1 And T 2 The actual cooling water temperature of the engine is directly proportional to the oil consumption of the engine and inversely proportional to the rotating speed of the engine by combining the heat balance principle.
Therefore, according to the heat balance principle and the environmental temperature function, the first cooling water temperature model can be established. The first cooling water temperature model is used for representing a functional relation between theoretical cooling water temperature of an engine of the excavator in a preset time period and engine rotating speed, engine oil consumption and ambient temperature of the place where the excavator is located.
According to the excavator fault diagnosis method in the embodiment of the invention, the environment temperature function is obtained through fitting according to the actual cooling water temperature and the environment temperature of the engine, the influence of the environment temperature on the cooling water temperature is represented, and the first cooling water temperature model is determined by combining the heat generation principle of the engine, the heat absorption principle of the cooling water and the heat balance principle of the heat dissipation system in the heat dissipation process, the influence of various factors on the actual cooling water temperature of the engine is considered, and the accuracy of calculating the theoretical cooling water temperature of the engine by using the first cooling water temperature is improved.
The invention further provides an excavator fault diagnosis method, fig. 4 is a second flow schematic diagram of the excavator fault diagnosis method provided by the invention, and as shown in fig. 4, the method comprises the following steps:
s21, acquiring parameter data of the excavator in a preset time period and the environment temperature of the place where the excavator is located, wherein the parameter data comprise the actual cooling water temperature of an engine, the rotating speed of the engine and the oil consumption of the engine;
s22, inputting the parameter data and the environment temperature into a second cooling water temperature model to obtain the theoretical cooling water temperature of the engine output by the second cooling water temperature model;
s23, fault diagnosis is carried out on the excavator on the basis of the actual engine cooling water temperature and the theoretical engine cooling water temperature;
the second cooling water temperature model is obtained by training based on parameter data samples carrying an engine theoretical cooling water temperature label and an environment temperature label.
In the excavator fault diagnosis method provided in the embodiment of the present invention, the execution main body is a server, the server may be a local server, and may also be a cloud server, and the local server may specifically be a computer, a tablet computer, a smart phone, and the like, which is not specifically limited in the embodiment of the present invention.
Step S21 is performed first. Acquiring parameter data of the excavator in a preset time period and the ambient temperature of the place where the excavator is located, wherein the parameter data comprise actual hydraulic oil temperature, engine rotating speed and main pump power. The method for acquiring the parameter data of the excavator in the preset time period is the same as the embodiment, and the preset time period can be set according to actual needs.
Then step S22 is performed. And inputting the parameter data and the environment temperature into a second hydraulic oil temperature model to obtain the theoretical hydraulic oil temperature output by the second hydraulic oil temperature model, wherein the second hydraulic oil temperature model is obtained by training based on a parameter data sample carrying a theoretical hydraulic oil temperature label and an environment temperature label.
The second hydraulic oil temperature model may be an existing open source neural network model, such as a convolutional neural network model, a residual neural network model, or a cyclic neural network model, and this is not particularly limited in the embodiment of the present invention.
The second hydraulic oil temperature model is obtained based on parameter data sample training with a theoretical hydraulic oil temperature label and an environmental temperature label. The second hydraulic oil temperature model can be obtained through training in the following way: firstly, a large number of parameter data samples are collected, the parameter data samples are screened according to the method in the embodiment, target parameter data samples are obtained, and the target parameter data samples are marked, namely the target parameter data samples are enabled to carry theoretical hydraulic oil temperature labels and environment temperature labels. And training an initial model based on a label carrying a theoretical hydraulic oil temperature and a label carrying an environmental temperature, so as to obtain a second hydraulic oil temperature model.
Different parameter data and environment temperatures correspond to different hydraulic oil temperature data, so that the theoretical hydraulic oil temperature can be obtained by inputting the parameter data and the environment temperatures into the second hydraulic oil temperature model.
Finally, step S3 is performed. And performing fault diagnosis on the excavator based on the actual hydraulic oil temperature and the theoretical hydraulic oil temperature.
After the theoretical hydraulic oil temperature is obtained by using the first hydraulic oil temperature model, the theoretical hydraulic oil temperature and the actual hydraulic oil temperature can be compared, so that fault diagnosis is performed on the excavator.
When the difference between the theoretical hydraulic oil temperature and the actual hydraulic oil temperature is smaller than a preset threshold value, the fact that the actual hydraulic oil temperature is in a normal range at the moment is shown, and the excavator is likely to have no fault; when the difference between the theoretical hydraulic oil temperature and the actual hydraulic oil temperature is greater than a preset threshold value, it is indicated that the actual hydraulic oil temperature exceeds the normal range at the moment, the excavator may have a fault, and corresponding processing needs to be performed, for example, sending an alarm signal and the like. The preset threshold may be set according to actual needs, which is not specifically limited in the embodiment of the present invention.
According to the fault diagnosis method for the excavator in the embodiment of the invention, parameter data and the environmental temperature of the place where the excavator is located in the preset time period are obtained, the parameter data and the environmental temperature are input into the second hydraulic oil temperature model to obtain the theoretical hydraulic oil temperature output by the second hydraulic oil temperature model, and finally fault diagnosis is carried out on the excavator by comparing the actual hydraulic oil temperature with the theoretical hydraulic oil temperature, so that the abnormality can be found before the hydraulic oil temperature data reaches the alarm value, the fault can be judged and processed in advance, and the fault is prevented from being enlarged.
On the basis of the above embodiment, in the excavator fault diagnosis method, the parameter data further includes an action code;
the method for acquiring the parameter data of the excavator in the preset time period further comprises the following steps:
screening parameter data of the excavator within a preset time period based on the actual cooling water temperature of the engine, the engine rotating speed and the action code to obtain preselected parameter data of the excavator within the preset time period;
calculating the average value and the standard deviation of the oil consumption of the engine in the pre-selected parameter data;
and screening the preselected parameter data based on the average value and the standard deviation of the oil consumption of the engine to obtain target parameter data of the excavator in a preset time period.
Specifically, in the embodiment of the present invention, the parameter data of the excavator in the preset time period further includes an action code. The motion codes are used for representing the motion of the excavator in each stage during operation.
After parameter data of the excavator in a preset time period are obtained, the parameter data of the excavator in the preset time period can be screened based on the actual cooling water temperature of the engine, the rotating speed of the engine and the action code, and preselected parameter data of the excavator in the preset time period are obtained.
And removing parameter data in which the actual cooling water temperature of the engine in the parameter data is smaller than a preset cooling water temperature threshold value, or the rotating speed of the engine in the parameter data is smaller than a preset rotating speed threshold value, or the action code in the parameter data is not in a preset action code range, so as to obtain preselected parameter data of the excavator in a preset time period.
The preset cooling water temperature threshold may be an opening temperature of the thermostat, and the preset rotation speed threshold and the preset motion coding range may be set according to actual needs, which is not specifically limited in the embodiment of the present invention.
After the parameter data of the excavator in the preset time period are screened according to the process, the pre-selected parameter data can be obtained. After the pre-selected parameter data is obtained, the average and standard deviation of the engine oil consumption in the pre-selected parameter data can be calculated.
And screening the pre-selected parameter data according to the average value and the standard deviation of the oil consumption of the engine, so that the target parameter data of the excavator in a preset time period can be obtained.
After the average value and the standard deviation of the oil consumption of the engine are obtained, the relation between the oil consumption of any engine in the pre-selection parameter data and the difference value between the average value and two times of the standard deviation can be judged, namely, if the average value of the oil consumption of the engine is mu and the standard deviation is sigma, the relation between the oil consumption of any engine in the pre-selection parameter data and mu-2 sigma needs to be judged, if the oil consumption of any engine is less than mu-2 sigma through judgment, the pre-selection parameter data containing the oil consumption of any engine can be removed, and finally the target parameter data are obtained.
The invention also provides an excavator, which comprises an excavator fault diagnosis system, wherein the fault diagnosis system is used for carrying out fault diagnosis on the excavator based on the excavator fault diagnosis method.
Fig. 5 is a schematic structural diagram of an excavator fault diagnosis system provided by the present invention, and as shown in fig. 5, the system includes:
the data acquisition module 501 is used for acquiring parameter data of the excavator in a preset time period and the ambient temperature of the place where the excavator is located, wherein the parameter data comprises the actual cooling water temperature of an engine, the rotating speed of the engine and the oil consumption of the engine;
an engine theoretical cooling water temperature calculation module 502, configured to calculate an engine theoretical cooling water temperature of the excavator based on the ambient temperature, the engine speed, the engine oil consumption, and a first cooling water temperature model;
a fault diagnosis module 503, configured to perform fault diagnosis on the excavator based on the actual engine cooling water temperature and the theoretical engine cooling water temperature;
the first cooling water temperature model is used for representing a functional relation between the theoretical cooling water temperature of the engine of the excavator in the preset time period and the engine speed, the engine oil consumption and the ambient temperature of the place where the excavator is located.
On the basis of the above embodiment, in the system for diagnosing a fault of an excavator provided in the embodiment of the present invention, the parameter data further includes an action code, and the system further includes:
the pre-selection parameter data acquisition module is used for screening the parameter data of the excavator in a preset time period based on the actual cooling water temperature of the engine, the rotating speed of the engine and the action code to obtain the pre-selection parameter data of the excavator in the preset time period;
the average value and standard deviation calculation module is used for calculating the average value and standard deviation of the oil consumption of the engine in the preselected parameter data;
and the target parameter data acquisition module is used for screening the pre-selected parameter data based on the average value and the standard deviation of the oil consumption of the engine to obtain the target parameter data of the excavator in a preset time period.
On the basis of the above embodiment, in the system for diagnosing a fault of an excavator provided in the embodiment of the present invention, the module for acquiring data of preselected parameters specifically includes:
and the data removing submodule is used for removing the parameter data in which the actual cooling water temperature of the engine in the parameter data is smaller than a preset cooling water temperature threshold value, the rotating speed of the engine in the parameter data is smaller than a preset rotating speed threshold value or the action code in the parameter data is not in a preset action code range, so as to obtain the preselected parameter data of the excavator in a preset time period.
On the basis of the foregoing embodiment, in the excavator fault diagnosis system provided in the embodiment of the present invention, the engine theoretical cooling water temperature calculation module specifically includes:
the sample data acquisition submodule is used for acquiring a parameter data sample of the excavator sample and an environment temperature sample of the place where the excavator sample is located, wherein the parameter data sample comprises: the method comprises the steps of sampling actual cooling water temperature of an engine, sampling engine speed, sampling engine oil consumption and sampling action codes;
the pre-selection parameter data sample submodule is used for screening the parameter data samples of the excavator in a preset time period based on the actual cooling water temperature sample of the engine, the engine rotating speed sample and the action coding sample to obtain the pre-selection parameter data samples of the excavator in the preset time period;
the target parameter data sample submodule is used for calculating the average value and the standard deviation of the engine oil consumption samples in the preselected parameter data samples; screening the pre-selected parameter data samples based on the average value and the standard deviation of the engine oil consumption samples to obtain target parameter data samples of the excavator in a preset time period;
and the first cooling water model building submodule is used for building the first cooling water temperature model based on the target parameter data sample and the environment temperature sample.
On the basis of the foregoing embodiment, in the excavator fault diagnosis system provided in the embodiment of the present invention, the first cooling water model building submodule specifically includes:
the environment temperature function construction unit is used for determining an environment temperature function based on the engine actual cooling water temperature sample in the target parameter data sample and the environment temperature sample;
and the first cooling water temperature model building unit is used for determining the first cooling water temperature model based on the heat balance principle in the processes of heat generation of an engine, heat absorption of cooling water and heat dissipation of a heat dissipation system and the environment temperature function.
Specifically, the functions of the modules in the excavator fault diagnosis system provided in the embodiment of the present invention correspond to the operation flows of the steps in the method embodiments one to one, and the implementation effects are also consistent.
Fig. 6 is a schematic structural diagram of an excavator fault diagnosis system provided by the present invention, and as shown in fig. 6, the system includes:
the data acquisition module 601 is used for acquiring parameter data of the excavator in a preset time period and the ambient temperature of the location of the excavator, wherein the parameter data comprises the actual cooling water temperature of an engine, the rotating speed of the engine and the oil consumption of the engine;
an engine theoretical cooling water temperature calculation module 602, configured to input the parameter data and the ambient temperature into a second cooling water temperature model, so as to obtain an engine theoretical cooling water temperature output by the second cooling water temperature model;
a fault diagnosis module 603 configured to perform fault diagnosis on the excavator based on the actual engine cooling water temperature and the theoretical engine cooling water temperature;
the second cooling water temperature model is obtained by training based on parameter data samples carrying an engine theoretical cooling water temperature label and an environment temperature label.
On the basis of the above embodiment, in the system for diagnosing a fault of an excavator provided in the embodiment of the present invention, the parameter data further includes an action code, and the system further includes:
the pre-selection parameter data acquisition module is used for screening the parameter data of the excavator in a preset time period based on the actual cooling water temperature of the engine, the rotating speed of the engine and the action code to obtain the pre-selection parameter data of the excavator in the preset time period;
the average value and standard deviation calculation module is used for calculating the average value and the standard deviation of the oil consumption of the engine in the preselected parameter data;
and the target parameter data acquisition module is used for screening the pre-selected parameter data based on the average value and the standard deviation of the oil consumption of the engine to obtain the target parameter data of the excavator in a preset time period.
Specifically, the functions of the modules in the excavator fault diagnosis system provided in the embodiment of the present invention correspond to the operation flows of the steps in the method embodiments one to one, and the implementation effects are also consistent.
Fig. 7 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 7: a processor (processor) 710, a communication Interface (Communications Interface) 720, a memory (memory) 730, and a communication bus 740, wherein the processor 710, the communication Interface 720, and the memory 730 communicate with each other via the communication bus 740. The processor 710 may call logic instructions in the memory 730 to perform the excavator fault diagnosis method provided by the above embodiments, the method including: acquiring parameter data of the excavator in a preset time period and the environment temperature of the place where the excavator is located, wherein the parameter data comprise the actual cooling water temperature of an engine, the rotating speed of the engine and the oil consumption of the engine; calculating an engine theoretical cooling water temperature of the excavator based on the ambient temperature, the engine speed, the engine oil consumption and a first cooling water temperature model; performing fault diagnosis on the excavator based on the actual cooling water temperature of the engine and the theoretical cooling water temperature of the engine; the first cooling water temperature model is used for representing a functional relation between the theoretical cooling water temperature of the engine of the excavator in the preset time period and the engine speed, the engine oil consumption and the ambient temperature of the place where the excavator is located. Alternatively, the method comprises: acquiring parameter data of the excavator in a preset time period and the environment temperature of the place where the excavator is located, wherein the parameter data comprise the actual cooling water temperature of an engine, the rotating speed of the engine and the oil consumption of the engine; inputting the parameter data and the environment temperature into a second cooling water temperature model to obtain the theoretical cooling water temperature of the engine output by the second cooling water temperature model; performing fault diagnosis on the excavator based on the actual engine cooling water temperature and the theoretical engine cooling water temperature; and the second cooling water temperature model is obtained by training based on a parameter data sample carrying an engine theoretical cooling water temperature label and an environment temperature label.
In addition, the logic instructions in the memory 730 can be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions 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 also provides a computer program product, the computer program product including a computer program stored on a non-transitory computer readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, the computer being capable of executing the excavator fault diagnosis method provided by the above embodiments, the method including: acquiring parameter data of the excavator in a preset time period and the environment temperature of the place where the excavator is located, wherein the parameter data comprise the actual cooling water temperature of an engine, the rotating speed of the engine and the oil consumption of the engine; calculating an engine theoretical cooling water temperature of the excavator based on the ambient temperature, the engine speed, the engine oil consumption and a first cooling water temperature model; performing fault diagnosis on the excavator based on the actual engine cooling water temperature and the theoretical engine cooling water temperature; the first cooling water temperature model is used for representing a functional relation between the theoretical cooling water temperature of the engine of the excavator in the preset time period and the engine speed, the engine oil consumption and the ambient temperature of the place where the excavator is located. Alternatively, the method comprises: acquiring parameter data of the excavator in a preset time period and the environment temperature of the place where the excavator is located, wherein the parameter data comprise the actual cooling water temperature of an engine, the rotating speed of the engine and the oil consumption of the engine; inputting the parameter data and the environment temperature into a second cooling water temperature model to obtain the theoretical cooling water temperature of the engine output by the second cooling water temperature model; performing fault diagnosis on the excavator based on the actual engine cooling water temperature and the theoretical engine cooling water temperature; the second cooling water temperature model is obtained by training based on parameter data samples carrying an engine theoretical cooling water temperature label and an environment temperature label.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to perform the excavator fault diagnosis method provided by the above embodiments, the method including: acquiring parameter data of the excavator in a preset time period and the ambient temperature of the place where the excavator is located, wherein the parameter data comprise the actual cooling water temperature of an engine, the rotating speed of the engine and the oil consumption of the engine; calculating an engine theoretical cooling water temperature of the excavator based on the ambient temperature, the engine speed, the engine oil consumption and a first cooling water temperature model; performing fault diagnosis on the excavator based on the actual cooling water temperature of the engine and the theoretical cooling water temperature of the engine; the first cooling water temperature model is used for representing a functional relation between the theoretical cooling water temperature of the engine of the excavator in the preset time period and the engine speed, the engine oil consumption and the ambient temperature of the place where the excavator is located. Alternatively, the method comprises: acquiring parameter data of the excavator in a preset time period and the ambient temperature of the place where the excavator is located, wherein the parameter data comprise the actual cooling water temperature of an engine, the rotating speed of the engine and the oil consumption of the engine; inputting the parameter data and the environment temperature into a second cooling water temperature model to obtain the theoretical cooling water temperature of the engine output by the second cooling water temperature model; performing fault diagnosis on the excavator based on the actual engine cooling water temperature and the theoretical engine cooling water temperature; and the second cooling water temperature model is obtained by training based on a parameter data sample carrying an engine theoretical cooling water temperature label and an environment temperature label.
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 this 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 should 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.
Claims (10)
1. An excavator fault diagnosis method is characterized by comprising the following steps:
acquiring parameter data of the excavator in a preset time period and the environment temperature of the place where the excavator is located, wherein the parameter data comprise the actual cooling water temperature of an engine, the rotating speed of the engine and the oil consumption of the engine;
calculating an engine theoretical cooling water temperature of the excavator based on the ambient temperature, the engine speed, the engine oil consumption and a first cooling water temperature model;
performing fault diagnosis on the excavator based on the actual engine cooling water temperature and the theoretical engine cooling water temperature;
the first cooling water temperature model is used for representing the functional relation between the theoretical cooling water temperature of the engine in the preset time period and the engine speed, the engine oil consumption and the environment temperature of the place where the excavator is located, and the first cooling water temperature model is obtained by fitting historical engine speed samples, historical engine oil consumption samples, historical engine actual cooling water temperature samples and historical environment temperature samples of a plurality of groups of different excavators in the preset time period.
2. The excavator fault diagnosis method as claimed in claim 1, wherein the parameter data further includes an action code;
the method for acquiring the parameter data of the excavator in the preset time period further comprises the following steps:
screening parameter data of the excavator within a preset time period based on the actual cooling water temperature of the engine, the engine rotating speed and the action code to obtain preselected parameter data of the excavator within the preset time period;
calculating the average value and the standard deviation of the oil consumption of the engine in the preselected parameter data;
and screening the preselected parameter data based on the average value and the standard deviation of the oil consumption of the engine to obtain target parameter data of the excavator in a preset time period.
3. The method for diagnosing the fault of the excavator according to claim 2, wherein the step of screening the parameter data of the excavator in the preset time period based on the actual cooling water temperature of the engine, the engine speed and the motion code to obtain the preselected parameter data of the excavator in the preset time period specifically comprises the steps of:
and removing parameter data in which the actual cooling water temperature of the engine in the parameter data is smaller than a preset cooling water temperature threshold value, or the rotating speed of the engine in the parameter data is smaller than a preset rotating speed threshold value, or the action code in the parameter data is not in a preset action code range, so as to obtain preselected parameter data of the excavator in a preset time period.
4. The excavator fault diagnosis method as claimed in claim 2, wherein the first cooling water temperature model is established based on the following method:
acquiring a parameter data sample of an excavator sample and an environment temperature sample of the location of the excavator sample, wherein the parameter data sample comprises: the method comprises the steps of sampling actual cooling water temperature of an engine, sampling engine speed, sampling engine oil consumption and sampling action codes;
screening parameter data samples of the excavator in a preset time period based on the actual cooling water temperature sample of the engine, the rotating speed sample of the engine and the motion coding sample to obtain preselected parameter data samples of the excavator in the preset time period;
calculating the average value and the standard deviation of the engine oil consumption samples in the pre-selected parameter data samples; screening the pre-selected parameter data samples based on the average value and the standard deviation of the engine oil consumption samples to obtain target parameter data samples of the excavator in a preset time period;
establishing the first cooling water temperature model based on the target parameter data samples and the ambient temperature samples.
5. The method of claim 4, wherein the establishing the first cooling water temperature model based on the target parameter data samples and the ambient temperature samples specifically comprises:
determining an ambient temperature function based on the engine actual cooling water temperature samples and the ambient temperature samples in the target parameter data samples;
and determining the first cooling water temperature model based on a heat balance principle in the processes of heat generation of an engine, heat absorption of cooling water and heat dissipation of a heat dissipation system and the environment temperature function.
6. An excavator fault diagnosis method is characterized by comprising the following steps:
acquiring parameter data of the excavator in a preset time period and the ambient temperature of the place where the excavator is located, wherein the parameter data comprise the actual cooling water temperature of an engine, the rotating speed of the engine and the oil consumption of the engine;
inputting the parameter data and the environment temperature into a second cooling water temperature model to obtain the theoretical cooling water temperature of the engine output by the second cooling water temperature model;
performing fault diagnosis on the excavator based on the actual engine cooling water temperature and the theoretical engine cooling water temperature;
and the second cooling water temperature model is obtained by training based on a parameter data sample carrying an engine theoretical cooling water temperature label and an environment temperature label.
7. The excavator fault diagnosis method as claimed in claim 6, wherein the parameter data further includes an action code;
the method for acquiring the parameter data of the excavator in the preset time period further comprises the following steps:
screening parameter data of the excavator within a preset time period based on the actual cooling water temperature of the engine, the engine rotating speed and the action code to obtain preselected parameter data of the excavator within the preset time period;
calculating the average value and the standard deviation of the oil consumption of the engine in the pre-selected parameter data;
and screening the preselected parameter data based on the average value and the standard deviation of the oil consumption of the engine to obtain target parameter data of the excavator in a preset time period.
8. An excavator, characterized by comprising an excavator fault diagnosis system for performing fault diagnosis on the excavator based on the excavator fault diagnosis method as claimed in any one of claims 1 to 7.
9. 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 excavator fault diagnosis method according to any one of claims 1 to 7.
10. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the steps of the excavator fault diagnosis method according to any one of claims 1 to 7.
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| CN115762107B (en) * | 2022-11-11 | 2024-11-29 | 柳州柳工挖掘机有限公司 | Excavator temperature warning method, device, electronic equipment and storage medium |
| CN118958428B (en) * | 2024-10-15 | 2024-12-31 | 山东龙瑞机械设备有限公司 | A real-time fault diagnosis and monitoring system and method for excavators |
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