WO2022142223A1 - 作业机械的故障处理方法、系统和电子设备 - Google Patents

作业机械的故障处理方法、系统和电子设备 Download PDF

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WO2022142223A1
WO2022142223A1 PCT/CN2021/103614 CN2021103614W WO2022142223A1 WO 2022142223 A1 WO2022142223 A1 WO 2022142223A1 CN 2021103614 W CN2021103614 W CN 2021103614W WO 2022142223 A1 WO2022142223 A1 WO 2022142223A1
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parameters
working
fault
historical
work
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PCT/CN2021/103614
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English (en)
French (fr)
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王伊
谭科
封杨
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三一汽车制造有限公司
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/903—Querying
    • G06F16/90335—Query processing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/903—Querying

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  • the present application relates to the technical field of work machines, and in particular, to a method, system and electronic device for troubleshooting a work machine.
  • the present application provides a fault handling method, system and electronic device for a working machine, which solve the technical problem of low fault determination efficiency in the prior art.
  • the present application provides a fault handling method for a work machine, including: acquiring historical operation parameters of the work machine during a working time period, the historical work parameters including the work machine at different working time nodes. working parameters and control parameters; performing fault diagnosis and analysis according to the historical working parameters; and outputting and/or displaying the results of the fault diagnosis and analysis.
  • the working parameters include the pressure of each arm cylinder of the working machine, the angle between the arm sections of the working machine, the pressure of the working machine At least one of the vibration amplitudes of each arm;
  • the control parameters include the control parameters of the remote control of the working machine and/or the control parameters of the operation handle or the operation button of the working machine.
  • the method further includes: acquiring the current working parameters of the working machine, comparing the current working parameters with the historical working parameters, and outputting or/and displaying all the current working parameters. The analysis result of whether the work machine is faulty or not.
  • the method before acquiring the historical operation parameters of the working machine during the working time period, the method further includes: storing the historical working parameters of the working machine during the working time period.
  • the storing the historical operation parameters of the working machine during the working time period includes: measuring the working machine's operating parameters at a plurality of the working time nodes in the working time period. working parameters, and obtaining the operating parameters of the working machine at the working time node; and classifying the obtained working parameters according to the types of working parameters to obtain a plurality of historical working parameter groups, each of the historical working parameters Each of the job parameters in the parameter group corresponds to each of the working time nodes.
  • the performing fault diagnosis and analysis according to the historical operation parameters includes: searching for abnormal operation parameters according to the operation parameters of the operation machine at different working hours, and according to the The abnormal operating parameters and the control parameters of the occurrence time of the abnormal operating parameters are used for fault diagnosis and analysis; or, according to the historical operating parameters, a fault database is searched, and fault diagnosis and analysis are carried out according to the fault database;
  • the result of the fault diagnosis and analysis is output to the control terminal or mobile terminal of the working machine, where the result of the fault diagnosis and analysis includes a fault diagnosis conclusion and/or a fault treatment process.
  • the performing fault diagnosis and analysis according to the historical operation parameters further includes forming a trend statistical chart from the data in the historical operation parameters; Stored in the historical job parameter database; perform fault diagnosis and analysis based on trend statistical charts.
  • the present application also provides a fault handling system for a working machine for implementing the above method, the system comprising:
  • a historical data acquisition module configured to acquire historical operation parameters of the work machine in the working time period, the historical work parameters including the work parameters and control parameters of the work machine at different work time nodes; a fault diagnosis and analysis module, configured In order to perform fault diagnosis analysis according to the historical operation parameters; and a result output module, configured to output and/or display the results of the fault diagnosis analysis.
  • the present application also provides an electronic device, which includes a data collection device for collecting data; a processor; and a memory, where computer program instructions are stored in the memory, and when the computer program instructions are executed by the processor
  • the processor is caused to execute the fault handling method as described in any one of the above.
  • the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and the computer program instructions, when executed by the processor, cause the processor to execute the fault handling method described in any of the foregoing embodiments.
  • the fault processing method for a work machine provided by the present application, by acquiring historical operation parameters of the work machine in the working time period, and performing fault diagnosis and analysis according to the historical work parameters; and outputting and/or displaying the fault diagnosis Results of the analysis.
  • historical operating parameters can be obtained, and the operating parameters and control parameters can be combined for analysis to obtain diagnosis results.
  • the equipment can be analyzed remotely through data, and the final fault diagnosis results can be sent to the mobile phone. It can be viewed by customers or maintenance personnel, thus realizing remote fault diagnosis, eliminating the need for on-site fault diagnosis and analysis, reducing labor costs and improving equipment troubleshooting efficiency.
  • FIG. 1 is a schematic flowchart of a fault handling method for a work machine provided by an embodiment of the present application.
  • FIG. 2 is a schematic flowchart of a fault handling method provided by another embodiment of the present application.
  • FIG. 3 is a schematic flowchart of a fault handling method provided by another embodiment of the present application.
  • FIG. 4 is a schematic flowchart of a process of storing historical job parameters in the fault handling method provided by another embodiment of the present application.
  • FIG. 5 is a schematic flowchart of a recurring fault determination process in a fault handling method for a working machine provided by another embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a fault handling system for a working machine provided by an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a fault handling system for a working machine provided by another embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of a specific implementation manner of an electronic device provided by an embodiment of the present application.
  • sensors are arranged at key parts of the boom system.
  • the key parts of the boom system that are faulty are monitored by sensors, and alarms are prompted by the equipment display, which reduces the difficulty of troubleshooting to a certain extent and improves the efficiency of troubleshooting.
  • the above technology determines whether some independent components of the boom system are abnormal by judging whether the sensor data exceeds the set threshold.
  • This kind of fault judgment standard is too simple. Since many faults in the boom system are not caused by damage to the key components where the sensors are arranged, when the fault occurs, the staff still needs to go to the construction site for troubleshooting.
  • the present application provides a fault handling method for a working machine.
  • the working machine can be large-scale engineering equipment such as a concrete pump truck or a crane.
  • the concrete pump truck is used as an example, but it should be understood that , and its related control methods and strategies can also be applied to other working machines such as excavators, cranes, fire trucks, and pump trucks.
  • the fault processing method utilizes the historical operation parameters of the equipment saved in the database, and carries out fault diagnosis and analysis in combination with the operation parameters and control parameters, and gives a diagnosis conclusion.
  • the final fault diagnosis result is sent to the mobile terminal or the vehicle terminal, or displayed on the display screen for viewing by customers or maintenance personnel, thus solving the technical problems of poor accuracy of fault information acquisition and inability to remotely determine the cause of the fault in the above technologies.
  • FIG. 1 is a schematic flowchart of a specific embodiment of a method for troubleshooting a working machine provided by the present application. This troubleshooting method is executed, for example, by the controller of the working machine. As shown in Figure 1, the troubleshooting method of the working machine includes the following steps:
  • Step 10 Acquire historical operation parameters of the work machine during the working time period, where the historical work parameters include the work parameters and control parameters of the work machine at different work time nodes;
  • the working parameters include at least one of the pressure of each arm cylinder of the work machine, the angle between each arm of the work machine, and the vibration amplitude of each arm of the work machine;
  • the control parameters include the remote control of the work machine. control parameters of the machine and/or control parameters of the operating handle or operating button of the working machine.
  • these historical job parameters can be at the same time interval or at different time intervals.
  • Step 20 Perform fault diagnosis and analysis according to historical operation parameters
  • Step 30 Output and/or display the results of the fault diagnosis analysis.
  • the fault handling method of the work machine can obtain historical work parameters when a fault occurs, and combine the work parameters with the control parameters to analyze to obtain a diagnosis result, and the fault of the equipment can be remotely carried out through data. Analyze, and send the final fault diagnosis results to the mobile terminal or vehicle terminal for viewing by customers or maintenance personnel, thereby realizing remote fault diagnosis, eliminating the need for on-site fault diagnosis and analysis. Improve equipment troubleshooting efficiency.
  • FIG. 2 is a schematic flowchart of a fault handling method provided by another embodiment of the present application. As shown in Figure 2, the fault handling method further includes the following steps:
  • Step 40 Acquire the current working parameters of the working machine
  • the current operating parameters include the real-time value of the corresponding parameter output by the corresponding sensor or measuring device to the controller when the data is collected.
  • Step 50 Compare current job parameters with historical job parameters
  • Step 30 Output or/and display the analysis result of whether the work machine is faulty.
  • the troubleshooting method shown in Figure 1 is more used in the following situations.
  • the operator or front-line maintenance personnel cannot immediately diagnose the cause, type, and specific components of the problem.
  • a diagnosis can be given by a remote support server, and the object of diagnosis may be a fault that occurred 5 minutes or an hour ago.
  • the troubleshooting method shown in FIG. 2 may be based on the diagnosis of the current operating condition of the working machine. For example, when the field operator needs to reduce the angle between the 2-section boom and the 1-section boom at a rate of 3 degrees per minute, this command is issued by operating the handle. Moreover, under normal conditions, the 1-section boom and the 2-section boom can also achieve such a reduction speed when other components are not faulty, which is recorded in the historical operating parameters. However, the angle between the 2-section boom and the 1-section boom does not actually shrink at the above-mentioned speed, or does not shrink. Due to the lack of light on the construction site at night, the operator cannot see clearly, or the operator cannot accurately judge. Whether the actual reduction speed of the included angle is the expected reduction speed.
  • the operating parameters and control parameters are basically the same.
  • the angle between the 2-section boom and the 1-section boom does not reach the expected speed. It can diagnose a problem with the oil cylinder or the control valve of the oil cylinder that controls the 2-section boom, which may be oil leakage, or insufficient oil pressure, etc., and feedback the failure to the operator. Therefore, the function of real-time monitoring of the operating equipment can be realized.
  • the on-site operator When the on-site operator has not found a fault, it can play a prompting role for the operator, thereby inhibiting the development of the fault to a more serious direction and reducing the time spent on solving it. The possibility of failure improves the utilization efficiency of the working machine.
  • FIG. 3 is a schematic flowchart of a fault handling method provided by another embodiment of the present application. As shown in FIG. 3 , before acquiring the historical operation parameters of the working machine during the working time period, the fault handling method further includes:
  • Step 15 Store the historical operation parameters of the operation machine in the working time period.
  • FIG. 4 is a schematic flowchart of a process of storing historical job parameters in the fault handling method provided by another embodiment of the present application. As shown in Figure 4, the process of storing historical job parameters includes the following steps:
  • Step 101 Measure the working parameters of the working machine at multiple time nodes in the working time period, and obtain the operating parameters of the working machine at the working time node;
  • the set working time period can theoretically be any earlier time range earlier than the current moment, and the time period can be selected according to the sample requirements. Generally, the longer the time period is selected, the more divided The denser the time nodes, the higher the accuracy of the database.
  • the working time period is set as 300 hours when the working machine is in a working state, and the divided time nodes are 1 second interval, that is, the working parameters of the working machine are obtained every 1 second. It should be understood that the divided time nodes may be shorter or longer, for example, data is acquired at intervals of 2 seconds, 5 seconds, 8 seconds, 10 seconds, or 0.5 seconds.
  • the interval between specific time nodes can be selected according to the computing capability of the processor, the storage capability of the memory, and the frequency with which the corresponding parameters of the device change over time.
  • Step 102 Classify the obtained job parameters according to the types of job parameters to obtain a plurality of historical job parameter groups, and each job parameter in each historical job parameter group corresponds to each working time node respectively.
  • the data in turn characterizes different fault locations and fault types.
  • the possible failures of the boom are mainly related to the angle of the boom, the pressure of the cylinder of the corresponding boom, and the vibration amplitude and frequency of the boom.
  • Information such as engine speed, engine temperature, etc. of the engine of the pump truck is irrelevant. Therefore, in order to improve the accuracy and efficiency of fault judgment, various faults can be classified, that is, the obtained sets of operating parameters are classified to form multiple sets of historical operating parameters for each operating machine.
  • this pump truck has five booms
  • there can be multiple sets of historical operation parameter groups for this No. 1 pump truck for example, a historical operation parameter group of 1 boom angle, 1 boom and 2-section boom angle historical operation parameter group, ..., 4-section boom and 5-section boom angle historical operation parameter group, 1-section boom cylinder historical operation parameter group, 2-section boom cylinder historical operation parameter group, ..., 5-section boom cylinder Historical operation parameter group, 1-section boom vibration amplitude historical operation parameter group, 2-section boom vibration amplitude historical operation parameter group, ..., 5-section boom vibration amplitude historical operation parameter group, etc.
  • performing fault diagnosis and analysis according to historical operation parameters specifically includes the following methods:
  • the remote control gives the operation parameters of the signal that controls the action of the 2-section or 3-section boom, it is judged that the boom is in normal operation at this time; if it is read that the remote control does not give control at this time Any signal of the action of one arm, it is diagnosed that the boom system at this time has an internal leakage fault; if it is read that the remote control does not give a signal to control the action of the 2-section or 3-section boom, but it controls other If the signal of the boom movement is detected, it is judged that the boom system has a card-issuing fault at this time.
  • the automatic judgment of the fault investigation condition can be realized by means of automatic retrieval.
  • FIG. 5 is a schematic flowchart of a recurring fault determination process in a fault handling method for a working machine provided by another embodiment of the present application. As shown in Figure 5, the recurring fault determination process includes:
  • Step 500 Determine whether each current job parameter is consistent with the working parameter of the corresponding historical job parameter, and whether the time corresponding to the working parameter consistent with the current job parameter in each historical job parameter is consistent.
  • Step 501 Determine that each current job parameter is consistent with the working parameter of the corresponding historical job parameter, and the time corresponding to the working parameter consistent with the current job parameter in each historical job parameter is consistent, and retrieve the pre-stored fault in the historical job parameter database Diagnosis logic information, the fault diagnosis logic information includes the type of the fault, the location of the fault, the time when the fault occurred before and the working parameters at that time; send the fault diagnosis logic information to the intelligent terminal; and
  • the consistency of the above working parameters does not mean that the working parameters are completely the same. In engineering practice in this field, when the difference is less than 1% or less than 0.5%, it can also be considered to be consistent.
  • the current operating parameters obtained at a certain moment are all the same as the historical operating parameters of the equipment, such as the 1-section arm angle, 12-arm angle, ..., 20:00 on December 2, 2020
  • the 45 boom angles are all the same, and the pressure of the 1-section boom cylinder, the pressure of the 2-section boom cylinder, ..., the pressure of the 5-section boom cylinder are also the same, the vibration amplitude of the 1-section boom, the vibration amplitude of the 2-section boom, ..., 5
  • the vibration amplitude of the boom is the same, and at 20:00 on December 2, 2020, the 1-section boom cylinder of the equipment fails, and the information about the failure of the 1-section boom cylinder can be fed back to the maintenance personnel.
  • Step 502 Determine that each current job parameter is inconsistent with the work parameter of the corresponding historical job parameter, and/or the time corresponding to the work parameter consistent with the current job parameter in each historical job parameter is inconsistent, and compare the current job parameter with each group.
  • Historical job parameters are output in visual form.
  • the pressure of the 1-section boom cylinder is only the same as the pressure of the 1-section boom cylinder at 20:00 on December 4, 2020, while the 1-section boom angle is only the same as that of the 1-section boom cylinder at 20:00 on December 4, 2020.
  • the angles of the 1-section arm oil cylinders are the same, and the corresponding time of the same angle and the corresponding time of the same pressure are different, so step 501 is not executed, but step 502 is executed.
  • outputting and/or displaying the result of the fault diagnosis analysis further includes:
  • the result of the fault diagnosis and analysis is output to the control terminal or mobile terminal of the working machine, and the result of the fault diagnosis and analysis includes the fault diagnosis conclusion and/or the fault handling process.
  • the results of fault diagnosis and analysis output to the control terminal or mobile terminal of the operating machine include not only the fault diagnosis conclusion, but also the fault handling process, which is helpful for the on-site maintenance personnel to refer to the fault handling after receiving the corresponding fault diagnosis conclusion.
  • Process to troubleshoot work machinery improve the uniformity of maintenance, and reduce the possibility of equipment damage due to improper operation by handlers.
  • a fault handling method for a work machine provided by the present application includes: acquiring historical operation parameters of the work machine in a working time period, where the historical work parameters include the work parameters and control parameters of the work machine at different work time nodes; , perform fault diagnosis analysis; and output and/or display the results of fault diagnosis analysis.
  • the fault handling method of the work machine provided by the present application can obtain historical work parameters when a fault occurs, and combine the work parameters with the control parameters to analyze to obtain a diagnosis result, and the fault of the equipment can be remotely carried out through data. Analyze, and send the final fault diagnosis results to the mobile terminal or vehicle terminal for viewing by customers or maintenance personnel, thereby realizing remote fault diagnosis, eliminating the need for on-site fault diagnosis and analysis. Improve equipment troubleshooting efficiency.
  • the fault processing method and fault diagnosis processing method for a work machine in this embodiment can also be used in various ways, such as forming a trend statistical chart from data in historical operation parameters; storing the trend statistical chart in a historical operation parameter database ; According to the trend statistics chart, carry out fault diagnosis and analysis. For specific analysis, it can be automated analysis by the system, or analysis by experts of this type of work machinery. Of course, the analysis results can be output. For details, refer to the foregoing embodiments.
  • FIG. 6 is a schematic structural diagram of a fault handling system for a working machine provided by an embodiment of the present application. As shown in FIG. 6 , the present application also provides a fault handling system for a working machine, for implementing the above method, the system includes:
  • the historical data acquisition module 910 is configured to acquire historical operation parameters of the work machine during the working time period, and the historical work parameters include the work parameters and control parameters of the work machine at different work time nodes; the fault diagnosis and analysis module 920 is configured to be based on historical work. parameters, to perform fault diagnosis analysis; and a result output module 930, configured to output and/or display the results of the fault diagnosis analysis.
  • FIG. 7 is a schematic structural diagram of a fault handling system for a working machine provided by another embodiment of the present application.
  • the fault handling system further includes a current parameter processing module 940, which is configured to obtain the current working parameters of the working machine, compare the current working parameters with the historical working parameters, and output or/and display whether the working machine exists or not. Failure analysis results.
  • a data storage module 950 is further included, which is configured to store historical operation parameters of the working machine during the working time period.
  • the data storage module 950 includes: a parameter obtaining unit, configured to measure the working parameters of the work machine under a plurality of working time nodes in the working time period, and obtain the operating parameters of the working machine at the working time node; and
  • the classification unit is configured to classify the obtained job parameters according to the types of job parameters to obtain a plurality of historical job parameter groups, and each job parameter in each historical job parameter group corresponds to each working time node respectively.
  • the fault diagnosis and analysis module 920 is configured to search for abnormal working parameters according to the working parameters of the working machine at different working hours, and to perform fault diagnosis and analysis according to the abnormal working parameters and the control parameters of the occurrence time of the abnormal working parameters , or, configure it to search the fault database based on historical job parameters, and perform fault diagnosis and analysis based on the fault database.
  • the result output module is configured to output a fault diagnosis and analysis result to a control terminal or a mobile terminal of the working machine, where the fault diagnosis and analysis result includes a fault diagnosis conclusion and/or a fault handling process.
  • each module in the above-mentioned fault handling system 90 has been described in detail in the fault handling methods described above with reference to FIGS. 1 to 5 , and therefore, their repeated descriptions will be omitted here.
  • the fault handling system 90 may be integrated into the electronic device 60 as a software module and/or a hardware module, in other words, the electronic device 60 may include the fault handling system 90 .
  • the fault handling system 90 can be a software module in the operating system of the electronic device 60 , or can be an application program developed for it; of course, the fault handling system 90 can also be a software module of the electronic device 60 .
  • the fault handling system 90 and the electronic device 60 may also be separate devices (eg, servers), and the fault handling system 90 may be connected to the electronic device through a wired and/or wireless network 60, and transmit the interactive information according to the agreed data format.
  • the application also provides an electronic device, the device includes: a data acquisition device, a processor and a memory;
  • the data collection device is used to collect data; the memory is used to store one or more program instructions; the processor is used to execute one or more program instructions to execute the above method.
  • FIG. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
  • electronic device 60 includes one or more processors 601 and memory 602 .
  • Processor 601 may be a central processing unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in electronic device 60 to perform desired functions.
  • CPU central processing unit
  • Processor 601 may be a central processing unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in electronic device 60 to perform desired functions.
  • Memory 602 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory.
  • Volatile memory may include, for example, random access memory (RAM) and/or cache memory, among others.
  • Non-volatile memory may include, for example, read only memory (ROM), hard disk, flash memory, and the like.
  • One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 601 may execute the program instructions to implement the work machine fault handling method or other desired functions of the various embodiments of the present application above.
  • Various contents such as positioning error parameters may also be stored in the computer-readable storage medium.
  • the electronic device 60 may also include an input device 603 and an output device 604 interconnected by a bus system and/or other form of connection mechanism (not shown).
  • the input device 603 may include, for example, a keyboard, a mouse, and the like.
  • the output device 604 can output various information to the outside, including fault diagnosis and analysis data.
  • the output device 604 may include, for example, a display, a communication network and its connected remote output devices, and the like.
  • the electronic device 60 may also include any other suitable components according to the specific application.
  • embodiments of the present application may also be computer program products comprising computer program instructions that, when executed by a processor, cause the processor to perform various embodiments described in this specification according to the present application The steps in the troubleshooting method of the work machine.
  • the computer program product may be written in any combination of one or more programming languages to write program codes for performing the operations of the embodiments of the present application.
  • the programming languages include object-oriented programming languages, such as Java, C++, etc., as well as conventional procedural programming language, such as "C" language or similar programming language.
  • the program code may execute entirely on the user computing device, partly on the user device, as a stand-alone software package, partly on the user computing device and partly on a remote computing device, or entirely on the remote computing device or server execute on.
  • embodiments of the present application may also be computer-readable storage media on which computer program instructions are stored, and when executed by the processor, the computer program instructions cause the processor to execute the operation of the work machine according to the various embodiments of the present application. Steps in the Troubleshooting Method.
  • a computer-readable storage medium can employ any combination of one or more readable media.
  • the readable medium may be a readable signal medium or a readable storage medium.
  • the readable storage medium may include, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses or devices, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.
  • each component or each step can be decomposed and/or recombined. These disaggregations and/or recombinations should be considered as equivalents of the present application.

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Abstract

本申请公开了一种作业机械的故障处理方法、系统、电子设备和计算机可读存储介质，解决了故障判断效率较低的问题。本申请提供的一种作业机械的故障处理方法，包括：获取所述作业机械在工作时间段的历史作业参数，所述历史作业参数包括所述作业机械在不同的工作时间节点的工作参数及控制参数；根据所述历史作业参数，进行故障诊断分析；以及输出和/或显示所述故障诊断分析的结果。

Description

作业机械的故障处理方法、系统和电子设备 技术领域
本申请涉及作业机械技术领域，具体涉及一种作业机械的故障处理方法、系统和电子设备。
发明背景
随着工程技术的不断发展，混凝土泵车等作业机械越来越广泛地应用于生产生活的众多领域。作为建筑施工必要的大型机械设备，混凝土泵车因故障停工将造成施工单位极大的经济损失。因此，急需提高对混凝土泵车的故障排查能力，以提高其作业效率同时降低经济损失。
发明内容
为此，本申请提供一种作业机械的故障处理方法、系统和电子设备，解决了现有技术中故障判断效率较低的技术问题。
第一方面，本申请提供的一种作业机械的故障处理方法，包括：获取所述作业机械在工作时间段的历史作业参数，所述历史作业参数包括所述作业机械在不同的工作时间节点的工作参数及控制参数；根据所述历史作业参数，进行故障诊断分析；以及输出和/或显示所述故障诊断分析的结果。
结合第一方面，在一种可能的实现方式中，所述工作参数包括所述作业机械的各节臂油缸的压力、所述作业机械的各节臂之间的夹角、所述作业机械的各节臂的振动幅度中的至少一种；所述控制参数包括所述作业机械的遥控器的控制参数和/或所述作业机械的操作手柄或操作按钮的控制参数。
结合第一方面，在一种可能的实现方式中，还包括：获取所述作业机械的当前作业参数，并将所述当前作业参数与所述历史作业参数进行比较，并输出或/和显示所述作业机械是否存在故障的分析结果。
结合第一方面，在一种可能的实现方式中，在获取所述作业机械在工作时间段的历史作业参数之前，还包括：存储所述作业机械在工作时间段的历史作业参数。
结合第一方面，在一种可能的实现方式中，所述存储所述作业机械在工作时间段的历史作业参数，包括：测量工作时间段内多个所述工作时间节点下所述作业机械的工作参数，并获得所述工作时间节点的所述作业机械的所述操作参数；以及将得到的所述作业参数按照作业参数的种类分类，得到多个历史作业参数组， 每个所述历史作业参数组中的各个所述作业参数与各个所述工作时间节点分别对应。
结合第一方面，在一种可能的实现方式中，所述根据所述历史作业参数，进行故障诊断分析，包括：根据所述作业机械在不同工作时间的工作参数，查找异常工作参数，根据所述异常工作参数及所述异常工作参数发生时间的控制参数，进行故障诊断分析；或，根据所述历史作业参数，查找故障数据库，根据所述故障数据库进行故障诊断分析；
结合第一方面，在一种可能的实现方式中，向所述作业机械的控制终端或移动终端输出所述故障诊断分析的结果，所述故障诊断分析的结果包括故障诊断结论和/或故障处理流程。
结合第一方面，在一种可能的实现方式中，所述根据所述历史作业参数，进行故障诊断分析，还包括将所述历史作业参数中的数据形成趋势统计图表；将所述趋势统计图表存储在历史作业参数数据库内；根据趋势统计图表，进行故障诊断分析。
本申请还提供一种作业机械的故障处理系统，用于实施如上的方法，系统包括：
历史数据获取模块，配置为获取所述作业机械在工作时间段的历史作业参数，所述历史作业参数包括所述作业机械在不同的工作时间节点的工作参数及控制参数；故障诊断分析模块，配置为根据所述历史作业参数，进行故障诊断分析；以及结果输出模块，配置为输出和/或显示所述故障诊断分析的结果。
本申请还提供一种电子设备，设备包括数据采集装置，用于采集数据；处理器；以及存储器，在所述存储器中存储有计算机程序指令，所述计算机程序指令在被所述处理器运行时使得所述处理器执行如上述任一项所述的故障处理方法。
本申请还提供一种计算机可读存储介质，计算机可读存储介质存储有计算机程序，所述计算机程序指令在被处理器运行时使得处理器执行上述任一实施例所述的故障处理方法。
本申请所提供的作业机械的故障处理方法，通过获取所述作业机械在工作时间段的历史作业参数，并根据所述历史作业参数，进行故障诊断分析；以及输出和/或显示所述故障诊断分析的结果。能够在出现故障时，获取历史作业参数，并将工作参数和控制参数相结合，进行分析以得到诊断结果，远程即可通过数据来进行设备的故障分析，并将最终的故障诊断结果发送至移动端或车辆端，供客户或维修人员进行查看，从而实现了远程的故障诊断，无需进行现场的故障诊断和分析，在降低人力成本的同时，也提高了设备的排故效率。
附图简要说明
通过结合附图对本申请实施例进行更详细的描述，本申请的上述以及其他目的、特征和优势将变得更加明显。附图用来提供对本申请实施例的进一步理解，并且构成说明书的一部分，与本申请实施例一起用于解释本申请，并不构成对本申请的限制。在附图中，相同的参考标号通常代表相同部件或步骤。
图1所示为本申请一实施例所提供的作业机械的故障处理方法的流程示意图。
图2所示为本申请另一实施例所提供的故障处理方法的流程示意图。
图3所示为本申请另一实施例所提供的故障处理方法的流程示意图。
图4所示为本申请另一实施例所提供的故障处理方法中的存储历史作业参数的过程的流程示意图。
图5所示为本申请另一实施例所提供的作业机械的故障处理方法中的复现故障判定过程的流程示意图。
图6所示为本申请一实施例所提供的作业机械的故障处理系统的结构示意图。
图7所示为本申请另一实施例所提供的作业机械的故障处理系统的结构示意图。
图8所示为本申请一实施例所提供的电子设备的一种具体实施方式的结构示意图。
实施本发明的方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
申请概述
为了解决上述的作业机械故障排查效率低的技术问题，在一种利用混凝土泵车臂架监测系统对混凝土泵车臂架系统安全性能进行监测的方案中，在臂架系统的关键部位布设传感器，通过传感器监测到臂架系统中出现故障的关键零部件部位，并通过设备显示器报警提示，一定程度降低了排故难度，提高了故障排除的效率。
但是，上述技术通过判断传感器数据是否超出设定的阈值，来判定臂架系统的某些独立零部件是否出现了异常情况。这种故障判别标准过于简单，由于臂架系统中出现的很多故障并不是由布置了传感器的关键零部件损坏而造成的，导致故障发生时，仍然需要工作人员前往施工现场进行故障排除。
针对上述的技术问题，本申请提供了一种作业机械的故障处理方法，该作业 机械可以为混凝土泵车或者起重机等大型的工程设备，本实施例以混凝土泵车为例，但是应当理解的是，其相关的控制方法和策略同样可以应用于挖掘机、起重机、消防车、泵车等其他的作业机械中。该故障处理方法利用在数据库中保存设备的历史作业参数，并结合工作参数和控制参数进行故障诊断分析，并给出诊断结论。最终的故障诊断结果发送至移动端或车辆端，或者显示在显示屏上，供客户或维修人员进行查看，从而解决了上述技术中故障信息获取准确性差、无法远程判断故障原因的技术问题。
示例性故障处理方法
图1为本申请所提供的作业机械的故障处理方法一种具体实施方式的流程示意图。该故障处理方法例如由作业机械的控制器执行。如图1所示，该作业机械的故障处理方法包括以下步骤：
步骤10：获取作业机械在工作时间段的历史作业参数，历史作业参数包括作业机械在不同的工作时间节点的工作参数及控制参数；
具体的，工作参数包括作业机械的各节臂油缸的压力、作业机械的各节臂之间的夹角、作业机械的各节臂的振动幅度中的至少一种；控制参数包括作业机械的遥控器的控制参数和/或作业机械的操作手柄或操作按钮的控制参数。
某一工作时间段内的多个历史作业参数，这些历史作业参数可以间隔相同的时间间隔，也可以间隔不同的时间间隔。
步骤20：根据历史作业参数，进行故障诊断分析；
步骤30：输出和/或显示故障诊断分析的结果。
本申请所提供的作业机械的故障处理方法，能够在出现故障时，获取历史作业参数，并将工作参数和控制参数相结合，进行分析以得到诊断结果，远程即可通过数据来进行设备的故障分析，并将最终的故障诊断结果发送至移动端或车辆端，供客户或维修人员进行查看，从而实现了远程的故障诊断，无需进行现场的故障诊断和分析，在降低人力成本的同时，也提高了设备的排故效率。
图2所示为本申请另一实施例所提供的故障处理方法中的流程示意图。如图2所示，该故障处理方法还包括以下步骤：
步骤40：获取作业机械的当前作业参数；
当前作业参数，包括采集数据时，相应的传感器或测量设备向控制器输出的相应参数的即时数值。
步骤50：将当前作业参数与历史作业参数进行比较；以及
步骤30：输出或/和显示作业机械是否存在故障的分析结果。
图1所示的故障处理方法更多用在以下场合中，当作业机械在现场出现故障了，操作人员或一线的维修人员无法立即诊断出故障的原因、类型、以及出现问题的具体部件究竟在哪里，可以由远程的支持服务器给出诊断，诊断的对象可能 是5分钟或者一小时之前出现的故障。
而图2所示的故障处理方法，可以是针对作业机械的当前运行状况进行诊断。例如，当现场操作人员需要将2节臂与1节臂之间的角度按照每分钟3度的速度缩小时，通过操作手柄发出这一指令。而且，正常状况下，1节臂和2节臂在其他部件并未出现故障时，也可以实现这样的缩小速度，这在历史作业参数中是有记录的。但是2节臂与1节臂之间的角度，实际上并未按照上述的速度缩小，或者并未缩小，而由于夜间施工现场光照不足，操作人员看不清，或者操作人员也无法准确地判断夹角的实际缩小速度是否为期望的缩小速度。
所以，当获得当前作业参数之后，可以与历史作业参数进行比较，根据其他的臂架的工作参数、控制参数基本相同，然而2节臂与1节臂之间的角度并未达到预期的速度，可以诊断出控制2节臂的油缸或油缸的控制阀出现问题，可能是漏油，或油压不足等，向操作人员反馈该故障出现。从而，能够实现对操作设备的实时监控的功能，在现场操作人员尚未发现故障时，就可以对操作人员起到提示作用，从而抑制了故障向更加严重的方向发展，降低了花费更多时间解决故障的可能性，提高了作业机械的利用效率。
图3所示为本申请另一实施例所提供的故障处理方法的流程示意图。如图3所示，该故障处理方法，在获取作业机械在工作时间段的历史作业参数之前，还包括：
步骤15：存储作业机械在工作时间段的历史作业参数。
图4所示为本申请另一实施例所提供的故障处理方法中的存储历史作业参数的过程的流程示意图。如图4所示，存储历史作业参数的过程包括如下步骤：
步骤101：测量工作时间段内多个时间节点下作业机械的工作参数，并获得工作时间节点的作业机械的操作参数；
在实际使用场景中，设定的工作时间段，理论上可以是早于当前时刻的任意更早的时间范围，其时间段可以根据样本要求进行选择，一般地，时间段选择越长、划分的时间节点越密集，则数据库的准确性越高。
但是，考虑到成本问题，在满足使用需求的前提下，可以设置较为合理的时间段以及划分的时间节点。在该具体实施方式中，工作时间段设定为作业机械处于工作状态下的300小时，划分的时间节点为间隔1秒钟，即每隔1秒钟获取作业机械的工作参数。应当理解的是，划分的时间节点可以更短或更长，例如间隔2秒钟、5秒钟、8秒钟、10秒钟、0.5秒钟获取一次数据。具体的时间节点之间的间隔，可以依照处理器的计算能力、存储器的存储能力和设备的相应参数随时间变化的频率而选择。
步骤102：将得到的作业参数按照作业参数的种类分类，得到多个历史作业参数组，每个历史作业参数组中的各个作业参数与各个工作时间节点分别对应。
在实际使用场景中，在实际的数据采集过程中，由于得到的参数类型较多，例如，可能同时获取了发动机转速，节臂的偏转角度，节臂的振幅等多种数据，而不同类型的数据又表征了不同的故障位置和故障类型。例如，关于节臂可能出现的故障，主要与节臂的角度、相应节臂的油缸的压力、节臂的振动幅度频率等数值有关，则可以只需要调取相应的数据即可，而与混凝土泵车的发动机的诸如发动机转速、发动机温度等信息无关。因此，为了提高故障判断的准确性和判断的效率，可以将多种故障进行分类，也就是将得到的各组作业参数分类，以形成每台作业机械的多组历史作业参数组。
例如，以1号泵车为例，该泵车有五节臂，那么关于该1号泵车可以有多组历史作业参数组，例如可以形成1节臂角度历史作业参数组、1节臂和2节臂角度历史作业参数组、……、4节臂和5节臂角度历史作业参数组，1节臂油缸历史作业参数组、2节臂油缸历史作业参数组、……、5节臂油缸历史作业参数组，1节臂振动幅度历史作业参数组、2节臂振动幅度历史作业参数组、……、5节臂振动幅度历史作业参数组，等等。
在本申请的一实施例中，根据历史作业参数进行故障诊断分析，具体包括以下方法：
根据作业机械在不同工作时间的工作参数，查找异常工作参数，根据异常工作参数及异常工作参数发生时间的控制参数，进行故障诊断分析；
例如，以节臂角度变化为例，在巡检数据库中的数据时，检测到2节臂、3节臂之间的夹角变化超过了1度/分钟，则处理器开始观察遥控器的臂架控制信号。若读取到此时遥控器给出了控制2节臂或3节臂动作的信号的操作参数，则判断为此时是臂架的正常动作；若读取到此时遥控器没有给出控制任何一节臂动作的信号，则诊断出此时的臂架系统发生了内泄故障；若读取到此时遥控器没有给出控制2节臂或3节臂动作的信号，但是有控制其他节臂动作的信号，则判断为此时臂架系统发生了发卡故障。
或，根据历史作业参数，查找故障数据库，根据故障数据库进行故障诊断分析；
具体的，当判定的故障情况是历史上曾经发生过并存储在历史作业参数数据库中的，则可以通过自动调取的方式，实现故障排查情况的自动判断。
图5所示为本申请另一实施例所提供的作业机械的故障处理方法中的复现故障判定过程的流程示意图。如图5所示，复现故障判定过程包括：
步骤500：判断各个当前作业参数是否与对应的历史作业参数的工作参数一致，且各个历史作业参数中的与当前作业参数一致的工作参数所对应的时间是否一致。
步骤501：判定各个当前作业参数与对应的历史作业参数的工作参数一致， 且各个历史作业参数中的与当前作业参数一致的工作参数所对应的时间一致，调取历史作业参数数据库中预存的故障诊断逻辑信息，故障诊断逻辑信息包括该故障的类型、故障发生位置、之前发生该故障的时间和当时的工作参数；向智能终端发送故障诊断逻辑信息；以及
具体的，上述工作参数的一致，并非表示工作参数完全相同，在该领域的工程实践中，当差别小于1％或小于0.5％，则也可以认为属于一致。
以上述的1号泵车为例，某一时刻得到的当前作业参数中，均与该设备历史作业参数中例如2020年12月2日20点的1节臂角度、12臂角度、……、45臂角度均一致，而设备1节臂油缸的压力、2节臂油缸的压力、……、5节臂油缸的压力也一致，1节臂振动幅度、2节臂振动幅度、……、5节臂振动幅度一致，而在2020年12月2日20点，该设备的1节臂油缸出现故障了，则可以向维修人员反馈1节臂油缸出现故障的信息。
步骤502：判定各个当前作业参数与对应的历史作业参数的工作参数不一致，和/或，各个历史作业参数中的与当前作业参数一致的工作参数所对应的时间不一致，将当前作业参数与各组历史作业参数以可视化形式输出。
例如，某一时刻得到的当前作业参数中，1节臂油缸的压力只与2020年12月4日的20点时的1节臂油缸的压力一致，而1节臂角度则只与2020年12月13日的20点时的1节臂油缸的角度一致，角度一致的对应时间和压力一致的对应时间不同，所以不执行步骤501，而执行步骤502。
在本申请一实施例中，输出和/或显示故障诊断分析的结果，还包括：
向作业机械的控制终端或移动终端输出故障诊断分析的结果，故障诊断分析的结果包括故障诊断结论和/或故障处理流程。
向作业机械的控制终端或移动终端输出的故障诊断分析的结果，不但包括了故障诊断结论，还包括了故障处理流程，有利于现场的维修人员在接收到相应的故障诊断结论之后，参考故障处理流程来对作业机械进行故障处理，提高了维修的统一性，也减少了因为处理人员因为操作不当而导致设备损坏的可能性。
本申请提供的一种作业机械的故障处理方法，包括：获取作业机械在工作时间段的历史作业参数，历史作业参数包括作业机械在不同的工作时间节点的工作参数及控制参数；根据历史作业参数，进行故障诊断分析；以及输出和/或显示故障诊断分析的结果。本申请所提供的作业机械的故障处理方法，能够在出现故障时，获取历史作业参数，并将工作参数和控制参数相结合，进行分析以得到诊断结果，远程即可通过数据来进行设备的故障分析，并将最终的故障诊断结果发送至移动端或车辆端，供客户或维修人员进行查看，从而实现了远程的故障诊断，无需进行现场的故障诊断和分析，在降低人力成本的同时，也提高了设备的排故效率。
另外，本实施例的一种作业机械的故障处理方法，故障诊断处理方法还可以用多种方式，比如将历史作业参数中的数据形成趋势统计图表；将趋势统计图表存储在历史作业参数数据库内；根据趋势统计图表，进行故障诊断分析，具体分析时，可以是系统进行自动化分析，也可以该类作业机械的专家进行分析，当然，分析后的结果可以输出，具体参考前述实施方式。
示例性故障处理系统
图6为本申请一实施例所提供的作业机械的故障处理系统的结构示意图。如图6所示，本申请还提供一种作业机械的故障处理系统，用于实施如上的方法，系统包括：
历史数据获取模块910，配置为获取作业机械在工作时间段的历史作业参数，历史作业参数包括作业机械在不同的工作时间节点的工作参数及控制参数；故障诊断分析模块920，配置为根据历史作业参数，进行故障诊断分析；以及结果输出模块930，配置为输出和/或显示故障诊断分析的结果。
图7所示为本申请另一实施例所提供的作业机械的故障处理系统的结构示意图。如图7所示，该故障处理系统还包括当前参数处理模块940，配置为获取作业机械的当前作业参数，并将当前作业参数与历史作业参数进行比较，并输出或/和显示作业机械是否存在故障的分析结果。
在本申请一实施例中，还包括数据存储模块950，配置为存储作业机械在工作时间段的历史作业参数。
在本申请一实施例中，数据存储模块950包括：参数获得单元，配置为测量工作时间段内多个工作时间节点下作业机械的工作参数，并获得工作时间节点的作业机械的操作参数；以及分类单元，配置为将得到的作业参数按照作业参数的种类分类，得到多个历史作业参数组，每个历史作业参数组中的各个作业参数与各个工作时间节点分别对应。
在本申请一实施例中，故障诊断分析模块920，配置为根据作业机械在不同工作时间的工作参数，查找异常工作参数，根据异常工作参数及异常工作参数发生时间的控制参数，进行故障诊断分析，或者，配置为根据历史作业参数，查找故障数据库，根据故障数据库进行故障诊断分析。
在本申请一实施例中，结果输出模块，配置为向作业机械的控制终端或移动终端输出故障诊断分析的结果，故障诊断分析的结果包括故障诊断结论和/或故障处理流程。
上述故障处理系统90中的各个模块的具体功能和操作已经在上面参考图1到图5描述的故障处理方法中进行了详细介绍，因此，这里将省略其重复描述。
需要说明的是，根据本申请实施例的故障处理系统90可以作为一个软件模块和/或硬件模块而集成到电子设备60中，换言之，该电子设备60可以包括该故障 处理系统90。例如，该故障处理系统90可以是该电子设备60的操作系统中的一个软件模块，或者可以是针对于其所开发的一个应用程序；当然，该故障处理系统90同样可以是该电子设备60的众多硬件模块之一。
在本申请另一实施例中，该故障处理系统90与该电子设备60也可以是分立的设备(例如，服务器)，并且该故障处理系统90可以通过有线和/或无线网络连接到该电子设备60，并且按照约定的数据格式来传输交互信息。
示例性电子设备
本申请还提供一种电子设备，设备包括：数据采集装置、处理器和存储器；
数据采集装置用于采集数据；存储器用于存储一个或多个程序指令；处理器，用于执行一个或多个程序指令，用以执行上述的方法。
下面，参考图8来描述根据本申请实施例的电子设备。图8所示为本申请一实施例提供的电子设备的结构示意图。
如图8所示，电子设备60包括一个或多个处理器601和存储器602。
处理器601可以是中央处理单元(CPU)或者具有数据处理能力和/或指令执行能力的其他形式的处理单元，并且可以控制电子设备60中的其他组件以执行期望的功能。
存储器602可以包括一个或多个计算机程序产品，计算机程序产品可以包括各种形式的计算机可读存储介质，例如易失性存储器和/或非易失性存储器。易失性存储器例如可以包括随机存取存储器(RAM)和/或高速缓冲存储器(cache)等。非易失性存储器例如可以包括只读存储器(ROM)、硬盘、闪存等。在计算机可读存储介质上可以存储一个或多个计算机程序指令，处理器601可以运行程序指令，以实现上文的本申请的各个实施例的作业机械的故障处理方法或者其他期望的功能。在计算机可读存储介质中还可以存储诸如定位误差参数等各种内容。
在一个示例中，电子设备60还可以包括：输入装置603和输出装置604，这些组件通过总线系统和/或其他形式的连接机构(未示出)互连。
该输入装置603可以包括例如键盘、鼠标等等。
该输出装置604可以向外部输出各种信息，包括故障诊断分析的数据等。该输出装置604可以包括例如显示器、通信网络及其所连接的远程输出设备等等。
当然，为了简化，图8中仅示出了该电子设备60中与本申请有关的组件中的一些，省略了诸如总线、输入/输出接口等等的组件。除此之外，根据具体应用情况，电子设备60还可以包括任何其他适当的组件。
示例性计算机程序产品和计算机可读存储介质
除了上述方法和设备以外，本申请的实施例还可以是计算机程序产品，其包括计算机程序指令，计算机程序指令在被处理器运行时使得处理器执行本说明书中描述的根据本申请各种实施例的作业机械的故障处理方法中的步骤。
计算机程序产品可以以一种或多种程序设计语言的任意组合来编写用于执行本申请实施例操作的程序代码，程序设计语言包括面向对象的程序设计语言，诸如Java、C++等，还包括常规的过程式程序设计语言，诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算设备上执行、部分地在用户设备上执行、作为一个独立的软件包执行、部分在用户计算设备上部分在远程计算设备上执行、或者完全在远程计算设备或服务器上执行。
此外，本申请的实施例还可以是计算机可读存储介质，其上存储有计算机程序指令，计算机程序指令在被处理器运行时使得处理器执行本说明书根据本申请各种实施例的作业机械的故障处理方法中的步骤。
计算机可读存储介质可以采用一个或多个可读介质的任意组合。可读介质可以是可读信号介质或者可读存储介质。可读存储介质例如可以包括但不限于电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。
以上结合具体实施例描述了本申请的基本原理，但是，需要指出的是，在本申请中提及的优点、优势、效果等仅是示例而非限制，不能认为这些优点、优势、效果等是本申请的各个实施例必须具备的。另外，上述公开的具体细节仅是为了示例的作用和便于理解的作用，而非限制，上述细节并不限制本申请为必须采用上述具体的细节来实现。
本申请中涉及的器件、装置、设备、系统的方框图仅作为例示性的例子并且不意图要求或暗示必须按照方框图示出的方式进行连接、布置、配置。如本领域技术人员将认识到的，可以按任意方式连接、布置、配置这些器件、装置、设备、系统。诸如“包括”、“包含”、“具有”等等的词语是开放性词汇，指“包括但不限于”，且可与其互换使用。这里所使用的词汇“或”和“和”指词汇“和/或”，且可与其互换使用，除非上下文明确指示不是如此。这里所使用的词汇“诸如”指词组“诸如但不限于”，且可与其互换使用。
还需要指出的是，在本申请的装置、设备和方法中，各部件或各步骤是可以分解和/或重新组合的。这些分解和/或重新组合应视为本申请的等效方案。
提供所公开的方面的以上描述以使本领域的任何技术人员能够做出或者使用本申请。对这些方面的各种修改对于本领域技术人员而言是非常显而易见的，并且在此定义的一般原理可以应用于其他方面而不脱离本申请的范围。因此，本申请不意图被限制到在此示出的方面，而是按照与在此发明的原理和新颖的特征一致的最宽范围。
以上仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内，所作的任何修改、等同替换等，均应包含在本申请的保护范围之内。

Claims (15)

  1. 一种作业机械的故障处理方法，包括：
    获取所述作业机械在工作时间段的历史作业参数，所述历史作业参数包括所述作业机械在不同的工作时间节点的工作参数及控制参数；
    根据所述历史作业参数，进行故障诊断分析；以及
    输出和/或显示所述故障诊断分析的结果。
  2. 根据权利要求1所述的故障处理方法，其中，
    所述工作参数包括所述作业机械的各节臂油缸的压力、所述作业机械的各节臂之间的夹角、所述作业机械的各节臂的振动幅度中的至少一种；所述控制参数包括所述作业机械的遥控器的控制参数和/或所述作业机械的操作手柄或操作按钮的控制参数。
  3. 根据权利要求1或2所述的故障处理方法，其中，还包括：
    获取所述作业机械的当前作业参数，并将所述当前作业参数与所述历史作业参数进行比较，并输出和/或显示所述作业机械是否存在故障的分析结果。
  4. 根据权利要求1至3任一项所述的故障处理方法，其中，在所述获取所述作业机械在工作时间段的历史作业参数之前，还包括：
    存储所述作业机械在所述工作时间段的所述历史作业参数。
  5. 根据权利要求4所述的故障处理方法，其中，所述存储所述作业机械在所述工作时间段的所述历史作业参数，包括：
    测量所述工作时间段内多个所述工作时间节点下所述作业机械的所述工作参数，并获得所述工作时间节点的所述作业机械的所述操作参数；以及
    将得到的所述作业参数按照所述作业参数的种类分类，得到多个历史作业参数组，每个所述历史作业参数组中的各个所述作业参数与各个所述工作时间节点分别对应。
  6. 根据权利要求1至5任一项所述的故障处理方法，其中，所述根据所述历史作业参数，进行故障诊断分析，包括：
    根据所述作业机械在不同工作时间的工作参数，查找异常工作参数，根据所述异常工作参数及所述异常工作参数发生时间的控制参数，进行故障诊断分析；或，根据所述历史作业参数，查找故障数据库，根据所述故障数据库进行故障诊断分析；
    所述输出和/或显示所述故障诊断分析的结果，包括：
    向所述作业机械的控制终端或移动终端输出所述故障诊断分析的结果，所述故障诊断分析的结果包括故障诊断结论和/或故障处理流程。
  7. 根据权利要求3或4所述的故障处理方法，其中，还包括：
    判定各个所述当前作业参数与对应的所述历史作业参数的所述工作参数一致，且各个所述历史作业参数中的与所述当前作业参数一致的所述工作参数所对应的时间一致，调取历史作业参数数据库中预存的故障诊断逻辑信息；向智能终端发送所述故障诊断逻辑信息。
  8. 根据权利要求7所述的故障处理方法，其中，所述故障诊断逻辑信息包括故障的类型、故障发生位置、之前发生该故障的时间和当时的工作参数。
  9. 根据权利要求3或4所述的故障处理方法，其中，还包括：
    判定各个所述当前作业参数与对应的所述历史作业参数的所述工作参数不一致，和/或，各个所述历史作业参数中的与所述当前作业参数一致的所述工作参数所对应的时间不一致，将当前作业参数与各组历史作业参数以可视化形式输出。
  10. 根据权利要求1至9任一项所述的故障处理方法，其中，所述根据所述历史作业参数，进行故障诊断分析，还包括：
    将所述历史作业参数中的数据形成趋势统计图表；
    将所述趋势统计图表存储在历史作业参数数据库内；
    根据趋势统计图表，进行故障诊断分析。
  11. 一种作业机械的故障处理系统，系统包括：
    历史数据获取模块，配置为获取所述作业机械在工作时间段的历史作业参数，所述历史作业参数包括所述作业机械在不同的工作时间节点的工作参数及控制参数；
    故障诊断分析模块，配置为根据所述历史作业参数，进行故障诊断分析；以及
    结果输出模块，配置为输出和/或显示所述故障诊断分析的结果。
  12. 根据权利要求11所述的作业机械的故障处理系统，其中，还包括：
    当前参数处理模块，配置为获取所述作业机械的当前作业参数，并将所述当前作业参数与所述历史作业参数进行比较，并输出和/或显示所述作业机械是否存在故障的分析结果。
  13. 根据权利要求11所述的作业机械的故障处理系统，其中，还包括：
    数据存储模块，配置为存储所述作业机械在所述工作时间段的所述历史作业参数。
  14. 一种电子设备，包括：
    数据采集装置，用于采集数据；
    处理器；以及
    存储器，在所述存储器中存储有计算机程序指令，所述计算机程序指令在被所述处理器运行时使得所述处理器执行如权利要求1至10中任一所述的故障处理 方法。
  15. 一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序指令，所述计算机程序指令在被处理器运行时使得处理器执行如权利要求1至10中任一项所述的故障处理方法。
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