WO2013053134A1

WO2013053134A1 - Excavator, and method and system for determining equipment failure

Info

Publication number: WO2013053134A1
Application number: PCT/CN2011/080812
Authority: WO
Inventors: 李昱; 费胜巍; 李明; 吴耀华; 张刊
Original assignee: 中联重科股份有限公司; 湖南中联重科专用车有限责任公司
Priority date: 2011-10-14
Filing date: 2011-10-14
Publication date: 2013-04-18

Abstract

Disclosed is a method for determining equipment failure, comprising: when an abnormality occurs in the equipment, determining step-by-step a failure in the current node and a child node in the child nodes of the current node that corresponds to the failure, starting from a root node (A) in a tree form data structure delineating the structure of the equipment, and according to a preset correlated relationship between a failure and a child node (B1, B2, B3, B4); and if the corresponding child node is an end node, outputting information about the failure associated with the end node. The root node in the tree form data structure is a device, each of the remaining nodes thereof represents a sub-system or a component of the device, and the child nodes represent a sub-system or a component in the system represented by the parent node thereof. Also disclosed are an excavator and a system for determining equipment failure. Using the method and system facilitates rapid and accurate determination of equipment failure.

Description

TECHNICAL FIELD The present invention relates to the field of equipment fault diagnosis technology, and in particular, to an excavator and a method and system for determining equipment failure. BACKGROUND OF THE INVENTION An excavator is a commonly used construction machine, which has many components and complicated structures, and each type of component has more types of failures. Therefore, when an abnormality occurs in an excavator, how to determine its failure becomes a failure. Small puzzles. Similarly, as technology advances, the complexity of various devices becomes higher and higher, and accordingly, when an abnormality occurs in the device, it becomes difficult to determine the failure. At present, the determination of equipment failure is usually carried out by personnel based on the technical documents of the equipment, such as manuals, product manuals, etc., combined with their own experience. This method is difficult to quickly and accurately determine equipment failures due to personnel experience and energy. SUMMARY OF THE INVENTION A primary object of the present invention is to provide an excavator and a method and apparatus for determining equipment failure to solve the problem that the prior art is difficult to quickly and accurately determine the failure of the equipment. In order to achieve the above object, according to an aspect of the present invention, a method of determining a device failure is provided. The method for determining a device fault of the present invention includes: when an abnormality occurs in the device, determining a current level from a root node in a tree data structure describing a device structure according to a preset relationship between a fault and a child node The fault of the node and the corresponding child node in the child node of the current node, when the corresponding child node is the last node, output information of the fault associated with the last node; the root in the tree data structure A node is the device, and each of the remaining nodes represents a subsystem or a component of the device, the child nodes representing subsystems or components in the system represented by its parent node. According to another aspect of the present invention, a system for determining a device failure is provided. The system for determining device failure of the present invention includes: determining means, configured to: according to a root node in a tree data structure describing a device structure, according to a preset relationship between a fault and a child node when an abnormality occurs in the device Determining the fault of the current node step by step and the corresponding child node of the fault in the child node of the current node; the tree shape The root node in the data structure is the device, and each of the remaining nodes represents a subsystem or a component of the device, the child node represents a subsystem or component in the system represented by its parent node; When the child node determined by the determining device is the last node, the information of the fault associated with the last node is output. According to still another aspect of the present invention, there is provided an excavator in which the system for determining a malfunction of the apparatus of the present invention is provided. According to the technical solution of the present invention, an association relationship is established between a fault of the subsystem and a child node of the node representing the subsystem, and the relationship is mainly based on the diagnostic knowledge of the excavator, and the fault relationship is performed according to the above-mentioned association layer. Layer search until a specific component is determined, this method can effectively utilize the diagnostic knowledge of the excavator and make the fault reasoning hierarchical, improve the accuracy of fault diagnosis and display the fault propagation path, thereby improving the diagnostic and maintenance efficiency of the excavator. BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings are intended to provide a further understanding of the invention In the drawings: FIG. 1 is a schematic diagram of a method of determining equipment failure according to an embodiment of the present invention; FIG. 2 is a schematic diagram of an excavator tree according to an embodiment of the present invention; FIG. 3 is an excavator diagnosis according to an embodiment of the present invention. FIG. 4 is a schematic diagram of a device fault diagnosis knowledge organization management system architecture according to an embodiment of the present invention; FIG. 5 is a schematic diagram of a system for determining equipment failure according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict. The invention will be described in detail below with reference to the drawings in conjunction with the embodiments. In the present embodiment, an excavator will be described as an example. FIG. 1 is a schematic diagram of a method for determining a device fault according to an embodiment of the present invention. As shown in FIG. 1, the method mainly includes the following steps: Step S11: Saving a tree data structure describing a device structure. In the tree data structure, the root node is an excavator, and each of the remaining nodes represents a subsystem or a component of the excavator, and the child nodes represent subsystems or components in the system represented by its parent node. Specifically, the device structure shown in FIG. 2 can be employed. 2 is a schematic illustration of an excavator tree in accordance with an embodiment of the present invention. In Figure 2, the excavator is the root node A, and the excavator includes subsystems such as a power system, an actuator, a hydraulic system, an electrical system, etc., correspondingly, the root node A also includes a plurality of sub-nodes, such as Bl, B2, B3, B4. Such nodes, sub-systems contain subsystems or equipment, for example, the power system includes a cooling system, a fuel system, etc.; the hydraulic system includes a bucket half-flow valve, a flow restriction valve and the like. The end node of the excavator tree is a specific device. For example, the D1 node in the figure represents the cooling pipe, and the D2 node represents the cooler. Due to space limitations, all of the systems and equipment in the excavator are not shown in FIG. According to the product structure tree shown in Figure 2, the uppermost layer is the excavator system node, the bottom layer is the replaceable unit, and the middle is the component layer of each level. Since the product structure tree is a component hierarchy configured according to functional affiliation, and the fault can be defined as the failure or degradation of the system or component function, this hierarchical structure better reflects the causality of the fault between product levels, so Diagnostic reasoning based on excavator tree is hierarchical. Step S13: When an abnormality occurs in the device, from the root node, according to a preset relationship between the fault and the child node, the fault of the current node and the corresponding child node of the fault in the child node of the current node are determined step by step. Step S15: It is judged whether the determined child node is the last node, and if yes, proceeds to step S17, otherwise returns to step S13, and the determined child node is processed as the current node in step S13. Step S17: Output information of the failure of the last node. The last node in this step is the child node determined in step S15. In this embodiment, an association relationship is established between a failure of the subsystem and a child node of the node representing the subsystem, and the association relationship is mainly based on the diagnostic knowledge of the excavator. According to the above steps, the root cause of the fault can be deeply explored by the computer according to the diagnostic knowledge according to the equipment structure layer of the excavator, thereby quickly and accurately determining the fault of the equipment. The above diagnostic knowledge can also be represented by a tree structure, and the tree structure is structurally consistent with the product structure tree. For example, the product structure of the excavator adopts the form shown in FIG. 2, and the tree structure including the diagnostic knowledge is as shown in FIG. 3. FIG. 3 is a schematic diagram of the tree structure of the diagnostic knowledge of the excavator according to the embodiment of the present invention. As shown in Figure 3, each node is represented by a frame, so the frame name is the node name. Each frame consists of three slots: status evaluation, fault dimension, and maintenance decision. The status evaluation is mainly used to evaluate components. The current working state is composed of three slots: the detectable parameter status, the detection method, and the fault mode discrimination. The detectable parameters mainly refer to the BIT (in-machine test) information and the signal that the external tester can detect. The detection method refers to adopting BIT (in-machine test) device and external tester perform parameter detection in some way. The fault mode is judged according to BIT. Information or signals obtained by an external tester, using diagnostic rules to derive the current failure mode of the detected component; all failures of the component are stored in the failure dimension, each of which is stored in one side, one on each side The framework in which the cause of the failure is stored. In this embodiment, the association relationship established between the failure of the subsystem and the child node of the node representing the subsystem is also saved as diagnostic knowledge. For example, when the state of the root node A is evaluated and it is determined that there is a "walking fault" in the side 22 in the frame A, it is known from the existing fault diagnosis knowledge that the fault should be looked up from the engine side, that is, in the root node A. The travel fault is associated with the child node B1 of A; for example, for the state evaluation of the node B1, it is determined that the "engine cannot start" of the side 21 in the frame B1, and the knowledge of the fault diagnosis is also known from the fuel tank. Or the filter side finds a fault, that is, "engine cannot start" in node B1 is associated with child node C2 of B1. That is to say, the above-mentioned association relationship is obtained and saved according to the existing fault diagnosis knowledge. Thus, in step S13, the node can be determined step by step according to the abnormal performance of the excavator. Still taking the above as an example, when the excavator walks abnormally, and then performs state evaluation to determine that the fault is a "walking fault" in the frame A, according to the relationship between the "walking fault" and B1, the child node B1 is determined and directed to the child node. B1 performs a state evaluation and finds that "the engine cannot be started", that is, the side 21 in the above-mentioned frame B1, and then determines the child node C2 according to the relationship of "engine failure to start" and C2, and then performs state evaluation for C2, and determines that the failure is "Filter alarm" in side 22. Since C2 is already the last node, the information of the fault determined for C2 is output. The personnel can repair the filter based on this information. The state evaluation may be information of receiving a failure transmitted by a test device inside the excavator, or may be information of a failure transmitted by a test device externally received by the excavator. In the actual situation, a fault may be due to various reasons, such as the frame B3, C11, C12, C13 in Fig. 3, if the fault in the frame B3 is "low pressure" in the side 21, the fault is generated. The reason is that the arm half-flow valve is abnormal, the flow restriction valve is abnormal, and the boom priority valve is abnormal, depending on the possibility. For this case, in this embodiment, a confidence level is assigned to the association relationship between the fault and the child node, and the confidence level may be a decimal number and greater than zero, or may be other values, such that the foregoing association relationship specifically becomes a fault and multiple children. The nodes are associated, and the fault has a different degree of confidence associated with each of the plurality of child nodes. For example, the fault in frame B3 is the "low pressure" fault in side 21, the confidence level associated with node C11 is 0.8, the confidence associated with node C12 is 0.7, and the confidence associated with node C13. Is 0.6. Thus, when it is determined that the fault associated with the failure of the frame B3 is the "low pressure" fault in the side 21, the child nodes are determined in descending order of confidence, at which time the highest confidence is used to determine the child. The node, that is, the node C11 is determined. Since node C11 is the last node, the content of its fault is output; when the user finds that there is no fault through the analysis of the stick half-flow valve, the child node may be required to be re-determined. When the user sends an instruction through the man-machine interface to select the first-level child node starting with C, the computer selects the node with the highest confidence level relative to the node C11 at this time. That is, node C12, and then state evaluation for node C12. If the fault cannot be found by processing by the node C12, the node C13 can be continuously selected. If the fault cannot be found by the processing of the node C13, the upper node is returned, that is, the first-level node starting from B is selected. This approach provides a comprehensive view of the various parts of the excavator and helps to accurately identify faults. 4 is a schematic diagram of an architecture of a device fault diagnosis knowledge organization management system according to an embodiment of the present invention. As shown

As shown in Figure 4, the organization management system architecture mainly includes a data layer, a model layer, and a functional layer. The model layer is the core layer of the system. The model layer mainly contains the excavator fault diagnosis knowledge organization model, which expresses the data in a reasonable form, which is beneficial to data application. The data layer provides data for the excavator fault diagnosis knowledge organization model. For structural data, historical fault data, state assessment data, etc.; functional layer is based on the knowledge model of excavator fault diagnosis knowledge organization, mainly for fault diagnosis, knowledge query, knowledge editing. The following describes an apparatus for determining a device failure in the present embodiment. 5 is a schematic diagram of an apparatus for determining a device failure in accordance with an embodiment of the present invention. As shown in FIG. 5, the system 50 for determining equipment failure primarily includes determining means 51 and output means 52. The device can be called by the fault diagnostic module of the functional layer in Figure 4. The determining device 51 is configured to determine, according to a preset association relationship between the fault and the child node, a fault of the current node and the first node from the root node in the tree data structure describing the device structure when the device is abnormal. The fault is in the child node of the current node; the root node in the tree data structure is the device, and each of the remaining nodes represents a subsystem or a component of the device, and the child node represents its parent node A subsystem or component in the system represented. Relevant data can be retrieved from the model layer in Figure 4. The output device 52 is configured to output information of a fault associated with the last node when the child node determined by the determining device 51 is the last node. The device 50 for determining the device failure may further include a saving device (not shown) for saving the association relationship, and the association relationship includes: one failure is associated with the plurality of child nodes, and the failure is related to the plurality of child nodes The confidence levels associated with each of the child nodes are different; thus, the determining means 51 can also be used to determine the failure of the current node, selecting the child nodes associated with the fault with the highest confidence. The system 50 for determining device failure may further include receiving means (not shown) for receiving user-provided selection information specifying a primary sub-node; such that the output device 52 is further operable to specify from the selection information One of the first-level child nodes is selected, and the child node is associated with a failure of the parent node of the level child node with a second highest confidence level with respect to the highest confidence. The receiving device can receive data, such as status evaluation data, from the data layer in FIG. In addition, the output device 52 can also be used to receive information of faults transmitted by the test device inside the device, and/or information about faults transmitted by the test device externally connected to the device. The excavator in this embodiment is provided with the above-described system for determining the failure of the device, so that the device can be used to quickly and accurately locate the failure of the excavator. According to the technical solution of the present invention, an association relationship is established between a fault of the subsystem and a child node of the node representing the subsystem, and the relationship is mainly based on the diagnostic knowledge of the excavator, and the fault relationship is performed according to the above-mentioned association layer. Layer search until a specific component is determined, this method can effectively utilize the diagnostic knowledge of the excavator and make the fault reasoning hierarchical, improve the accuracy of fault diagnosis and display the fault propagation path, thereby improving the diagnostic and maintenance efficiency of the excavator. Obviously, those skilled in the art should understand that the above-mentioned devices or steps of the present invention can be implemented by a general-purpose computing device, which can be concentrated on a single computing device or distributed over a network composed of multiple computing devices. Alternatively, they may be implemented by program code executable by the computing device, such that they may be stored in the storage device by the computing device, or they may be separately fabricated into individual integrated circuit devices, or they may be Multiple devices or steps are made into a single integrated circuit device. Thus, the invention is not limited to any specific combination of hardware and software. The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.

Claims

Claim

A method for determining a device failure, comprising:

When an abnormality occurs in the device, from the root node in the tree data structure describing the device structure, according to the preset relationship between the fault and the child node, the fault of the current node is determined step by step and the fault is at the current node. a corresponding child node in the child node, when the corresponding child node is the last node, outputting information of the fault associated with the last node;

The root node in the tree data structure is the device, and each of the remaining nodes represents a subsystem or a component of the device, and the child node represents a subsystem or component in the system represented by its parent node.

2. The method of claim 1 wherein

The association relationship includes: a fault is associated with a plurality of child nodes, and the fault has a different degree of confidence associated with each of the plurality of child nodes;

The determining the fault of the current node and the corresponding child node of the fault in the child node of the current node includes: determining a fault of the current node, and selecting a child node associated with the fault with the highest confidence.

The method according to claim 2, wherein the outputting the information about the fault associated with the last node further comprises:

Receiving selection information provided by the user, the selection information designating a primary child node;

A child node is selected from the first-level child nodes specified by the selection information, the child node being associated with a failure of a parent node of the level child node with a second highest confidence level with respect to the highest confidence.

The method according to claim 1 or 2 or 3, wherein the determining the fault of the current node comprises: receiving information of a fault sent by the test device inside the device, and/or receiving the device Information about the fault sent by the external test device.

The method according to any one of claims 1 to 4, characterized in that the device is an excavator.

6. A system for determining a device failure, comprising:

Determining means, when an abnormality occurs in the device, determining a fault of the current node and determining the fault of the current node step by step according to a preset relationship between the fault and the child node from a root node in the tree data structure describing the structure of the device The corresponding child node in the child node of the current node; the tree data structure The root node is the device, and each of the remaining nodes represents a subsystem or a component of the device, and the child node represents a subsystem or component in the system represented by its parent node;

And an output device, configured to: when the child node determined by the determining device is a last node, output information of a fault associated with the last node. The system of claim 6 wherein:

The system further includes a saving device configured to save the association relationship, and the association relationship includes: a failure associated with the plurality of child nodes, and a confidence that the failure is associated with each of the plurality of child nodes Not the same;

The determining means is further for determining a fault of the current node, selecting a child node associated with the fault with the highest confidence. A system according to claim 7, characterized in that

The system further includes receiving means for receiving selection information provided by the user, the selection information specifying a primary child node;

The output device is further configured to select one of the first-level sub-nodes specified by the selection information, the sub-node having a second highest confidence with respect to the highest confidence and a sub-node of the level The failure of the parent node is associated. The system according to claim 6 or 7 or 8, wherein the output device is further configured to receive information of a fault sent by the test device inside the device, and/or receive a test device externally connected to the device Information about the fault that was sent. An excavator characterized in that the excavator is provided with a system for determining a malfunction of the apparatus according to any one of claims 6 to 9.