CN114861495A - Remaining life determining method and device and working machine - Google Patents

Remaining life determining method and device and working machine Download PDF

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CN114861495A
CN114861495A CN202210474964.4A CN202210474964A CN114861495A CN 114861495 A CN114861495 A CN 114861495A CN 202210474964 A CN202210474964 A CN 202210474964A CN 114861495 A CN114861495 A CN 114861495A
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高学敏
姜玥
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Shanghai Sany Heavy Machinery Co Ltd
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Abstract

The invention relates to the technical field of operating machinery, in particular to a method and a device for determining residual life and operating machinery, wherein the method comprises the following steps: acquiring target data of the working machine, which is acquired in real time, wherein the target data comprises pressure data of a hydraulic cylinder and pose data and moment data of at least one target component; determining a load for each target site on at least a portion of the target component based on the target data; for each target part, determining the fatigue damage of the target part in the current time period based on the load of the target part in the current time period, obtaining the total fatigue damage of the target part based on the fatigue damage of the target part in the current time period and the total fatigue damage before the current time period, and determining the residual life of the target part based on the total fatigue damage of the target part. The invention solves the problem of how to accurately obtain the service life of each part of the working machine, and the determined residual service life of the target part is more accurate.

Description

Remaining life determining method and device and working machine
Technical Field
The invention relates to the technical field of working machinery, in particular to a method and a device for determining residual life and the working machinery.
Background
The working conditions of the working machine are complicated and variable, and the life consumption of each part of the working machine is different under different working conditions, for example, under severe working conditions, the life consumption of each part of the working machine is faster, and when simple work is performed, the life consumption of each part of the working machine is slower. How to accurately obtain the service life of each part of the working machine is an important issue to be solved urgently in the industry at present.
Disclosure of Invention
The invention provides a remaining life determining method and device and a working machine, which are used for solving the problem of how to accurately obtain the life of each part of the working machine in the prior art and realizing accurate determination of the remaining life of a target part.
The invention provides a method for determining residual life, which comprises the following steps:
acquiring target data of the working machine, which is acquired in real time, wherein the target data comprises pressure data of a hydraulic cylinder and pose data and moment data of at least one target component;
determining a load for each target site on at least a portion of the target component based on the target data;
for each target part, determining the fatigue damage of the target part in the current time period based on the load of the target part in the current time period, obtaining the total fatigue damage of the target part based on the fatigue damage of the target part in the current time period and the total fatigue damage before the current time period, and determining the residual life of the target part based on the total fatigue damage of the target part.
Further, according to a remaining life determining method provided by the present invention, the determining a load of each target portion on at least a part of the target component based on the target data includes:
determining force information of at least part of the target component based on the target data;
determining a load of each of the target sites on at least a portion of the target component based on force information of at least a portion of the target component.
Further, according to a remaining life determining method provided by the present invention, the at least one target member includes a bucket, an arm, and a boom;
the pressure data of the hydraulic cylinder comprises pressure data of the hydraulic cylinder on the boom;
the torque data of the at least one target component comprises torque data on a pin of the bucket, torque data on a pin of the arm, and torque data on a pin of the boom;
the pose data of the at least one target member includes pose data of the bucket, pose data of the stick, and pose data of the boom.
Further, according to a remaining life determining method provided by the present invention, the determining the fatigue damage of the target portion in the current time period based on the load of the target portion in the current time period includes:
and determining the fatigue damage of the target part in the current time period through a rain flow meter algorithm and a preset relation curve of the load and the service life based on the load of the target part in the current time period.
Further, according to a remaining life determining method provided by the present invention, the determining a remaining life of the target portion based on the total fatigue damage of the target portion includes:
determining a remaining life of the target portion based on the total fatigue damage and the cumulative operating time of the target portion.
Further, according to a remaining life determining method provided by the present invention, determining a remaining life of the target portion based on a total fatigue damage and an accumulated operating time of the target portion includes:
obtaining the target service life based on the ratio of the accumulated working time of the target part to the total fatigue damage;
and taking the difference value between the target service life and the accumulated working time length as the residual service life of the target part.
Further, according to the remaining life determining method provided by the present invention, further comprising:
obtaining the percentage of the remaining life of each target part based on the ratio of the remaining life of each target part to the corresponding target life;
determining the background color corresponding to the residual life percentage of each target part according to the percentage interval in which the residual life percentage of each target part is based on the corresponding relation between the preset percentage interval and the background color;
and generating and displaying display content based on the residual life percentage of each target part and the corresponding background color.
The present invention also provides a remaining life determining apparatus, including:
the data acquisition module is used for acquiring target data of the working machine, which are acquired in real time, wherein the target data comprise pressure data of a hydraulic cylinder and pose data and moment data of at least one target component;
a load determination module to determine a load for each target site on at least a portion of the target component based on the target data;
the service life determining module is used for determining fatigue damage of the target part in the current time period based on the load of the target part in the current time period, obtaining total fatigue damage of the target part based on the fatigue damage of the target part in the current time period and the total fatigue damage before the current time period, and determining the residual service life of the target part based on the total fatigue damage of the target part.
The present invention also provides a working machine including the remaining life determining apparatus as defined in any one of the above.
The present invention also provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the above methods for determining remaining life when executing the computer program.
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 a method of determining remaining life as recited in any of the above.
The method for determining the residual service life can acquire the target data of the working machine acquired in real time, the target data comprising pressure data of the hydraulic cylinders and pose data and moment data of at least one target member, based on which the load of each target site on at least part of the target member can be determined in real time, obtaining the load time history of the target part, determining the fatigue damage of the target part in the current time period based on the load of the target part in the current time period, obtaining the total fatigue damage of the target part based on the fatigue damage of the target part in the current time period and the total fatigue damage before the current time period, obtaining the total fatigue damage of the target part based on the total fatigue damage of the target part, the remaining life of the target site may be determined, such that the determined remaining life of the target site is more accurate in view of the load time history of the target site.
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 method for determining remaining life provided by the present invention;
FIG. 2 is a schematic diagram of an application scenario provided by the present invention;
FIG. 3 is a schematic diagram illustrating force analysis of a boom according to the present invention;
FIG. 4 is a second schematic view of the force analysis of the boom according to the present invention;
FIG. 5 is a third schematic diagram illustrating force analysis of the boom according to the present invention;
FIG. 6 is a schematic diagram of a human-machine interface provided by the present invention;
FIG. 7 is a schematic diagram of a force analysis of the dipper provided by the present disclosure;
FIG. 8 is a graph of load versus life provided by the present invention;
fig. 9 is a schematic structural view of a remaining life determining apparatus provided by the present invention;
fig. 10 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.
The remaining life determining method of the present invention is described below with reference to fig. 1 to 8.
The invention provides a remaining life determining method, which can be applied to a working machine and executed by the working machine or software and/or hardware in the working machine, such as a main controller in the working machine, and can also be applied to a server and executed by the server or software and/or hardware in the server. The working machine can be an excavator, a crane, a pile driver, a loader, a bulldozer and other engineering machines. The remaining life determining method of the present invention will be described below by taking an example of application to a working machine.
Fig. 1 is a schematic flow chart of a remaining life determining method provided by the present invention.
As shown in fig. 1, the remaining life determining method provided in this embodiment at least includes the following steps:
step 101, acquiring target data of the working machine, which is acquired in real time, wherein the target data comprises pressure data of a hydraulic cylinder and pose data and moment data of at least one target component.
The target component is a component which needs to collect pose data and moment data, and the component can be a component on a working device of the working machine.
Step 102, determining a load of each target site on at least part of the target component based on the target data.
The target portion is a portion of the target member for which the remaining life needs to be determined. In practical application, the target part can be set according to actual requirements. Under different working conditions, the load of the target part is different, and the pressure data of the hydraulic cylinder of the working machine, the pose data and the moment data of the target component can influence the load of the target part, so that the data can be used as a basis for determining the load of the target part. In this way, the load of each target portion on at least part of the target component can be determined in real time based on the target data acquired in real time, that is, the load time history of the target portion is obtained.
Taking an excavator as an example, the at least one target component may include a bucket, a stick, and a boom. At least some of the target members may include a boom and an arm. The boom and the arm are important parts in the work apparatus of the excavator, and if the respective target portions of the boom and the arm have their lives exhausted, the influence on the work of the work apparatus is large, and therefore, the remaining lives of the respective target portions on the boom and the arm can be determined.
Accordingly, the pressure data of the hydraulic cylinder may include pressure data of the hydraulic cylinder of the boom.
The torque data of the at least one target component may include torque data on a pin of the bucket, torque data on a pin of the arm, and torque data on a pin of the boom.
The pose data of the at least one target member may include pose data of the bucket, pose data of the stick, and pose data of the boom.
In the face of different working conditions, pressure data of a hydraulic cylinder of the movable arm, moment data on a pin shaft of the bucket, moment data on a pin shaft of the arm and moment data on a pin shaft of the movable arm are different, and the data can accurately reflect the conditions of the working conditions of the excavator, so that the data can be used as a data base for determining the residual service life of the target part on the movable arm and the arm, and the accuracy of the residual service life of the target part is improved.
In practical applications, as shown in fig. 2, a pressure sensor 201 may be installed at an inlet and an outlet of a hydraulic cylinder of a boom, a position sensor 202, for example, a 6-axis position sensor may be installed at a bucket, an arm, and a boom, respectively, and a torque sensor 203 may be installed at a pin of the bucket, the arm, and the boom, respectively, and the torque sensor at the pin of the boom is not shown in fig. 2. And the pressure sensors, the pose sensor and the torque sensor are electrically connected with the main controller. Based on this, the main controller can receive the target data of the excavator collected in real time.
In the excavator, the bucket is relatively easy to replace when a problem occurs, so that the remaining life of each target portion of the bucket is not monitored.
Step 103, for each target portion, determining the fatigue damage of the target portion in the current time period based on the load of the target portion in the current time period, obtaining the total fatigue damage of the target portion based on the fatigue damage of the target portion in the current time period and the total fatigue damage before the current time period, and determining the remaining life of the target portion based on the total fatigue damage of the target portion.
In practical application, a preset time period may be set as a time period, based on step 102, in each time period, the load of the target portion at each time is obtained, different loads cause different damages to the target portion, that is, different consumptions of the life, the fatigue damage of the target portion in the current time period may be determined based on the load of the target portion at each time in the current time period, and then the fatigue damage of the target portion in the current time period and the total fatigue damage before the current time period are accumulated to obtain the total fatigue damage of the target portion. For example, the fatigue damage of the target portion is 2% in the current time period, the total fatigue damage of the target portion before the current time period has reached 60%, and the total fatigue damage is 62%. Finally, a remaining life of the target site is determined based on the total fatigue damage of the target site.
The specific value of the preset duration may be set according to an actual situation, and is not limited herein.
The timing of the time period may be started when the work implement of the work machine starts to work for the first time. And if the current time period is T, accumulating the fatigue damage in the time period T and the total fatigue damage before the time period T to obtain the total fatigue damage of the target part, entering the next time period T +1 after the time period T is finished, accumulating the fatigue damage in the time period T +1 and the total fatigue damage before the time period T +1, and repeating the steps.
In this embodiment, because the target data of the working machine acquired in real time may be acquired, where the target data includes pressure data of the hydraulic cylinder and pose data and moment data of at least one target component, based on which, the load of each target portion on at least part of the target components may be determined in real time, that is, the load time history of the target portion may be obtained, based on the load of the target portion in the current time period, the fatigue damage of the target component in the current time period may be determined, based on the fatigue damage of the target component in the current time period and the total fatigue damage before the current time period, the total fatigue damage of the target portion may be obtained, and based on the total fatigue damage of the target portion, the remaining life of the target portion may be determined, and thus, considering the load time history of the target portion, the determined remaining life of the target portion may be more accurate.
The improvement of the accuracy of the remaining life of the target portion can improve the timeliness of maintenance of the working machine. In addition, when estimating the secondary-hand machine, the estimation is more accurate than a simple estimation of the cumulative working time by the working machine.
Based on the above embodiment, the determining the load of each target portion on at least part of the target component based on the target data may include: determining force information of at least part of the target component based on the target data; determining a load of each of the target sites on at least a portion of the target component based on force information of at least a portion of the target component.
For example, when determining the load of each target portion on at least part of the target component based on the stress information of at least part of the target component, the load of each target portion on at least part of the target component may be determined by a finite element analysis method based on the stress information of the target component. The load at the target site may be a stress.
Taking an excavator as an example, the at least one target member includes a boom, an arm, and a bucket. At least some of the target members include a boom and an arm.
Taking the determination of the force information of the boom as an example, as shown in fig. 3, the force analysis is performed on the boom to obtain a mechanical model of the boom, wherein the force applied to the boom includes a reaction force F1 from an upper frame of the excavator, a reaction force F2 from a hydraulic cylinder of an arm, an action force F3 of the hydraulic cylinder of the boom, a gravity F4 of the boom, and a reaction force F5 from the arm. In practice, the boom weight F4 may be preset.
First, the magnitude of F1 may be determined based on torque data measured by a torque sensor on a pin of the boom, and the magnitude of F5 may be determined based on torque data measured by a torque sensor on a pin of the arm.
Secondly, the pressure data of the hydraulic cylinder may include pressure data of the hydraulic cylinder on the boom, the pressure data of the hydraulic cylinder of the boom may include pressure values of an inlet and an outlet of the hydraulic cylinder, and the magnitude of F3 may be determined according to the following formula:
F3＝2×(pressure_head×head_area-pressure_end×end_area) (1)
wherein, pressure _ head × head _ area represents a pressure value of an inlet of the hydraulic cylinder, and pressure _ end × end _ area represents a pressure value of an outlet of the hydraulic cylinder.
Then, the moment tau of the hydraulic cylinder of the arm relative to the pin shaft of the arm is obtained through a weighing system of the excavator 2 Determining F2, specifically determining F2 according to the following formula:
Figure BDA0003624946740000091
where d represents the vertical distance of the hydraulic cylinder of the arm with respect to the pin of the arm, see fig. 4. The self weighing system of the excavator obtains the moment tau of the hydraulic cylinder of the bucket rod relative to the pin shaft of the bucket rod 2 The method can refer to the related art, and is not described herein.
Subsequently, based on the measured attitude data of the attitude sensors respectively mounted on the bucket, the arm, and the boom, the directions of F2, F3, and F4 can be determined, and the direction θ of F1 can be solved according to the following formula 1 And the direction theta of F5 5 ：
F·cosθ+F1·cosθ 1 +F5·cosθ 5 ＝0 (3)
F·sinθ+F1·sinθ 1 +F5·sinθ 5 ＝0 (4)
Where F denotes the magnitude of the resultant force of F2, F3, and F4, and θ denotes the direction of the resultant force of F2, F3, and F4, as shown in fig. 5, the above equations (3) and (4) can be obtained by the principle of mechanical equilibrium. In fig. 5, X represents a coordinate axis.
Through the processes, the sizes and the directions of the forces F1, F2, F3, F4 and F5 of the movable arm can be obtained, and the force information of the movable arm is obtained. And obtaining the load of each target part of the movable arm by a finite element analysis method based on the stress information of the movable arm.
The target portion of the boom includes two end portions of the boom, see a portion a and a portion C shown in a Human Machine Interface (HMI) of fig. 6, and a middle portion between the two end portions, see a portion B shown in fig. 6, where a load at the portion a is σ A The load at the site B is σ B The load at the site C is σ C 。
As shown in fig. 7, the force applied to the arm includes a boom-to-arm acting force F6, a boom-to-arm hydraulic cylinder acting force F7, an arm hydraulic cylinder acting force F8, an arm gravity force F9, a bucket-to-arm acting force F10, and a link-to-arm acting force F11. In practice, the weight F9 of the stick may be preset. Wherein, F6 and F5 are acting force and reaction force, which are equal in magnitude and opposite in direction. F7 and F2 are acting and reacting forces, equal in magnitude and opposite in direction. And determining the size of F11 based on torque data measured by a torque sensor on a pin shaft at the position of the bucket rod connecting rod. The acting force F8 of the hydraulic cylinder of the arm can be obtained by a weighing system of the excavator, and reference can be made to the related art, which is not described herein. Based on pose data measured by pose sensors respectively mounted on the bucket, the arm and the boom, directions of F8, F10 and F11 can be determined, which may specifically refer to related technologies and are not described herein. Based on this, the magnitude of F10 can be further solved by the principle of mechanical equilibrium.
Through the process, the sizes and the directions of the stress F6, F7, F8, F9, F10 and F11 of the bucket rod can be obtained, and the stress information of the bucket rod is obtained. And obtaining the load of each target part of the bucket rod by a finite element analysis method based on the stress information of the bucket rod.
In this embodiment, the stress information of at least part of the target portion may be analyzed by the acquired target data, and since the stress of the target component may be transmitted to each portion of the target component, the load of each target portion on the target component may be determined by the stress information of the target component, thereby accurately obtaining the load of the target portion.
Based on the above embodiment, the determining the fatigue damage of the target portion in the current time period based on the load of the target portion in the current time period may include: and determining the fatigue damage of the target part in the current time period through a rain flow meter algorithm and a preset relation curve of the load and the service life based on the load of the target part in the current time period.
In practical application, a relation curve of the load and the service life of each target key component can be obtained through experiments, and as shown in fig. 8, the curve can embody the service life corresponding to a constant load. In implementation, the fatigue damage of the target part in the current time period can be determined through a rain flow meter algorithm and a preset load-life relation curve. The rain flow counting method is a commonly used analysis method for fatigue loads, and reference may be made to related technologies, which are not described herein again. In the embodiment, the fatigue damage of the target part in the current time period is obtained through a rain flow meter algorithm and a preset relation curve of load and service life, and the rain flow meter algorithm is a method capable of converting irregular and random load time histories into a series of cycles, is simple and easy to implement, and can quickly and accurately obtain the fatigue damage of the target part in the current time period.
Based on the above embodiment, the determining the remaining life of the target portion based on the total fatigue damage of the target portion may include: determining a remaining life of the target portion based on the total fatigue damage and the cumulative operating time of the target portion. In practical applications, the work machine may record the accumulated operating time of each target portion from the time when the work implement first starts operating.
Specifically, the determining the remaining life of the target portion based on the total fatigue damage and the accumulated working time of the target portion may include: obtaining a target service life based on the ratio of the accumulated working time of the target part to the total fatigue damage; and taking the difference value between the target service life and the accumulated working time length as the residual service life of the target part. The target lifetime is the theoretical lifetime of the target site.
For example, if the cumulative operating time of the target portion is 15000 hours and the total fatigue damage is 60%, the target lifetime is 25000 hours, and the cumulative operating time 15000 hours is subtracted from the target lifetime 25000 hours, which is 10000 hours.
In addition, the unit of the remaining life of the target site may be further converted into a necessary unit.
Because the accumulated working time can reflect the service life of the target part, under the determined total fatigue damage, the longer the accumulated working time is, the simpler the working condition is, on the contrary, the worse the working condition is, under severe working conditions, the theoretical life is shorter, and under simple working conditions, the theoretical life is longer, therefore, the theoretical life can be accurately measured by combining the total fatigue damage of the target part and the accumulated working time, and further, the target service life of the target part, namely the theoretical service life of the target part is obtained according to the ratio of the accumulated working time of the target part to the total fatigue damage, the relationship between the accumulated working time, the total fatigue damage and the theoretical life can be accurately reflected, then the used life is removed by using the target life of the obtained target part, and the used life is the residual life of the target part, thus, the remaining life of the target portion obtained by combining the total fatigue damage of the target portion and the accumulated operating time period is more accurate.
Based on the above embodiment, after determining the remaining life of the target portion based on the total fatigue damage of the target portion, the remaining life determining method provided by this embodiment may further include: and generating and displaying display contents based on the residual life of each target part. Therefore, the user can conveniently check the residual service life of each target part.
Specifically, the percentage of the remaining life of each target portion is obtained based on the ratio of the remaining life of each target portion to the corresponding target life; determining the background color corresponding to the residual life percentage of each target part according to the percentage interval in which the residual life percentage of each target part is based on the corresponding relation between the preset percentage interval and the background color; and generating and displaying display content based on the residual life percentage of each target part and the corresponding background color.
Wherein, the remaining life percentage of the target portion is the percentage of the remaining life of the target portion in the corresponding target life.
The display content may include identification information (e.g., image identification information) of each target portion, a remaining life percentage, and a corresponding background color. The display content may also include a target lifetime, a remaining lifetime, an accumulated operating time, and the like of the target portion.
In practice, the display content may be displayed on a display screen of the work machine. Referring to the human-computer interface shown in fig. 6, a part a, a part B, and a part C are indicated by image identification information, and the percentage corresponding to each part is displayed, which is 81%, 62%, and 35% in this order.
The percentages in the different percentage intervals correspond to different background colors. The reminding effect of the residual service life is more obvious. In the figure 6, three percentage intervals of [0, 60% ], (60%, 80% ], and (80,100] are indicated, and background colors are green, yellow, and red in sequence, based on which, 81% of the background colors are red, 62% of the background colors are yellow, 35% of the background colors are green, and different colors are indicated in the figure by different fillings.
The remaining life determining apparatus provided by the present invention is described below, and the remaining life determining apparatus described below and the remaining life determining method described above may be referred to in correspondence with each other.
Fig. 9 is a schematic structural diagram of a remaining life determining apparatus provided by the present invention.
As shown in fig. 9, the present embodiment provides a remaining life determining apparatus including:
the data acquisition module 901 is configured to acquire target data of the working machine, which is acquired in real time, where the target data includes pressure data of a hydraulic cylinder and pose data and moment data of at least one target component;
a load determination module 902 for determining a load for each target site on at least a portion of the target component based on the target data;
a life determining module 903, configured to determine, for each target portion, fatigue damage of the target portion in a current time period based on a load of the target portion in the current time period, obtain total fatigue damage of the target portion based on the fatigue damage of the target portion in the current time period and total fatigue damage before the current time period, and determine a remaining life of the target portion based on the total fatigue damage of the target portion.
In this embodiment, because the target data of the working machine acquired in real time may be acquired, where the target data includes pressure data of the hydraulic cylinder and pose data and moment data of at least one target component, based on which, the load of each target portion on at least part of the target components may be determined in real time, that is, the load time history of the target portion may be obtained, based on the load of the target portion in the current time period, the fatigue damage of the target component in the current time period may be determined, based on the fatigue damage of the target component in the current time period and the total fatigue damage before the current time period, the total fatigue damage of the target portion may be obtained, and based on the total fatigue damage of the target portion, the remaining life of the target portion may be determined, and thus, considering the load time history of the target portion, the determined remaining life of the target portion may be more accurate.
Based on the above embodiments, the load determining module 902 is specifically configured to:
determining force information of at least part of the target component based on the target data;
determining a load of each of the target sites on at least a portion of the target component based on force information of at least a portion of the target component.
Based on the above embodiments, the at least one target member includes a bucket, a stick, and a boom;
the pressure data of the hydraulic cylinder comprises pressure data of the hydraulic cylinder on the boom;
the torque data of the at least one target component comprises torque data on a pin of the bucket, torque data on a pin of the arm, and torque data on a pin of the boom;
the pose data of the at least one target member includes pose data of the bucket, pose data of the stick, and pose data of the boom.
Based on the above embodiments, the lifetime determination module 903 is specifically configured to:
and determining the fatigue damage of the target part in the current time period through a rain flow meter algorithm and a preset relation curve of the load and the service life based on the load of the target part in the current time period.
Based on the above embodiments, the lifetime determination module 903 is specifically configured to:
determining a remaining life of the target portion based on the total fatigue damage and the cumulative operating time of the target portion.
Based on the above embodiments, the lifetime determination module 903 is specifically configured to:
obtaining a target service life based on the ratio of the accumulated working time of the target part to the total fatigue damage;
and taking the difference value between the target service life and the accumulated working time length as the residual service life of the target part.
Based on the above embodiment, further include:
the display module is used for obtaining the percentage of the residual life of each target part based on the ratio of the residual life of each target part to the corresponding target life;
determining the background color corresponding to the residual life percentage of each target part according to the percentage interval in which the residual life percentage of each target part is based on the corresponding relation between the preset percentage interval and the background color;
and generating and displaying display content based on the residual life percentage of each target part and the corresponding background color.
The invention also provides a working machine, which comprises the residual life determining device provided by any one of the above embodiments. The working machine of the embodiment may be an excavator, a crane, a pile machine, or other engineering machine.
Fig. 10 illustrates a physical structure diagram of an electronic device, and as shown in fig. 10, the electronic device may include: a processor (processor)1010, a communication Interface (Communications Interface)1020, a memory (memory)1030, and a communication bus 1040, wherein the processor 1010, the communication Interface 1020, and the memory 1030 communicate with each other via the communication bus 1040. Processor 1010 may invoke logic instructions in memory 1030 to perform a remaining life determination method comprising:
acquiring real-time acquired target data of the working machine, wherein the target data comprises pressure data of a hydraulic cylinder and pose data and moment data of at least one target component;
determining a load for each target site on at least a portion of the target component based on the target data;
for each target part, determining the fatigue damage of the target part in the current time period based on the load of the target part in the current time period, obtaining the total fatigue damage of the target part based on the fatigue damage of the target part in the current time period and the total fatigue damage before the current time period, and determining the residual life of the target part based on the total fatigue damage of the target part.
Furthermore, the above logic instructions in the memory 1030 can be implemented in the form of software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. 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 various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the remaining life determining method provided by the above methods, the method comprising:
acquiring target data of the working machine, which is acquired in real time, wherein the target data comprises pressure data of a hydraulic cylinder and pose data and moment data of at least one target component;
determining a load for each target site on at least a portion of the target component based on the target data;
for each target part, determining the fatigue damage of the target part in the current time period based on the load of the target part in the current time period, obtaining the total fatigue damage of the target part based on the fatigue damage of the target part in the current time period and the total fatigue damage before the current time period, and determining the residual life of the target part based on the total fatigue damage of the target part.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the remaining life determining method provided above, the method comprising:
acquiring target data of the working machine, which is acquired in real time, wherein the target data comprises pressure data of a hydraulic cylinder and pose data and moment data of at least one target component;
determining a load for each target site on at least a portion of the target component based on the target data;
for each target part, determining the fatigue damage of the target part in the current time period based on the load of the target part in the current time period, obtaining the total fatigue damage of the target part based on the fatigue damage of the target part in the current time period and the total fatigue damage before the current time period, and determining the residual life of the target part based on the total fatigue damage of the target part.
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 may be implemented by software plus a necessary general hardware platform, and may 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.

Claims (11)

1. A remaining life determining method, comprising:
acquiring target data of the working machine, which is acquired in real time, wherein the target data comprises pressure data of a hydraulic cylinder and pose data and moment data of at least one target component;
determining a load for each target site on at least a portion of the target component based on the target data;
for each target part, determining the fatigue damage of the target part in the current time period based on the load of the target part in the current time period, obtaining the total fatigue damage of the target part based on the fatigue damage of the target part in the current time period and the total fatigue damage before the current time period, and determining the residual life of the target part based on the total fatigue damage of the target part.
2. The method of claim 1, wherein determining the load at each target location on at least a portion of the target component based on the target data comprises:
determining force information of at least part of the target component based on the target data;
determining a load of each of the target sites on at least a portion of the target component based on force information of at least a portion of the target component.
3. The remaining-life determining method according to claim 1 or 2, wherein the at least one target member includes a bucket, an arm, and a boom;
the pressure data of the hydraulic cylinder comprises pressure data of the hydraulic cylinder on the boom;
the torque data of the at least one target component comprises torque data on a pin of the bucket, torque data on a pin of the arm, and torque data on a pin of the boom;
the pose data of the at least one target member includes pose data of the bucket, pose data of the stick, and pose data of the boom.
4. The method of determining remaining life according to claim 1, wherein the determining fatigue damage of the target site over a current time period based on a load of the target site over the current time period comprises:
and determining the fatigue damage of the target part in the current time period through a rain flow meter algorithm and a preset relation curve of the load and the service life based on the load of the target part in the current time period.
5. The method of claim 1, wherein determining the remaining life of the target site based on the total fatigue damage of the target site comprises:
determining a remaining life of the target portion based on the total fatigue damage and the cumulative operating time of the target portion.
6. The method of claim 5, wherein determining the remaining life of the target site based on the total fatigue damage and the cumulative operating time of the target site comprises:
obtaining a target service life based on the ratio of the accumulated working time of the target part to the total fatigue damage;
and taking the difference value between the target service life and the accumulated working time length as the residual service life of the target part.
7. The remaining life determining method according to claim 6, further comprising:
obtaining the percentage of the remaining life of each target part based on the ratio of the remaining life of each target part to the corresponding target life;
determining the background color corresponding to the residual life percentage of each target part according to the percentage interval in which the residual life percentage of each target part is based on the corresponding relation between the preset percentage interval and the background color;
and generating and displaying display content based on the residual life percentage of each target part and the corresponding background color.
8. A remaining life determining apparatus, comprising:
the data acquisition module is used for acquiring target data of the working machine, which are acquired in real time, wherein the target data comprise pressure data of a hydraulic cylinder and pose data and moment data of at least one target component;
a load determination module to determine a load for each target site on at least a portion of the target component based on the target data;
the service life determining module is used for determining the fatigue damage of the target part in the current time period based on the load of the target part in the current time period, obtaining the total fatigue damage of the target part based on the fatigue damage of the target part in the current time period and the total fatigue damage before the current time period, and determining the residual service life of the target part based on the total fatigue damage of the target part.
9. A working machine characterized by comprising the remaining life determining apparatus according to 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 implements the method of determining remaining life of any of claims 1 to 7 when executing the program.
11. A non-transitory computer-readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the remaining life determining method according to any one of claims 1 to 7.
CN202210474964.4A 2022-04-29 2022-04-29 Remaining life determining method and device and working machine Pending CN114861495A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115983838A (en) * 2023-03-21 2023-04-18 江苏苏港智能装备产业创新中心有限公司 Method, device and equipment for evaluating health of steel wire rope of crane hoisting mechanism and storage medium

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115983838A (en) * 2023-03-21 2023-04-18 江苏苏港智能装备产业创新中心有限公司 Method, device and equipment for evaluating health of steel wire rope of crane hoisting mechanism and storage medium

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