WO2015084089A1 - 건설 기계의 작업 계통에 대한 이상 진단 시스템 및 이를 이용한 이상 진단 방법 - Google Patents
건설 기계의 작업 계통에 대한 이상 진단 시스템 및 이를 이용한 이상 진단 방법 Download PDFInfo
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- WO2015084089A1 WO2015084089A1 PCT/KR2014/011890 KR2014011890W WO2015084089A1 WO 2015084089 A1 WO2015084089 A1 WO 2015084089A1 KR 2014011890 W KR2014011890 W KR 2014011890W WO 2015084089 A1 WO2015084089 A1 WO 2015084089A1
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- hydraulic pump
- engine
- horsepower
- work machine
- abnormality
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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
-
- 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
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/005—Fault detection or monitoring
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0808—Diagnosing performance data
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0816—Indicating performance data, e.g. occurrence of a malfunction
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
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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
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2054—Fleet management
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/857—Monitoring of fluid pressure systems
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/87—Detection of failures
Definitions
- the present invention relates to a fault diagnosis system for a work system of a construction machine and a fault diagnosis method using the same, and more particularly, to check the construction site of the fault occurs through the comparison of the engine, hydraulic pump and work machine of the construction machine It relates to a fault diagnosis system for a work system of a machine and a fault diagnosis method using the same.
- the fault diagnosis method of the construction machine can be divided into a diagnosis method using a direct observation and analysis and a sensor method using a sensor as shown in FIG. 1, and the diagnosis method through the direct observation and analysis is again performed by an A / S article. It can be classified into a diagnosis method through a visit, a self-diagnosis method by an operator, and a diagnosis method by periodic sampling.
- the diagnostic method through the visit of the A / S article of the diagnostic method through the direct observation and analysis will be reliable in the response method because the manufacturer's A / S article visits the site directly, but a long time until the actual visit When visiting and diagnosing a diagnosis, a diagnosis error occurs, and a revisit should be made. In addition, this can result in significant time and money loss because the worker's work is continually interrupted during the fault diagnosis period.
- the diagnostic method by periodic sampling is a method of periodically sending a fluid sample of the construction machine to the manufacturer, and the manufacturer analyzes the state and internal components of the fluid Predict the condition of construction machinery and which parts of the problem will occur.
- This can be true of the results by analyzing real samples, but has the disadvantage of continuing execution, such as the need for workers or managers to send fluid samples periodically, and the construction machine condition results and their response may be delayed due to analysis time. There are also disadvantages.
- the diagnostic method using the sensor is a method of continuously diagnosing the state of the construction machinery parts measured by the sensor to inform that a problem situation when the sensor measurement value is out of a predetermined normal range.
- the fault diagnosis method of the construction machine using the sensor is used for diagnosing abnormalities of the control system and hydraulic components for the safety of work, which diagnoses the abnormality of the electromagnetic proportional valve and the work machine.
- One object of the present invention is to solve the above-mentioned problems, while calculating the horsepower information of the work system of the construction machine, that is, the engine, hydraulic pump and work machine, and compare them to ensure the accuracy of the measurement sensor, while comparing
- the abnormality diagnosis system and the abnormality diagnosis method for the working system of the construction machine that solves the inaccuracy and long-time problem of the construction machine's abnormality diagnosis method. It is to provide.
- An abnormality diagnosis system for a work system of a construction machine may include an input unit configured to receive state information about an engine, a hydraulic pump, and a work machine of the construction machine; Computing horsepower information of each of the engine, the hydraulic pump and the work machine using the state information input to the input unit, and comparing the horsepower information with each other, and if the horsepower information is different than a preset range, the engine, the hydraulic pump and the corresponding A control unit for determining that any one of the work machines is abnormal; And an output unit for outputting whether or not the abnormality determined by the control unit.
- the fault diagnosis method for the work system of the construction machine according to the exemplary embodiments for achieving the above object, the diagnostic setting step of setting the construction machine in the fault diagnosis mode; A horsepower confirmation step of acquiring horsepower information for the engine of the construction machine from the ECU, and calculating horsepower information for the hydraulic pump with values measured from a pressure sensor and a flow sensor provided in the hydraulic pump; A range determination step of determining whether the horsepower information for the engine and the hydraulic pump are within a predetermined range from each other; And a diagnosis step of determining whether an engine or a hydraulic pump of the construction machine is abnormal according to the determination result in the range determination step. It includes.
- FIG. 1 is a block diagram showing a method for diagnosing abnormalities of construction machinery.
- FIG. 2 is a flowchart illustrating a method for diagnosing an abnormality of a construction machine using a conventional sensor.
- FIG. 3 is a block diagram schematically illustrating power flow in a work system of a construction machine according to exemplary embodiments.
- Fig. 4 is a block diagram showing an abnormal diagnosis system for a work system of a construction machine according to exemplary embodiments.
- Fig. 5 is a flowchart illustrating a fault diagnosis method for a work system of a construction machine according to exemplary embodiments.
- FIG. 6 is a flowchart illustrating a first abnormality diagnosis method in the abnormality diagnosis method for a work system of a construction machine according to an exemplary embodiment.
- FIG. 7 is a flowchart illustrating a first abnormality diagnosis method in the abnormality diagnosis method for a work system of a construction machine according to another exemplary embodiment.
- FIG. 8 is a flowchart illustrating a second fault diagnosis method in a fault diagnosis method for a work system of a construction machine according to example embodiments.
- first and second may be used to describe various components, but the components should not be limited by the terms. The terms may be used for the purpose of distinguishing one component from another component.
- first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.
- FIG. 3 is a block diagram schematically illustrating power flow in a work system of a construction machine according to exemplary embodiments. First, the power flow of the work system in the construction machine will be described with reference to FIG. 3.
- the engine 10 when the construction machine is started, the engine 10 may be operated and a hydraulic pump 20 mechanically connected thereto may be driven.
- the hydraulic oil discharged from the hydraulic pump 20 may be provided to the main control valve 22.
- a specific control valve in the main control valve 30 is operated according to an operation signal, and the operating oil is supplied to the cylinder 32 of the work machine 30 associated with the control valve.
- Work tools 30, such as booms, arms and buckets, can operate.
- the horsepower information of each of the engine 10, the hydraulic pump 20, and the work machine 30 may be obtained and compared to identify and diagnose an abnormal occurrence position of the work system of the construction machine. Can be.
- Fig. 4 is a block diagram showing an abnormal diagnosis system for a work system of a construction machine according to exemplary embodiments. With reference to Figure 4 will be described in detail the configuration and function of the fault diagnosis system for the work system of the construction machine.
- the abnormality diagnosis system for the work system of the construction machine may include an input unit 100, a control unit 200, and an output unit 300.
- the input unit 100 may receive state information about the engine 10, the hydraulic pump 20, and the work machine 30 of the construction machine.
- the input unit 100 may include a first receiver for acquiring state information of the engine 10, a second receiver for acquiring state information of the hydraulic pump 20, and a second acquiring state information of the work machine 30. 3 may include a receiver.
- the first receiver may include an electronic control unit (ie, ECU) 110 provided in the engine 10.
- the second receiver may include a sensor for measuring horsepower of the hydraulic pump installed in the hydraulic pump 20.
- the horsepower measuring sensor of the hydraulic pump may include a pressure sensor 122, a flow sensor 124 and the like.
- the third receiver may include a sensor for measuring a horsepower of the work machine installed in the work machine 30.
- the sensor for measuring the horsepower of the work machine may include an angular velocity sensor 130, a displacement sensor, an angle sensor, and the like.
- the ECU 110 may receive measured values (engine RPM, fuel injection amount, etc.) for operating conditions of the engine from various measuring instruments and sensors.
- the measured power generated by the engine 10 may be calculated using the measured value.
- the pressure sensor 122 and the flow rate sensor 124 may detect the pressure and the flow rate of the hydraulic pump 20.
- the angular velocity sensor 130 detects each rotational speed of the work machine 30, the displacement sensor detects a change in position of each of the work machines 30, and the angle sensor is an angle of each of the work machines 30. The change can be detected.
- the controller 200 calculates horsepower information of each of the engine 10, the hydraulic pump 20, and the work machine 30 from respective state information input to the input unit 100, and compares the horsepower information of each of the engine 10. The abnormality of the hydraulic pump 20 and the work machine 30 can be determined.
- the controller 200 directly receives horsepower information from the engine 10 from the ECU 110 through controller area network (CAN) communication or uses measured values received from the ECU 110. Horsepower information of the engine 10 can be calculated.
- the controller 200 measures the pressure P (N / m 3) and the flow rate Q (m 3 / sec) of the hydraulic pump 20 received from the pressure sensor 122 and the flow sensor 124.
- the horsepower information HP (N * m / sec) in the hydraulic pump 20 can be calculated by receiving the values and following equation (1).
- the controller 200 may receive speed information of the work machine 30 and calculate horsepower information of the work machine 30 therefrom.
- the control unit 200 calculates the rotational energy by measuring the rotational speed of the work machine 30 using the measured value from the angular velocity sensor 130, and divides it by the measurement time by the following equation (2)
- the horsepower information HP in the work machine 30 may be calculated.
- the controller 200 may calculate the horsepower information of the work machine 30 by using the measured value from the displacement sensor or the angle sensor.
- the moment of inertia is the value of the moment of inertia for each work machine 30, that is, the boom, arm, bucket, etc., which is measured in advance to calculate the horsepower information in the work machine 30, and the control unit (parameter) as a parameter (parameter). 200).
- the controller 200 calculates horsepower information of the engine 10, the hydraulic pump 20, and the work machine 30, and compares them with each other to determine an abnormality at any position of the work system of the construction machine or at the sensor itself. It is determined whether or not it occurred.
- the output unit 300 may output whether or not the work system determined by the control unit 200 is abnormal.
- the output unit 300 may include at least one of the output device 310 and the communication device 320.
- the output device 310 may directly output the result of the abnormality determined by the controller 200 to the user in the construction machine.
- the communication device 320 may immediately transmit a result of the abnormality determined by the control unit 200 to an external manufacturer or the like.
- Fig. 5 is a flowchart illustrating a fault diagnosis method for a work system of a construction machine according to exemplary embodiments. An abnormality diagnosis method for the work system of the construction machine will be described in detail with respect to each step with reference to FIG. 5.
- the abnormality diagnosis method for the work system of the construction machine includes a diagnosis setting step (S10), horsepower checking step (S20), a range determination step (S30) and a diagnosis step (S40).
- the diagnosis setting step (S10) is a step of setting the construction machine in the abnormal diagnosis mode so that the abnormal diagnosis method for the work system of the construction machine can proceed.
- the diagnosis setting step (S10) the driving of the work machine 30 is stopped, and the main control valve 22 of the construction machine is closed so that hydraulic pressure is not transmitted to the stage after the main control valve 22, and the construction machine Do not drive or work operations.
- the horsepower confirmation step (S20) is a step of confirming the horsepower information for the engine 10 and the hydraulic pump 20 of the construction machine.
- horsepower information for the engine 10 may be calculated using measured values from the ECU 110, and horsepower information for the hydraulic pump 20 is provided in the hydraulic pump 20.
- the pressure value and the flow rate value of the hydraulic pump 20 from the pressure sensor 122 and the flow rate sensor 124 can be calculated.
- the work machine 30 In the horsepower check step (S20), the work machine 30 is in a non-operating state.
- the range determination step (S30) is a step of determining whether each horsepower information for the engine 10 and the hydraulic pump 20 is within a predetermined range of each other.
- the predetermined range is a concept including an error range due to the normal power loss that occurs when the power transmission between the work system of the construction machine.
- the work machine 30 is operated through the hydraulic pressure generated by the hydraulic pump 20 because In the engine 10, the hydraulic pump 20, and the work machine 30 in a state in which an auxiliary machinery for driving the engine 10 such as an alternator, a power steering, an air conditioner, and a vehicle accessory does not operate.
- the identified horsepower value can theoretically always be the same.
- the predetermined range includes an error range due to normal power loss occurring during power transmission between work systems in addition to the same horsepower value.
- the meaning of the word range is used in the above meaning.
- the error range due to the normal power loss generated during power transmission between the engine 10, the hydraulic pump 20, and the work machine 30 may be measured in advance and stored in the controller 200 as a parameter. .
- the diagnosis step S40 is a step of determining whether an abnormality occurs in the engine 10, the hydraulic pump 20, and the work machine 30 of the construction machine according to the determination in the range determination step S30.
- the diagnosis step S40 may be divided into a first abnormal diagnosis step S41 and a second abnormal diagnosis step S42.
- the diagnosis step S40 is performed in the engine 10.
- the first abnormality diagnosing step (S41) for determining whether the abnormality occurs in at least one of the hydraulic pump 20.
- the horsepower values of the engine 10 and the hydraulic pump 20 should be within a certain range of each other. 10) and the power loss generated during the transmission of power between the hydraulic pump 20 is outside the error range due to the normal power loss, so that any one of the engine 10 and the hydraulic pump 20 is abnormal. it means.
- the first abnormal diagnosis step S41 it is determined whether the abnormality occurs in any one of the engine 10 and the hydraulic pump 20.
- each horsepower information for the engine 10 and the hydraulic pump 20 in the range determination step (S30) is within a predetermined range of each other ( ),
- the diagnosis step S40 proceeds to the second abnormality diagnosis step S42 for determining whether the abnormality occurs in the work machine 30.
- the horsepower values of the engine 10 and the hydraulic pump 20 are within a predetermined range of each other, the power transmission flow between the engine 10 and the hydraulic pump 20 is in a normal state, and the second abnormal diagnosis step In operation S42, it is determined whether the work machine 30 is abnormal.
- the first abnormality diagnosis step S41 will be described with reference to FIGS. 6 and 7, and the second abnormality diagnosis step S42 will be described with reference to FIG. 8.
- a case is considered in which an abnormality occurring in the engine 10 is considered and a case in which it is not considered.
- the engine 10 since the engine 10 has various sensors and diagnostic methods on its own, even if an abnormality occurs in the engine 10, the engine 10 may diagnose and solve itself and does not consider whether the abnormality occurs in the engine 10. In this case, when an abnormality occurs in the engine 10, the diagnosis and resolution cannot be performed by itself, and thus the case where the abnormality occurs in the engine 10 is considered.
- FIG. 6 is a flowchart illustrating a first abnormality diagnosis method in the abnormality diagnosis method for a work system of a construction machine according to an exemplary embodiment.
- the first abnormality diagnosing method S41 (a) is possible in case of not considering whether an abnormality occurring in the engine 10 occurs due to self-diagnosis and resolution. It will be described in detail.
- the first abnormal diagnosis method (S41 (a)) is a work machine driving step (S110), the horsepower check step (S111) of the hydraulic pump-worker, the range determination step (S112) of the hydraulic pump-worker, the horsepower check of the engine-worker It comprises a step S113, the engine-worker range determination step S114 and the first abnormality determination step S115.
- the work machine driving step (S110) is a step of driving the stationary work machine 30.
- the range determination step S30 of FIG. 5 since it is determined that each horsepower information for the engine 10 and the hydraulic pump 20 is out of a predetermined range, any part of the engine 10 or the hydraulic pump 20 is determined.
- the work machine 30 is driven to check whether any abnormality has occurred.
- Horsepower check step (S111) of the hydraulic pump-worker is a step of confirming the horsepower information for the hydraulic pump 20 and the work machine (30). While performing the operation of the work machine 30 checks the horsepower value of the hydraulic pump 20 and the work machine (30).
- the horsepower information for the work machine 30 can be calculated using the measured value from the angular velocity sensor 130 installed in the work machine 30 as described above.
- the horsepower information for the work machine 30 may be calculated using measured values from the displacement sensor or the angle sensor installed in the work machine 30.
- the range determination step (S112) of the hydraulic pump-worker is a step of determining whether each horsepower information for the hydraulic pump 20 and the work machine 30 is within a predetermined range of each other. If it is determined that it is out of a certain range, the power loss generated during power transmission between the engine 10 and the hydraulic pump 20, the hydraulic pump 20 and the work machine 30 is within the error range due to the normal power loss. Since it is out of range, the horsepower information of the engine 10 and the work machine 30 is finally confirmed and compared.
- each horsepower information for the hydraulic pump 20 and the work machine 30 is out of a predetermined range from each other in the range determining step S112 of the hydraulic pump-worker. In this case, the step of confirming the horsepower information for each of the engine 10 and the work machine 30.
- the range determining step S114 of the engine-worker is a step of determining whether each horsepower information for the engine 10 and the worker 30 is within a predetermined range of each other.
- the first abnormality determination step (S115) is the hydraulic pump of the construction machine according to the determination in the range determination step (S112) of the hydraulic pump-worker and the range determination step (S114) of the engine-worker ( In step 20), it is determined whether or not an abnormality occurs.
- the horsepower values of the hydraulic pump 20 and the work machine 30 are within a predetermined range of each other, but the horsepower values of the engine 10 and the hydraulic pump 20 are outside the predetermined range, but the hydraulic pump 20 ) And the horsepower value of the work machine 30 are within a predetermined range, and at this time, the hydraulic components from the rear end of the hydraulic pump 20 and the hydraulic pump 20 to the front end of the main control valve 22.
- the first abnormality determination step (S115) Proceeding to, it is determined that an abnormality has occurred in the pressure sensor 122 and the flow rate sensor 124 provided in the hydraulic pump 20 (S116).
- the fact that the horsepower information of the engine 10 and the work machine 30 is within a certain range of each other means that power is normally transmitted from the engine 10 to the work machine 30, which means The abnormality of the work system did not occur, and it can be diagnosed that the abnormality occurred in the pressure sensor 122, the flow rate sensor 124, and the like, which measures the horsepower value in the hydraulic pump 20.
- the first abnormality determination step S115 determines that the individual diagnosis of the work system of the construction machine is necessary (S117).
- the engine 10 and the hydraulic pump 20, the hydraulic pump 20 and the work machine 30, the engine 10 and the work machine 30 all means that the abnormality has occurred, It is not possible to identify the site where the abnormality has occurred, so it is diagnosed that individual precise diagnosis of all working systems of construction machinery is required.
- FIG. 7 is a flowchart illustrating a first abnormality diagnosis method in the abnormality diagnosis method for a work system of a construction machine according to another exemplary embodiment.
- the first abnormal diagnosis method (S41 (b)) is a work machine driving step (S120), the horsepower check step (S121) of the hydraulic pump-worker, the range determination step (S122) of the hydraulic pump-worker, the horsepower check of the engine-worker It comprises a step (S123), the range determination step (S124) of the engine-worker, the horsepower comparison step (S125) and the first abnormality determination step (S126).
- the work machine driving step (S120), the horsepower check step (S121) of the hydraulic pump-worker in the first abnormality diagnosis method (S41 (b)) according to another embodiment of the present invention, the range determination of the hydraulic pump-worker
- determining that an abnormality has occurred in the flow sensor 124 (S127) or determining that an individual diagnosis is required for the work system of the construction machine (S128) is the first abnormality diagnosis method according to an embodiment of the present invention.
- the first abnormality determination step S126 determines whether the abnormality occurs in the engine 10 and the hydraulic pump 20 according to the comparison result in the horsepower comparison step S125.
- the horsepower value of the hydraulic pump 20 or the work machine 30 is always the engine. If the horsepower value of the engine 10 is smaller than the horsepower value measured by the hydraulic pump 20 or the work machine 30, the first abnormality determination step (S126) It can be diagnosed that an abnormality has occurred in relation to the engine 10.
- the first abnormality determination step (S126) is the hydraulic pump ( It is diagnosed that the abnormality has occurred in 20) (S130).
- the horsepower values of the hydraulic pump 20 and the work machine 30 are within a certain range of each other, and smaller than the horsepower value of the engine 10 can be seen that the power transmission flow is in a normal state.
- FIG. 8 is a flowchart illustrating a second fault diagnosis method in a fault diagnosis method for a work system of a construction machine according to example embodiments.
- the second abnormality diagnosis method S42 will be described in detail with reference to FIG. 8.
- the horsepower information for the engine 10 and the hydraulic pump 20 in the range determination step (S30) is within a predetermined range of each other ( ),
- the diagnosis step S40 proceeds to the second abnormality diagnosis step S42 for determining whether the abnormality occurs in the work machine 30.
- the horsepower values of the engine 10 and the hydraulic pump 20 are within a predetermined range of each other, the power transmission flow between the engine 10 and the hydraulic pump 20 is in a normal state, and the second abnormal diagnosis step In operation S42, it is determined whether the work machine 30 is abnormal.
- the second abnormal diagnosis step (S42) is a work machine driving step (S210), the horsepower re-check step (S220) of the engine-hydraulic pump, the range determination step (S230) of the engine-hydraulic pump, the horsepower check step (S240), It is configured to include a range determination step (S250) and the second abnormality determination step (S260) of the engine-hydraulic pump-worker.
- the work machine driving step (S210) is a step of driving the stationary work machine 30, which is the horsepower information for each of the engine 10 and the hydraulic pump 20 in the range determination step S30 of FIG. 5. Since it is determined that is within a certain range can be determined that the power transmission flow between the engine 10 and the hydraulic pump 20 is normal, to drive this work machine 30 for clarity.
- Reconfirming horsepower of the engine-hydraulic pump is a step of reconfirming horsepower information for the engine 10 and the hydraulic pump 20, while performing the operation of the work machine 30 and the engine 10 and Check the horsepower value of the hydraulic pump 20 again.
- the range determination step (S230) of the engine-hydraulic pump is a step of determining whether each horsepower information for the engine 10 and the hydraulic pump 20 are within a predetermined range, and if it is determined to be within a predetermined range, Since the power loss generated during power transmission between the engine 10 and the hydraulic pump 20 does not deviate from the error range due to the normal power loss, the horsepower for the work machine 30 is checked to determine the horsepower of the engine 10, The horsepower information of the hydraulic pump 20 and the work machine 30 is compared.
- the horsepower information for the work machine 30 is confirmed by measuring from the angular velocity sensor 130 provided in the work machine 30 as described above.
- the range determination step (S250) of the engine-hydraulic pump-worker is a step of determining whether each horsepower information for the engine 10, the hydraulic pump 20, and the work machine 30 is within a predetermined range from each other.
- the second abnormality determination step (S260) of the construction machine according to the determination in the range determination step (S230) of the engine-hydraulic pump and the range determination step (S250) of the engine-hydraulic pump-worker This is a step for determining whether an abnormality occurs in the work machine.
- step S230 when it is determined in the range determination step (S230) of the engine-hydraulic pump that each horsepower information for the hydraulic pump 20 and the work machine 30 is out of a predetermined range from each other as described above the second or more In step S260, it is determined that an abnormality has occurred in the work machine 30 (S266).
- the horsepower values of the engine 10 and the hydraulic pump 20 were within a predetermined range of each other. After driving of the 30, the horsepower values of the engine 10 and the hydraulic pump 20 are out of a predetermined range, and at this time, at the rear end of the main control valve 22 in the power transmission flow of the working system.
- the hydraulic component up to the front end of the work machine 20 and the work machine 20 are diagnosed as abnormal.
- the valve related to the drive of the work machine 20 of the main control valve 22 is opened after the work machine 2 is driven, the main control valve 22 before the drive of the work machine 20 is performed.
- the valve related to the driving of the work machine 20 is closed, only the hydraulic component and the work machine 20 from the rear end of the main control valve 22 to the front end of the work machine 20 are added. Therefore, the hydraulic component from the rear end of the main control valve 22 to the front end of the work machine 20 and the power loss in the work machine 20 are diagnosed as occurring outside the normal range.
- the horsepower information for the engine 10 are within a predetermined range from each other. Proceeding to the second abnormality determination step (S260), it is determined that the power transmission flow is in a normal state in the work system of the construction machine (S262).
- the horsepower value of all of the engine 10 the hydraulic pump 20 and the work machine 30 is within a predetermined range of each other, between the engine 10, the hydraulic pump 20 and the work machine 30 It is concluded that there is no problem in diagnosing the fault because the power loss generated during power transmission is within the error range due to the normal power loss.
- the horsepower values of the engine 10 and the hydraulic pump 20 are within a predetermined range, but the horsepower value of the work machine 30 is constant with the horsepower values of the engine 10 and the hydraulic pump 20. Meaning that it is out of range, it is diagnosed that the abnormality occurred in the angular velocity sensor 130.
- the horsepower value of the engine 10 and the hydraulic pump 20 is within a certain range of each other, since the impact to the work machine 30 connected to the hydraulic components affects the engine 10, the hydraulic pump 20 and Power transmission flow between the work machine 30 is a normal state, the horsepower value of the work machine 30 measured by the angular velocity sensor 130 is out of a predetermined range that the angular velocity sensor 130 is provided in the work machine 30 There is no choice but to assume that an abnormality has occurred in.
- the fault diagnosis system for the work system of the construction machine according to the exemplary embodiments and the fault diagnosis method using the same, it is possible to ensure reliability and accuracy in the fault diagnosis method of the construction machine, it is possible to solve the problem that takes a long time have.
- control unit 300 output unit
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Abstract
Description
Claims (13)
- 건설 기계의 엔진, 유압 펌프 및 작업기에 대한 상태 정보를 입력받는 입력부;상기 입력부에 입력된 상태 정보로 상기 엔진, 상기 유압 펌프 및 작업기 각각의 마력 정보를 계산하여 서로 비교하고, 상기 마력 정보가 미리 설정된 범위 이상으로 다를 경우 이에 해당하는 상기 엔진, 상기 유압 펌프 및 상기 작업기 중 어느 하나가 이상임을 판단하는 제어부; 및상기 제어부에서 판단된 이상 여부를 출력하는 출력부를 포함하는 건설 기계의 작업 계통에 대한 이상 진단 시스템.
- 제1항에 있어서,상기 입력부는,상기 엔진에서 발생되는 마력을 측정하기 위한 ECU(Electronic Control Unit)와,상기 유압 펌프의 압력과 유량을 감지하기 위한 압력 센서 및 유량 센서와,상기 작업기의 상태 정보를 획득하기 위한 센서를 포함하여 구성되는 건설 기계의 작업 계통에 대한 이상 진단 시스템.
- 제2항에 있어서,상기 작업기에 대한 마력 정보는 상기 작업기에 설치된 각속도 센서, 변위 센서 또는 각도 센서로부터 획득한 상기 작업기의 속도 정보를 이용하여 산출하는 것을 특징으로 하는 건설기계의 작업 계통에 대한 이상 진단 시스템.
- 제1항에 있어서,상기 출력부는,상기 제어부에서 판단된 이상 여부를 상기 건설 기계 내에서 출력하는 출력 장치와,상기 제어부에서 판단된 이상 여부를 원격지로 송신하는 통신 장치를 포함하는 것을 특징으로 하는 건설 기계의 작업 계통에 대한 이상 진단 시스템.
- 건설 기계를 이상 진단 모드로 설정하는 진단 설정 단계;상기 건설 기계의 엔진에 대한 마력 정보는 ECU로부터 취득하고, 유압 펌프에 대한 마력 정보는 상기 유압 펌프에 마련되는 압력 센서 및 유량 센서로부터 측정된 값으로 계산하는 마력 확인 단계;상기 엔진, 유압 펌프에 대한 각각의 마력 정보가 서로 미리 정해진 범위 내에 있는지 판단하는 범위 판단 단계; 및상기 범위 판단 단계에서의 판단 결과에 따라 상기 건설 기계의 엔진 또는 유압 펌프의 이상 여부를 판단하는 진단 단계를 포함하는 건설 기계의 작업 계통에 대한 이상 진단 방법.
- 제5항에 있어서,상기 진단 설정 단계에서,상기 이상 진단 모드가 설정되면 작업기의 구동을 정지하고, 상기 건설 기계의 메인 컨트롤 밸브(MCV, Main Control Valve)를 폐쇄하는 것을 특징으로 하는 건설 기계의 작업 계통에 대한 이상 진단 방법.
- 제5항에 있어서,상기 마력 확인 단계는, 상기 건설 기계의 작업기의 속도 정보로부터 상기 작업기에 대한 마력 정보를 계산하고,상기 범위 판단 단계는, 상기 엔진, 상기 유압 펌프 및 상기 작업기에 대한 각각의 마력 정보가 서로 미리 정해진 범위 내에 있는지 판단하며,상기 진단 단계는, 상기 범위 판단 단계에서의 판단에 따라 상기 엔진, 상기 유압 펌프 및 상기 작업기에서 발생하는 이상 여부를 판단하는 것을 특징으로 하는 건설 기계의 작업 계통에 대한 이상 진단 방법.
- 제7항에 있어서,상기 범위 판단 단계에서,상기 미리 정해진 범위는 상기 건설 기계의 작업 계통 간의 동력 전달 시 발생하는 정상 동력 손실에 의한 오차 범위를 포함하는 것을 특징으로 하는 건설 기계의 작업 계통에 대한 이상 진단 방법.
- 제7항에 있어서,상기 범위 판단 단계에서 상기 엔진 및 유압 펌프에 대한 각각의 마력 정보가 서로 미리 정해진 범위 외(外)에 있다고 판단하는 경우,상기 작업기를 구동하는 작업기 구동 단계;상기 유압 펌프 및 상기 작업기에 대한 마력 정보를 확인하는 유압 펌프-작업기의 마력 확인 단계;상기 유압 펌프 및 상기 작업기에 대한 각각의 마력 정보가 서로 미리 정해진 범위 내에 있는지 판단하는 유압 펌프-작업기의 범위 판단 단계;상기 유압 펌프-작업기의 범위 판단 단계에서 상기 유압 펌프 및 상기 작업기에 대한 각각의 마력 정보가 서로 미리 정해진 범위 외에 있다고 판단하는 경우, 상기 엔진 및 상기 작업기에 대한 각각의 마력 정보가 서로 미리 정해진 범위 내에 있는지 판단하는 엔진-작업기의 범위 판단 단계; 및상기 유압 펌프-작업기의 범위 판단 단계 및 상기 엔진-작업기의 범위 판단 단계에서의 판단에 따라 상기 건설 기계의 상기 유압 펌프에서 발생하는 이상 여부를 판단하는 것을 포함하는 제1 이상 여부 판단 단계; 를 포함하는 건설 기계의 작업 계통에 대한 이상 진단 방법.
- 제7항에 있어서,상기 범위 판단 단계에서 상기 유압 펌프 및 상기 작업기의 마력 정보는 미리 정해진 범위 내에서 서로 동일하고, 상기 엔진의 마력 정보는 상기 유압 펌프 또는 상기 작업기의 마력 정보와 미리 정해진 범위 이상으로 차이가 날 경우, 상기 유압 펌프-작업기의 범위 판단 단계에서 상기 유압 펌프 및 상기 작업기에 대한 각각의 마력 정보가 서로 미리 정해진 범위 내에 있다고 판단하는 경우,상기 제1 이상 여부 판단 단계는, 상기 유압 펌프에 이상이 발생한 것으로 판단하는 것을 특징으로 하는 건설 기계의 작업 계통에 대한 이상 진단 방법.
- 제7항에 있어서,상기 범위 판단 단계에서 상기 엔진 및 상기 작업기의 마력 정보는 미리 정해진 범위 내에서 서로 동일하고, 상기 유압 펌프의 마력 정보는 상기 엔진 또는 상기 작업기의 마력 정보와 미리 정해진 범위 이상으로 차이가 날 경우, 상기 엔진-작업기의 범위 판단 단계에서 상기 엔진 및 상기 작업기에 대한 각각의 마력 정보가 서로 미리 정해진 범위 내에 있다고 판단하는 경우,상기 제1 이상 여부 판단 단계는, 상기 유압 펌프에 마련되는 상기 압력 센서 또는 상기 유량 센서에 이상이 발생한 것으로 판단하는 것을 특징으로 하는 건설 기계의 작업 계통에 대한 이상 진단 방법.
- 제7항에 있어서,상기 범위 판단 단계에서 상기 엔진과 상기 유압 펌프의 마력 정보는 미리 정해진 범위 내에서 서로 동일하고, 상기 작업기의 마력 정보는 상기 엔진 또는 상기 유압 펌프의 마력 정보와 미리 정해진 범위 이상으로 차이가 날 경우,상기 작업기에 이상이 발생한 것으로 판단하는 것을 특징으로 하는 건설 기계의 작업 계통에 대한 이상 진단 방법.
- 제7항에 있어서,상기 범위 판단 단계에서 상기 유압 펌프 및 상기 작업기의 마력 정보는 미리 정해진 범위 내에서 서로 동일하고, 상기 엔진의 마력 정보는 상기 유압 펌프 또는 상기 작업기의 마력 정보보다 그 값이 작은 경우,상기 엔진에 이상이 발생한 것으로 판단하는 것을 특징으로 하는 건설 기계의 작업 계통에 대한 이상 진단 방법.
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CN104898651A (zh) * | 2015-06-27 | 2015-09-09 | 芜湖莫森泰克汽车科技有限公司 | 汽车天窗ecu功能测试装置及其测试方法 |
CN109406168A (zh) * | 2018-11-05 | 2019-03-01 | 重庆长安汽车股份有限公司 | 一种混合动力汽车的性能检测方法、装置、设备及介质 |
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WO2014203990A1 (ja) * | 2013-06-21 | 2014-12-24 | 日立建機株式会社 | 建設機械の異常情報制御装置 |
KR102587728B1 (ko) * | 2016-10-07 | 2023-10-12 | 삼성디스플레이 주식회사 | 박막 트랜지스터 어레이 기판 및 그의 제조방법 |
KR102045263B1 (ko) * | 2018-04-05 | 2019-11-18 | 동국대학교 산학협력단 | 굴삭기 고장 예측 장치 및 이의 동작 방법 |
CN110389042A (zh) * | 2019-07-16 | 2019-10-29 | 中国第一汽车股份有限公司 | 一种基于半实物仿真技术的整车电子电气自动化集成测试系统 |
CN112502909B (zh) * | 2020-11-26 | 2023-09-08 | 中车永济电机有限公司 | 风力发电机故障检测方法、数采装置、服务器及系统 |
KR102513839B1 (ko) * | 2021-01-05 | 2023-03-27 | 한국조선해양 주식회사 | 건설 장비의 결함 진단 시스템 및 결함 진단 방법 |
GB2622048A (en) * | 2022-08-31 | 2024-03-06 | Caterpillar Inc | Method for monitoring operation of a hydraulic system |
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US20170002549A1 (en) | 2017-01-05 |
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