Method for monitoring a worm gear, controller and vehicle

Abstract

The application provides a kind of worm gear monitoring method, controller and vehicle, belong to automobile control technical field.The method is applied to the controller in vehicle monitoring system, system further includes: worm gear and sensor being arranged on worm gear;Method includes: current operating parameter of worm gear is collected by sensor;Current operating parameter is compared with the standard operating parameter of worm gear, and comparison result is obtained;When comparison result meets abnormal requirement, the alarm information for prompting worm gear operation exception is output;Wherein, when current operating parameter includes current acceleration, current torque value and current angle value, worm gear operation exception is worm gear abnormal jam;When current operating parameter includes current displacement, worm gear operation exception is worm gear abnormal wear.Comparison of current operating parameter and standard operating parameter, can identify worm gear abnormal jam and wear in advance, so as to output alarm information, prompt user to overhaul in advance.

Description

Technical Field

[0001] This invention belongs to the field of automotive control technology, and in particular relates to a monitoring method, controller and vehicle for worm gears. Background Technology

[0002] Currently, one of the most common failure modes for column electric power steering (C-EPS) systems is abnormal operation of the worm gear.

[0003] In the existing technology, the fault of abnormal operation of worm gear is often addressed by adding hardware to the column-type electric power steering system or by improving the existing hardware in the column-type electric power steering system to avoid the worm gear malfunction.

[0004] This approach cannot completely prevent worm gear malfunctions, and users can only inspect the vehicle after a worm gear malfunction occurs. It prevents the ability to anticipate impending worm gear malfunctions and take preventative measures to avoid reducing the vehicle's overall noise, vibration, and harshness (NVH) levels, as well as causing fluctuations in steering force, ultimately affecting the user's normal driving experience. Summary of the Invention

[0005] In view of this, the present invention provides a monitoring method, controller and vehicle for worm gears, so as to solve the technical problem in the prior art that it is impossible to know when a worm gear will experience an abnormal operation, so as to carry out early maintenance.

[0006] On one hand, a method for monitoring a worm gear is provided, applied to a controller in a vehicle monitoring system. The vehicle monitoring system further includes: a worm gear, and a sensor mounted on the worm gear; the method includes:

[0007] The current operating parameters of the worm gear are collected by the sensor.

[0008] The current operating parameters are compared with the standard operating parameters of the worm gear to obtain the comparison results;

[0009] When the comparison result meets the abnormality requirements, an alarm message is output to indicate that the worm gear is malfunctioning; wherein, when the current operating parameters include the current acceleration, current torque value, and current angle value, the worm gear malfunction is abnormal jamming; when the current operating parameters include the current displacement, the worm gear malfunction is abnormal wear.

[0010] Optionally, when the current operating parameters include current acceleration, current torque value, and current angle value, the standard operating parameters include: standard acceleration, standard torque value, and standard angle value, and the comparison results include: acceleration comparison results, torque comparison results, and angle comparison results; the comparison of the current operating parameters with the standard operating parameters of the worm gear to obtain the comparison results includes:

[0011] The current acceleration is compared with the standard acceleration to obtain an acceleration comparison result; the current torque value is compared with the standard torque value to obtain a torque comparison result; and the current angle value is compared with the standard angle value to obtain an angle comparison result.

[0012] The aforementioned abnormal requirements include abnormal jamming requirements; when the comparison result meets the abnormal requirements, the alarm information output to indicate the abnormal operation of the worm gear includes:

[0013] When the acceleration comparison result, the torque comparison result, and the angle comparison result all meet the abnormal jamming requirements, an alarm message is output to indicate abnormal jamming of the worm gear.

[0014] Optionally, before outputting an alarm message to indicate abnormal jamming of the worm gear when the acceleration comparison result, the torque comparison result, and the angle comparison result simultaneously meet the abnormal jamming requirements, the method further includes:

[0015] When the acceleration comparison result is that the current acceleration is greater than the standard acceleration, the torque comparison result is that the current torque value is greater than the standard torque value, and the angle comparison result is that the current angle value is greater than the standard angle value, it is determined that the acceleration comparison result, the torque comparison result, and the angle comparison result simultaneously meet the abnormal jamming requirements.

[0016] Optionally, when the current operating parameters include current acceleration, current torque value, and current angle value, the sensor includes: an acceleration sensor for acquiring the current acceleration, and a torque and angle sensor for acquiring the current torque value and the current angle value; the acceleration sensor is disposed on the reduction mechanism housing at the meshing point of the worm gear, and the torque and angle sensor is disposed on the central shaft of the worm gear;

[0017] The output is used to indicate alarm information for abnormal operation of the worm gear, including:

[0018] In the event of abnormal operation of the worm gear, specifically abnormal jamming of the worm gear, an alarm message is output to indicate an abnormality in the reduction mechanism and the central shaft.

[0019] Optionally, when the current operating parameters include the current displacement, the standard operating parameters include: the standard displacement change rate, and the comparison result includes: the displacement change rate comparison result; the comparison of the current operating parameters with the standard operating parameters of the worm gear to obtain the comparison result includes:

[0020] The ratio of the current displacement collected after a preset time period to the preset time period is used as the current displacement change rate of the worm gear.

[0021] The current displacement rate of change is compared with the standard displacement rate of change to obtain the displacement rate of change comparison result;

[0022] The abnormal requirements include abnormal wear requirements; when the comparison result meets the abnormal requirements, an alarm message is output to indicate that the worm gear is operating abnormally, including:

[0023] When the displacement change rate comparison result meets the abnormal wear requirements, an alarm message is output to indicate abnormal wear of the worm gear.

[0024] Optionally, before outputting an alarm message to indicate abnormal wear of the worm gear when the displacement change rate comparison result meets the abnormal wear requirement, the method further includes:

[0025] When the displacement change rate comparison result shows that the current displacement change rate is greater than the standard displacement change rate, it is determined that the displacement change rate comparison result meets the abnormal wear requirement.

[0026] Optionally, if the current operating parameters include the current displacement, the sensor includes: a displacement sensor for acquiring the current displacement, the displacement sensor being disposed on the clearance compensation mechanism at the swing end of the worm gear;

[0027] The output is used to indicate alarm information for abnormal operation of the worm gear, including:

[0028] When the abnormal operation of the worm gear is due to abnormal wear of the worm gear, an alarm message is output to indicate that the clearance compensation mechanism is malfunctioning.

[0029] On the other hand, a controller is provided for use in a vehicle monitoring system, the vehicle monitoring system further including: a worm gear and a sensor disposed on the worm gear; the controller includes:

[0030] The data acquisition module is used to acquire the current operating parameters of the worm gear through the sensor;

[0031] The comparison module is used to compare the current operating parameters with the standard operating parameters of the worm gear to obtain the comparison result;

[0032] The alarm module is used to output alarm information to indicate abnormal operation of the worm gear when the comparison result meets the abnormality requirements; wherein, when the current operating parameters include the current acceleration, current torque value and current angle value, the abnormal operation of the worm gear is abnormal jamming of the worm gear; when the current operating parameters include the current displacement, the abnormal operation of the worm gear is abnormal wear of the worm gear.

[0033] Optionally, when the current operating parameters include the current acceleration, current torque value, and current angle value, the standard operating parameters include: standard acceleration, standard torque value, and standard angle value, and the comparison results include: acceleration comparison results, torque comparison results, and angle comparison results;

[0034] The comparison module is also used for:

[0035] The current acceleration is compared with the standard acceleration to obtain an acceleration comparison result; the current torque value is compared with the standard torque value to obtain a torque comparison result; and the current angle value is compared with the standard angle value to obtain an angle comparison result.

[0036] The alarm module is also used for:

[0037] When the acceleration comparison result, the torque comparison result, and the angle comparison result all meet the abnormal jamming requirements, an alarm message is output to indicate abnormal jamming of the worm gear.

[0038] On the other hand, a vehicle monitoring method including the aforementioned worm gear is provided.

[0039] The beneficial effects of the technical solutions provided by the embodiments of the present invention include at least the following:

[0040] The worm gear monitoring method, controller, and vehicle provided in this invention embodiment, by setting sensors on the worm gear, detect the current operating parameters of the vehicle during operation. By comparing the measured current acceleration, current torque value, current angle value, and current displacement with standard operating parameters, it determines whether the worm gear is abnormally stuck or abnormally worn, and outputs alarm information to indicate worm gear sticking or abnormal worm gear wear, so as to prompt the user to perform timely maintenance on the worm gear.

[0041] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0042] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0043] Figure 1 This is a flowchart illustrating the steps of a worm gear monitoring method provided in an embodiment of the present invention;

[0044] Figure 2 This is a structural block diagram of a vehicle monitoring system provided in an embodiment of the present invention;

[0045] Figure 3 This is a flowchart of another monitoring method for worm gears provided in an embodiment of the present invention;

[0046] Figure 4 This is a schematic diagram of the sensor positions in a vehicle monitoring system provided by an embodiment of the present invention;

[0047] Figure 5 This is a flowchart of another monitoring method for worm gears provided in an embodiment of the present invention;

[0048] Figure 6 This is a schematic diagram illustrating the working process of a displacement sensor in a vehicle monitoring system according to an embodiment of the present invention;

[0049] Figure 7 This is a block diagram of a controller structure provided in an embodiment of the present invention. Detailed Implementation

[0050] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0051] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0052] Currently, abnormal worm gear operation faults mainly include abnormal noise caused by abnormal wear of the worm gear and abnormal jamming of the worm gear. These faults not only reduce the NVH quality of the entire vehicle but also cause fluctuations in steering force, affecting normal driving and creating safety hazards. The main factors causing abnormal worm gear operation include excessive wear, abnormal tooth deformation, poor lubrication, and interference from foreign objects or impurities. In daily use, the C-EPS system lacks monitoring of the worm gear's operating status, making it impossible to identify such faults in advance and to pinpoint the fault location promptly after they occur. This hinders the prevention and troubleshooting of such faults and easily leads to user complaints. Therefore, this invention provides a worm gear monitoring method, controller, and vehicle to monitor and judge the wear status and operational stability of the worm gear during operation, provide early warning and maintenance when abnormalities occur, and promptly identify the fault mode to reduce user complaints.

[0053] For example, Figure 1 This is a flowchart illustrating the steps of a worm gear monitoring method according to an embodiment of the present invention. The method is applied to a controller in a vehicle monitoring system, which may further include: a worm gear, and a sensor mounted on the worm gear;

[0054] Figure 2 This is a structural block diagram of a vehicle monitoring system provided in an embodiment of the present invention. The vehicle monitoring system 200 may include: a worm gear 201, a sensor 202 disposed on the worm gear 201, and a controller 203.

[0055] See Figure 2 As shown, the method is applied to the controller 203 in the vehicle monitoring system 200; see also Figure 1 As shown, the monitoring method may include:

[0056] Step 101: Collect the current operating parameters of the worm gear through the sensor.

[0057] The current operating parameters of the worm gear can be collected by a sensor installed on the worm gear, or by other devices that can detect the operating parameters of the worm gear. As long as the operating parameters of the worm gear can be obtained, this application embodiment does not limit this.

[0058] Step 102: Compare the current operating parameters with the standard operating parameters of the worm gear to obtain the comparison result.

[0059] The current operating parameters are various operating index parameters of the worm gear during its operation at the current time. They may include one or more of the current acceleration, current torque value, current angle value, and current displacement, or other current operating parameters calculated from the current acceleration, current torque value, current angle value, or current displacement. This application embodiment does not limit these parameters.

[0060] Accordingly, the standard operating parameters are index parameters used as reference standards for the current operating parameters. They may include one or more of the following: standard acceleration, standard torque value, standard angle value, and standard displacement. They may also include standard operating parameters corresponding to other current operating parameters calculated from the current acceleration, current torque value, current angle value, or current displacement. The standard operating parameters such as standard acceleration, standard torque value, standard angle value, and standard displacement can be set by the user based on actual needs, or they can be system default values. This application embodiment does not limit this.

[0061] Step 103: When the comparison result meets the abnormality requirements, output an alarm message to indicate that the worm gear is malfunctioning; wherein, when the current operating parameters include the current acceleration, current torque value and current angle value, the worm gear malfunction is abnormal jamming; when the current operating parameters include the current displacement, the worm gear malfunction is abnormal wear.

[0062] The abnormal requirements may include one or more of abnormal jamming requirements and abnormal wear requirements; the abnormal jamming requirement is used to determine whether the current operating parameters of the worm gear match the standard operating parameters when the worm gear is abnormally jammed; the abnormal wear requirement is used to determine whether the current operating parameters of the worm gear match the standard operating parameters when the worm gear is abnormally worn, and this application embodiment does not limit this.

[0063] In this embodiment of the invention, a sensor installed on the worm gear can collect the current operating parameters of the worm gear and send the current operating parameters to a controller. After receiving the current operating parameters, the controller compares the current operating parameters with the standard operating parameters of the worm gear to obtain a comparison result. Finally, the controller determines whether the comparison result meets the abnormality requirements. If the comparison result meets the abnormality requirements, the controller determines that the worm gear is operating abnormally and outputs an alarm message to indicate the abnormality. If the comparison result does not meet the abnormality requirements, the controller determines that the worm gear is operating normally.

[0064] For example, such as Figure 2As shown, the current operating parameters of the worm gear 201 can be collected by the sensor 202 installed on the worm gear 201 and sent to the controller 203. After receiving the current operating parameters, the controller 203 compares the current operating parameters with the standard operating parameters of the worm gear to obtain a comparison result. Finally, the controller 203 determines whether the comparison result meets the abnormality requirements. If the comparison result meets the abnormality requirements, it determines that the worm gear 201 is operating abnormally and outputs an alarm message to indicate that the worm gear 201 is operating abnormally. If the comparison result does not meet the abnormality requirements, it determines that the worm gear 201 is operating normally.

[0065] The worm gear monitoring method provided in this invention involves installing sensors on the worm gear to detect the vehicle's current operating parameters during operation. The measured current acceleration, torque, angle, and displacement are compared with standard operating parameters to determine whether the worm gear is experiencing abnormal jamming or abnormal wear. An alarm message is then output to indicate worm gear jamming or abnormal wear, prompting the user to promptly inspect and repair the worm gear.

[0066] Optionally, such as Figure 2 As shown, the vehicle monitoring system 200 may further include an alarm device 204, which may include at least one of an instrument panel and an audible system; the output of alarm information to indicate abnormal operation of the worm gear may include:

[0067] The instrument displays alarm information on its screen to indicate abnormal operation of the worm gear, and / or broadcasts alarm information via the audio to indicate abnormal operation of the worm gear.

[0068] Abnormal operation of the worm gear may include one or more of abnormal jamming of the worm gear and abnormal wear of the worm gear, and the embodiments of this application do not limit this.

[0069] In this embodiment of the invention, when the current operating parameters include the current acceleration, current torque value, and current angle value, and the controller determines that the comparison result meets the abnormal requirements, the controller can send an alarm signal to the alarm device. When the alarm device receives the alarm signal, an alarm message indicating abnormal jamming of the worm gear is displayed on the instrument screen of the alarm device, and / or an alarm message indicating abnormal jamming of the worm gear is broadcast through the audible system of the alarm device. When the current operating parameters include the current displacement, and the controller determines that the comparison result meets the abnormal requirements, the controller can send an alarm signal to the alarm device. When the alarm device receives the alarm signal, an alarm message indicating abnormal wear of the worm gear is displayed on the instrument screen of the alarm device, and / or an alarm message indicating abnormal wear of the worm gear is broadcast through the audible system of the alarm device.

[0070] For example, when the sensor collects the current operating parameters of the worm gear, including the current acceleration, current torque value, and current angle value, the controller compares the current acceleration with the standard acceleration, the current torque value with the standard torque value, and the current angle value with the standard torque value, respectively. When the controller determines that the three comparison results simultaneously meet the abnormality requirements, the controller can send alarm signals to the instrument and the audible system simultaneously. When the instrument receives the alarm signal, it displays an alarm message on the instrument screen to indicate that the worm gear is abnormally stuck. When the audible system receives the alarm signal, it broadcasts the alarm message indicating that the worm gear is abnormally stuck.

[0071] The worm gear monitoring method provided in this embodiment of the invention allows the controller to detect an abnormal operation fault in the worm gear when the controller determines that the comparison result between the current operating parameters and the standard operating parameters of the worm gear meets the abnormal requirements. At this time, the controller can send an alarm message to at least one alarm device in the instrument and audio system to prompt the user to perform early maintenance on the worm gear.

[0072] Figure 3 This is a flowchart illustrating the steps of another worm gear monitoring method provided in an embodiment of the present invention. The method is applied to a controller in a vehicle monitoring system, which may further include: a worm gear, and a sensor mounted on the worm gear;

[0073] See Figure 3As shown, when the current operating parameters include the current acceleration, current torque value, and current angle value, the standard operating parameters may include: standard acceleration, standard torque value, and standard angle value; the comparison results may include: acceleration comparison results, torque comparison results, and angle comparison results; the abnormal requirements include abnormal jamming requirements; the monitoring method may include:

[0074] Step 301: Collect the current operating parameters of the worm gear through the sensor.

[0075] Step 301 can be referred to in the detailed description of step 101, and will not be repeated here.

[0076] Step 301 may include:

[0077] Step 3011: Collect the current acceleration of the worm gear using an accelerometer.

[0078] In this step, the current acceleration of the worm gear can be collected by an acceleration sensor installed on the worm gear.

[0079] Step 3012: Collect the current torque value and current angle value of the worm gear using torque and angle sensors.

[0080] In this step, the current torque and angle values ​​of the worm gear can be collected by torque and angle sensors installed on the worm gear.

[0081] Step 302: Compare the current acceleration with the standard acceleration to obtain an acceleration comparison result; compare the current torque value with the standard torque value to obtain a torque comparison result; and compare the current angle value with the standard angle value to obtain an angle comparison result.

[0082] The standard acceleration, standard torque, and standard angle values ​​can be set by the user based on actual adjustment experience, or they can be system default values. This application embodiment does not limit these values.

[0083] In this step, the current acceleration is compared with the standard acceleration, resulting in three acceleration comparison results: the current acceleration is greater than the standard acceleration, the current acceleration is equal to the standard acceleration, and the current acceleration is less than the standard acceleration. Similarly, the current torque value is compared with the standard torque value, resulting in three torque comparison results: the current torque value is greater than the standard torque value, the current torque value is equal to the standard torque value, and the current torque value is less than the standard torque value. Finally, the current angle value is compared with the standard angle value, resulting in three angle comparison results: the current angle value is greater than the standard angle value, the current angle value is equal to the standard angle value, and the current angle value is less than the standard angle value.

[0084] For example, see Figure 2 and Figure 4 As shown, the current acceleration Sa of the worm gear is collected by the acceleration sensor 2021, and the current torque value Na and current angle value Aa of the worm gear are collected by the torque and angle sensor 2022. The current acceleration Sa is compared with the standard acceleration S to obtain the acceleration comparison result, the current torque value Na is compared with the standard torque value N to obtain the torque comparison result, and the current angle value Aa is compared with the standard angle value A to obtain the angle comparison result.

[0085] In this embodiment, when the current operating parameters include the current acceleration, current torque value, and current angle value, the current operating parameters of the worm gear are collected by sensors. This allows the controller to compare the current acceleration with the standard acceleration, the current torque value with the standard torque value, and the current angle value with the standard angle value, respectively, to obtain acceleration comparison results, torque comparison results, and angle comparison results. These results are used to determine whether they simultaneously meet the abnormal jamming requirements, thereby identifying abnormal jamming faults in the worm gear in advance and outputting alarm information to prompt the user to perform early maintenance on the worm gear.

[0086] Step 303: When the acceleration comparison result is that the current acceleration is greater than the standard acceleration, the torque comparison result is that the current torque value is greater than the standard torque value, and the angle comparison result is that the current angle value is greater than the standard angle value, it is determined that the acceleration comparison result, the torque comparison result, and the angle comparison result simultaneously meet the abnormal jamming requirements.

[0087] In this step, when the acceleration comparison result is that the current acceleration is greater than the standard acceleration among the three acceleration comparison results, the torque comparison result is that the current torque value is greater than the standard torque value among the three torque comparison results, and the angle comparison result is that the current angle value is greater than the standard angle value among the three angle comparison results, it is determined that the acceleration comparison result, the torque comparison result, and the angle comparison result simultaneously meet the abnormal jamming requirements.

[0088] For example, if the current acceleration is Sa, the standard acceleration is S, the current torque is Na, the standard torque is N, the current angle is Aa, and the standard angle is A; when the acceleration comparison result is Sa>S, the torque comparison result is Na>N, and the angle comparison result is Aa>A, it is determined that the acceleration comparison result, the torque comparison result, and the angle comparison result simultaneously meet the abnormal jamming requirements.

[0089] In this embodiment, when the current operating parameters include the current acceleration, current torque value, and current angle value, the controller compares the current acceleration with the standard acceleration, the current torque value with the standard torque value, and the current angle value with the standard angle value, respectively. It then determines whether the obtained acceleration comparison results, torque comparison results, and angle comparison results meet the abnormal jamming requirements that the current acceleration is greater than the standard acceleration, the current torque value is greater than the standard torque value, and the current angle value is greater than the standard angle value. This allows for early identification of abnormal jamming faults in the worm gear, thereby outputting alarm information to prompt the user to perform early maintenance on the worm gear.

[0090] Step 304: When the acceleration comparison result, the torque comparison result, and the angle comparison result all meet the abnormal jamming requirements, output an alarm message to indicate that the worm gear is abnormally jammed.

[0091] In this step, when the acceleration comparison result, torque comparison result, and angle comparison result all meet the abnormal jamming requirements based on the current acceleration, standard acceleration, current torque value, standard torque value, current angle value, and standard angle value, an alarm message is output to indicate abnormal jamming of the worm gear.

[0092] For example, based on the current acceleration Sa, standard acceleration S, current torque value Na, standard torque value N, current angle value Aa, and standard angle value A, the acceleration comparison result is determined to be Sa>S, the torque comparison result is Na>N, and the angle comparison result is Aa>A. That is, the acceleration comparison result, the torque comparison result, and the angle comparison result all meet the abnormal jamming requirements. At this time, the controller outputs an alarm message to indicate abnormal jamming of the worm gear.

[0093] The worm gear monitoring method provided in this invention, when the current operating parameters include current acceleration, current torque value, and current angle value, can collect the current operating parameters of the worm gear in real time through sensors installed on the worm gear, thereby determining the current operating status of the worm gear. The controller compares the current acceleration with the standard acceleration, the current torque value with the standard torque value, and the current angle value with the standard angle value, and then determines whether the obtained acceleration comparison results, torque comparison results, and angle comparison results simultaneously meet the abnormal jamming requirements. This allows for early identification of abnormal jamming faults in the worm gear, thereby outputting alarm information to prompt the user to perform early maintenance on the worm gear.

[0094] Optionally, if the current operating parameters include the current acceleration, current torque value, and current angle value, such as Figure 2 As shown, the sensor 202 includes: an acceleration sensor 2021 for acquiring the current acceleration, and a torque and angle sensor 2022 for acquiring the current torque value and the current angle value; the acceleration sensor 2021 is disposed on the reduction mechanism housing at the meshing point of the worm gear, and the torque and angle sensor 2022 is disposed on the central shaft of the worm gear;

[0095] like Figure 2 As shown, the worm gear 201 in the vehicle monitoring system may include a worm gear 2011 and a worm 2012. Figure 4 This is a schematic diagram of the sensor location in a vehicle monitoring system provided by an embodiment of the present invention, as shown below. Figure 4 As shown, the acceleration sensor 2021 can be installed on the deceleration mechanism housing 20121 at the meshing point of the worm gear 2012, and the torque and angle sensor 2022 can be installed on the central shaft 20111 of the worm wheel 2011.

[0096] The output is used to indicate alarm information for abnormal operation of the worm gear, including:

[0097] In the event of abnormal operation of the worm gear, specifically abnormal jamming of the worm gear, an alarm message is output to indicate an abnormality in the reduction mechanism and the central shaft.

[0098] The acceleration sensor can be arranged on the reduction mechanism housing near the meshing point of the worm gear to monitor the vibration acceleration signal caused by abnormal jamming of the worm gear in real time during vehicle operation and obtain the current acceleration. The torque and angle sensors can be the torque and angle sensors built into the C-EPS, or they can be set on the central shaft of the worm gear to collect the torque signal fluctuation and angle signal fluctuation during the operation of the steering column to obtain the current torque value and the current angle value. This application embodiment does not limit this.

[0099] In this step, firstly, during vehicle operation, the current acceleration of the worm gear is collected in real time by an acceleration sensor on the reduction mechanism housing, and the current torque and angle values ​​of the worm gear are collected in real time by torque and angle sensors on the central shaft. Then, based on the current acceleration, current torque, and current angle values, as well as standard acceleration, standard torque, and standard angle values, it is determined whether the acceleration comparison result, torque comparison result, and angle comparison result simultaneously meet the abnormal jamming requirements. If they simultaneously meet the requirements, it is determined that the reduction mechanism and central shaft of the worm gear are abnormal, and an alarm message is output to indicate the abnormality of the reduction mechanism and the central shaft.

[0100] For example, see Figure 2 and Figure 4 As shown, the current acceleration Sa is collected by the acceleration sensor 2021 on the reduction mechanism housing 20121, and the current torque value Na and current angle value Aa are collected by the torque and angle sensors 2022 on the central shaft 20111. Then, based on the current acceleration Sa, current torque value Na, and current angle value Aa, as well as the standard acceleration S, standard torque value N, and standard angle value A, the acceleration comparison result is determined to be Sa>S, the torque comparison result is determined to be Na>N, and the angle comparison result is determined to be Aa>A. That is, the three comparison results simultaneously meet the abnormal jamming requirements, and it is determined that the worm gear reduction mechanism 20121 and the central shaft 20111 are abnormal. An alarm message is output to indicate the abnormality of the reduction mechanism 20121 and the central shaft 20111.

[0101] The worm gear monitoring method provided in this embodiment of the invention, when the current operating parameters include current acceleration, current torque value, and current angle value, uses an acceleration sensor installed on the reduction mechanism housing at the meshing point of the worm gear to collect the current acceleration in real time, and uses torque and angle sensors installed on the central shaft of the worm gear to collect the current torque value and current angle value in real time. Therefore, when the controller compares the current acceleration with the standard acceleration, the current torque value with the standard torque value, and the current angle value with the standard angle value, and then determines whether the obtained acceleration comparison result, torque comparison result, and angle comparison result simultaneously meet the abnormal jamming requirements, the controller can identify in advance whether the reduction mechanism and central shaft of the worm gear are abnormal, so as to prompt the user to perform early maintenance on the reduction mechanism and central shaft of the worm gear.

[0102] Figure 5 This is a flowchart illustrating the steps of another worm gear monitoring method provided in an embodiment of the present invention. The method is applied to a controller in a vehicle monitoring system, which may further include: a worm gear, and a sensor mounted on the worm gear;

[0103] See Figure 5 As shown, when the current operating parameters include the current displacement, the standard operating parameters may include: standard displacement change rate; the comparison result may include: displacement change rate comparison result; the abnormal requirements include abnormal wear requirements; the monitoring method may include:

[0104] Step 401: Collect the current operating parameters of the worm gear through the sensor.

[0105] Step 401 can be referred to in the detailed description of step 101, and will not be repeated here.

[0106] Step 401 may include:

[0107] Step 4011: Collect the current displacement of the worm gear using a displacement sensor.

[0108] In this step, the current displacement of the worm gear can be collected by a displacement sensor installed on the worm gear.

[0109] Step 402: The ratio of the current displacement collected after a preset time period to the preset time period is used as the current displacement change rate of the worm gear.

[0110] The preset duration can be set by the user based on actual adjustment experience, or it can be a system default value. This application embodiment does not limit this.

[0111] Figure 6This is a schematic diagram illustrating the working process of a displacement sensor in a vehicle monitoring system according to an embodiment of the present invention. See also... Figure 2 , Figure 5 and Figure 6 As shown, the worm gear 2012 is simplified to a straight line, and the working process of the displacement sensor 2023 is shown below. Figure 6 P is the applied force of the clearance compensation mechanism 20122, A is the center point of the sway bearing of the worm 2012, B is the initial meshing position of the worm wheel 2011 and the worm 2012, C is the initial position of the swaying end of the worm 2012, D is the meshing position of the worm wheel 2011 and the worm 2012 after wear, E is the position of the swaying end of the worm 2012 after wear, and L is the current displacement collected by the displacement sensor 2023.

[0112] In this step, within a preset time period, when the clearance compensation mechanism applies force P, the meshing position of the worm wheel and worm will change from B to D, and the position of the worm swing end will change from C to E. Thus, the displacement sensor can collect the current displacement L of the worm wheel and worm after the preset time period. Then, the controller uses the ratio of the current displacement collected after the preset time period to the preset time period as the current displacement change rate of the worm wheel and worm.

[0113] For example, when the parts leave the factory, the controller records the initial value of the displacement sensor. The vehicle speed is 50 km / h. After the vehicle starts running, the displacement sensor value can be recorded every 50 km, meaning the preset time T can be set to 1 hour; see [link / reference]. Figure 2 , Figure 5 and Figure 6 As shown, within a preset time of 1 hour, when the force P is applied by the clearance compensation mechanism 20122, the meshing position of the worm gear 2011 and the worm 2012 will change from B to D, and the swing end position of the worm 2012 will change from C to E. Thus, after a preset time of 1 hour, the current displacement collected by the displacement sensor 2023 is L; then the controller uses the ratio of L / 1 hour as the current displacement change rate of the worm gear.

[0114] In this embodiment of the application, when the current operating parameters include the current displacement, the controller collects the current displacement through the sensor every preset time interval. Therefore, the current displacement change rate of the worm gear can be determined based on the current displacement and the preset time interval, thereby knowing the current displacement change state of the worm gear.

[0115] Step 403: Compare the current displacement change rate with the standard displacement change rate to obtain the displacement change rate comparison result.

[0116] The standard displacement change rate can be set by the user based on actual adjustment experience, or it can be a system default value. This application embodiment does not limit this.

[0117] In this step, after determining the current displacement change rate of the worm gear, the current displacement change rate is compared with the standard displacement change rate, resulting in three comparison results: the current displacement change rate is greater than the standard displacement change rate, the current displacement change rate is equal to the standard displacement change rate, and the current displacement change rate is less than the standard displacement change rate.

[0118] For example, based on the ratio L / T of the current displacement to the preset duration, the current displacement change rate of the worm gear is determined to be Vb. The current displacement change rate Vb is then compared with the standard displacement change rate V to obtain the displacement change rate comparison result.

[0119] In this embodiment, after determining the current displacement change rate of the worm gear, the controller can compare the current displacement change rate with the standard displacement change rate to obtain a displacement change rate comparison result. This result is used to determine whether the displacement change rate comparison result meets the abnormal wear requirements, thereby identifying abnormal wear faults in the worm gear in advance. The controller then outputs an alarm message to indicate abnormal wear of the worm gear, prompting the user to perform early maintenance on the worm gear.

[0120] Step 404: When the displacement change rate comparison result shows that the current displacement change rate is greater than the standard displacement change rate, determine that the displacement change rate comparison result meets the abnormal wear requirements.

[0121] In this step, when the current displacement change rate is greater than the standard displacement change rate in the three displacement change rate comparison results, it is determined that the displacement change rate comparison result meets the abnormal wear requirements.

[0122] For example, if the current displacement change rate is Vb and the standard displacement change rate is V; when the displacement change rate comparison result is Vb>V, it is determined that the displacement change rate comparison result meets the abnormal wear requirement.

[0123] In this embodiment, the controller compares the current displacement change rate with the standard displacement change rate, and then determines whether the obtained displacement change rate comparison result meets the abnormal wear requirement that the current displacement change rate is greater than the standard displacement change rate, so as to identify abnormal wear faults of the worm gear in advance, and output alarm information to prompt the user to perform early maintenance on the worm gear.

[0124] Step 405: When the displacement change rate comparison result meets the abnormal wear requirements, output an alarm message to indicate abnormal wear of the worm gear.

[0125] In this step, when the displacement change rate comparison result meets the abnormal wear requirements based on the current displacement change rate and the standard displacement change rate, an alarm message is output to indicate abnormal wear of the worm gear.

[0126] For example, based on the current displacement change rate Vb and the standard displacement change rate V, the displacement change rate comparison result is determined to be Vb>V, that is, the displacement change rate comparison result meets the abnormal wear requirement. At this time, the controller outputs an alarm message to indicate the abnormal wear of the worm gear.

[0127] The worm gear monitoring method provided in this embodiment of the invention involves the controller collecting the current displacement value via a sensor every preset time interval when the current operating parameters include the current displacement value. Therefore, the controller can determine the current displacement change rate of the worm gear based on the current displacement value and the preset time interval, thereby understanding the current displacement change state of the worm gear. The controller compares the current displacement change rate with the standard displacement change rate of the worm gear and then determines whether the obtained displacement change rate comparison result meets the abnormal wear requirements. This allows for early identification of abnormal wear faults in the worm gear, thereby outputting alarm information to prompt the user to perform early maintenance on the worm gear.

[0128] Optionally, if the current operating parameters include the current displacement, such as Figure 2 As shown, the sensor 202 includes: a displacement sensor 2023 for acquiring the current displacement amount, the displacement sensor being disposed on the clearance compensation mechanism at the swing end of the worm gear;

[0129] like Figure 2 As shown, the worm gear 201 in the vehicle monitoring system may include a worm gear 2011 and a worm 2012, such as... Figure 4 As shown, the displacement sensor 2023 is mounted on the gap compensation mechanism 20122 at the swing end of the worm gear 2012.

[0130] The output is used to indicate alarm information for abnormal operation of the worm gear, including:

[0131] When the abnormal operation of the worm gear is due to abnormal wear of the worm gear, an alarm message is output to indicate that the clearance compensation mechanism is malfunctioning.

[0132] Among them, such as Figure 2 and Figure 4As shown, the displacement sensor 2023 at the swing end of the worm 2012 can be integrated into the clearance compensation mechanism 20122 at the swing end of the worm 2012; it is used to monitor the current displacement of the swing end of the worm 2012 after the deceleration mechanism 20121 has been running for a preset time. Based on the current displacement and the preset time, the current displacement change rate can be calculated, thereby obtaining the wear amount of the worm gear.

[0133] In this step, firstly, the current displacement of the worm gear is collected after a preset time using a displacement sensor integrated on the clearance compensation mechanism; then, the ratio of the current displacement to the preset time is taken as the current displacement change rate; next, based on the current displacement change rate and the standard displacement change rate, it is determined whether the displacement change rate comparison result meets the abnormal wear requirements; if it does, the clearance compensation mechanism of the worm gear is determined to be abnormal, and an alarm message is output to indicate the abnormality of the clearance compensation mechanism.

[0134] For example, see Figure 2 and Figure 4 As shown, the displacement sensor 2023 integrated on the clearance compensation mechanism 20122 collects the current displacement L of the worm gear 2012 after a preset time T; then, the ratio L / T of the current displacement L to the preset time T is taken as the current displacement change rate Vb; next, based on the current displacement change rate Vb and the standard displacement change rate V, the displacement change rate comparison result is determined to be Vb>V, that is, the displacement change rate comparison result meets the abnormal wear requirements, and the clearance compensation mechanism 20122 of the worm gear is determined to be abnormal, and an alarm message is output to indicate the abnormality of the clearance compensation mechanism 20122.

[0135] The worm gear monitoring method provided in this embodiment of the invention, when the current operating parameters include the current displacement, uses a displacement sensor installed on the clearance compensation mechanism at the swing end of the worm gear to collect the current displacement in real time. Therefore, when the controller compares the current displacement change rate with the standard displacement change rate and then determines whether the obtained displacement change rate comparison result meets the abnormal wear requirements, the controller can identify in advance whether the clearance compensation mechanism of the worm gear is abnormal, so as to prompt the user to perform early maintenance on the clearance compensation mechanism of the worm gear.

[0136] It is understandable that abnormal jamming of the worm gear and abnormal wear of the worm gear can occur simultaneously or separately. That is, the controller can output an alarm message indicating abnormal jamming of the worm gear and an alarm message indicating abnormal wear of the worm gear at the same time; or the controller can output only an alarm message indicating abnormal jamming of the worm gear and only an alarm message indicating abnormal wear of the worm gear and only, depending on the actual situation during vehicle operation.

[0137] Figure 7 This is a block diagram of a controller structure provided in an embodiment of the present invention. The controller is applied to a vehicle monitoring system, which further includes: a worm gear and a sensor disposed on the worm gear;

[0138] The controller can receive monitoring signals from various sensors on the worm gear and determine whether the worm gear is operating normally based on the monitoring signals. It will also send an alarm signal to the alarm module when the worm gear is operating abnormally. The controller can exist independently or be integrated into the C-EPS controller.

[0139] See Figure 7 As shown, the controller 500 may include:

[0140] The acquisition module 501 is used to acquire the current operating parameters of the worm gear through the sensor;

[0141] The comparison module 502 is used to compare the current operating parameters with the standard operating parameters of the worm gear to obtain the comparison result;

[0142] The alarm module 503 is used to output alarm information to indicate abnormal operation of the worm gear when the comparison result meets the abnormality requirements; wherein, when the current operating parameters include the current acceleration, current torque value and current angle value, the abnormal operation of the worm gear is abnormal jamming of the worm gear; when the current operating parameters include the current displacement, the abnormal operation of the worm gear is abnormal wear of the worm gear.

[0143] Optionally, when the current operating parameters include the current acceleration, current torque value, and current angle value, the standard operating parameters include: standard acceleration, standard torque value, and standard angle value, and the comparison results include: acceleration comparison results, torque comparison results, and angle comparison results;

[0144] The comparison module 502 is further used for:

[0145] The current acceleration is compared with the standard acceleration to obtain an acceleration comparison result; the current torque value is compared with the standard torque value to obtain a torque comparison result; and the current angle value is compared with the standard angle value to obtain an angle comparison result.

[0146] The alarm module 503 is also used for:

[0147] When the acceleration comparison result, the torque comparison result, and the angle comparison result all meet the abnormal jamming requirements, an alarm message is output to indicate abnormal jamming of the worm gear.

[0148] Optionally, the controller 500 may further include:

[0149] The first detection module is used to determine that when the acceleration comparison result is that the current acceleration is greater than the standard acceleration, the torque comparison result is that the current torque value is greater than the standard torque value, and the angle comparison result is that the current angle value is greater than the standard angle value, the acceleration comparison result is that the current acceleration is greater than the standard acceleration, the torque comparison result is that the current torque value is greater than the standard angle value, the acceleration comparison result is that the current angle value is greater than the standard angle value, the acceleration comparison result is that the current acceleration is greater than the standard angle value, the torque comparison result is that the current angle value is greater than the standard angle value, the torque comparison result is that the current angle value is greater than the standard angle value, the torque comparison result is that the current angle value is greater than the standard angle value, the torque comparison result is that the current angle value is greater than the standard angle value, the torque comparison result is that the current acceleration is greater than the standard acceleration, the torque comparison result is greater than the standard angle value, the torque comparison result is that the current angle value ...

[0150] Optionally, when the current operating parameters include current acceleration, current torque value, and current angle value, the sensor includes: an acceleration sensor for acquiring the current acceleration, and a torque and angle sensor for acquiring the current torque value and the current angle value; the acceleration sensor is disposed on the reduction mechanism housing at the meshing point of the worm gear, and the torque and angle sensor is disposed on the central shaft of the worm gear;

[0151] The alarm module 503 is also used for:

[0152] In the event of abnormal operation of the worm gear, specifically abnormal jamming of the worm gear, an alarm message is output to indicate an abnormality in the reduction mechanism and the central shaft.

[0153] Optionally, if the current operating parameters include the current displacement, the standard operating parameters include the standard displacement change rate, and the comparison result includes the displacement change rate comparison result.

[0154] The comparison module 502 is further used for:

[0155] The ratio of the current displacement collected after a preset time period to the preset time period is taken as the current displacement change rate of the worm gear; the current displacement change rate is compared with the standard displacement change rate to obtain the displacement change rate comparison result.

[0156] The alarm module 503 is also used for:

[0157] When the displacement change rate comparison result meets the abnormal wear requirements, an alarm message is output to indicate abnormal wear of the worm gear.

[0158] Optionally, the controller 500 may further include:

[0159] The second detection module is used to determine that the displacement change rate comparison result meets the abnormal wear requirement when the current displacement change rate is greater than the standard displacement change rate.

[0160] Optionally, if the current operating parameters include the current displacement, the sensor includes: a displacement sensor for acquiring the current displacement, the displacement sensor being disposed on the clearance compensation mechanism at the swing end of the worm gear;

[0161] The alarm module 503 is also used for:

[0162] When the abnormal operation of the worm gear is due to abnormal wear of the worm gear, an alarm message is output to indicate that the clearance compensation mechanism is malfunctioning.

[0163] The worm gear controller provided in this embodiment of the invention uses sensors installed on the worm gear to detect the vehicle's current operating parameters during operation. By comparing the measured current acceleration, torque, angle, and displacement with standard operating parameters, the controller determines whether the worm gear is experiencing abnormal jamming or abnormal wear. It then outputs alarm information to indicate worm gear jamming or abnormal wear, prompting the user to promptly inspect and repair the worm gear.

[0164] This invention also provides a vehicle that may include the above-described worm gear monitoring method.

[0165] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0166] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0167] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A method for monitoring worm gears, characterized in that, A controller is used in a vehicle monitoring system, the vehicle monitoring system further including: a worm gear and a sensor mounted on the worm gear; the monitoring method includes: The current operating parameters of the worm gear are collected by the sensor. The current operating parameters are compared with the standard operating parameters of the worm gear to obtain the comparison results; When the comparison result meets the abnormality requirements, an alarm message is output to indicate that the worm gear is malfunctioning; wherein, when the current operating parameters include the current acceleration, current torque value and current angle value, the worm gear malfunction is abnormal jamming; when the current operating parameters include the current displacement, the worm gear malfunction is abnormal wear. The sensors include: an acceleration sensor for acquiring the current acceleration, and a torque and angle sensor for acquiring the current torque value and the current angle value; the acceleration sensor is disposed on the reduction mechanism housing at the meshing point of the worm gear, and the torque and angle sensor is disposed on the central shaft of the worm gear, for acquiring the torque signal fluctuation and angle signal fluctuation during the operation of the steering column, so as to obtain the current torque value and the current angle value.

2. The method according to claim 1, characterized in that, When the current operating parameters include the current acceleration, current torque value, and current angle value, the standard operating parameters include: standard acceleration, standard torque value, and standard angle value; the comparison results include: acceleration comparison results, torque comparison results, and angle comparison results; comparing the current operating parameters with the standard operating parameters of the worm gear to obtain comparison results includes: The current acceleration is compared with the standard acceleration to obtain an acceleration comparison result; the current torque value is compared with the standard torque value to obtain a torque comparison result; and the current angle value is compared with the standard angle value to obtain an angle comparison result. The abnormal requirements include abnormal jamming requirements; when the comparison result meets the abnormal requirements, an alarm message is output to indicate that the worm gear is operating abnormally, including: When the acceleration comparison result, the torque comparison result, and the angle comparison result all meet the abnormal jamming requirements, an alarm message is output to indicate abnormal jamming of the worm gear.

3. The method according to claim 2, characterized in that, Before outputting an alarm message to indicate abnormal jamming of the worm gear when the acceleration comparison result, the torque comparison result, and the angle comparison result simultaneously meet the abnormal jamming requirements, the method further includes: When the acceleration comparison result is that the current acceleration is greater than the standard acceleration, the torque comparison result is that the current torque value is greater than the standard torque value, and the angle comparison result is that the current angle value is greater than the standard angle value, it is determined that the acceleration comparison result, the torque comparison result, and the angle comparison result simultaneously meet the abnormal jamming requirements.

4. The method according to claim 1, characterized in that, When the current operating parameters include the current acceleration, current torque value, and current angle value, the output alarm information used to indicate abnormal operation of the worm gear includes: In the event of abnormal operation of the worm gear, specifically abnormal jamming of the worm gear, an alarm message is output to indicate an abnormality in the reduction mechanism and the central shaft.

5. The method according to claim 1, characterized in that, When the current operating parameters include the current displacement, the standard operating parameters include: the standard displacement change rate, and the comparison result includes: the displacement change rate comparison result; the comparison of the current operating parameters with the standard operating parameters of the worm gear to obtain the comparison result includes: The ratio of the current displacement collected after a preset time period to the preset time period is used as the current displacement change rate of the worm gear. The current displacement rate of change is compared with the standard displacement rate of change to obtain the displacement rate of change comparison result; The abnormal requirements include abnormal wear requirements; when the comparison result meets the abnormal requirements, an alarm message is output to indicate that the worm gear is operating abnormally, including: When the displacement change rate comparison result meets the abnormal wear requirements, an alarm message is output to indicate abnormal wear of the worm gear.

6. The method according to claim 5, characterized in that, Before outputting an alarm message to indicate abnormal wear of the worm gear when the displacement change rate comparison result meets the abnormal wear requirements, the method further includes: When the displacement change rate comparison result shows that the current displacement change rate is greater than the standard displacement change rate, it is determined that the displacement change rate comparison result meets the abnormal wear requirement.

7. The method according to claim 1, characterized in that, When the current operating parameters include the current displacement, the sensor includes: a displacement sensor for acquiring the current displacement, the displacement sensor being disposed on the clearance compensation mechanism at the swing end of the worm gear; The output is used to indicate alarm information for abnormal operation of the worm gear, including: When the abnormal operation of the worm gear is due to abnormal wear of the worm gear, an alarm message is output to indicate that the clearance compensation mechanism is malfunctioning.

8. A controller, characterized in that, The system is applied to a vehicle monitoring system, which further includes: a worm gear and a sensor mounted on the worm gear; the controller includes: The data acquisition module is used to acquire the current operating parameters of the worm gear through the sensor; The comparison module is used to compare the current operating parameters with the standard operating parameters of the worm gear to obtain the comparison result; An alarm module is used to output alarm information to indicate abnormal operation of the worm gear when the comparison result meets the abnormality requirements; wherein, when the current operating parameters include the current acceleration, current torque value and current angle value, the abnormal operation of the worm gear is abnormal jamming of the worm gear; when the current operating parameters include the current displacement, the abnormal operation of the worm gear is abnormal wear of the worm gear. The sensors include: an acceleration sensor for acquiring the current acceleration, and a torque and angle sensor for acquiring the current torque value and the current angle value; the acceleration sensor is disposed on the reduction mechanism housing at the meshing point of the worm gear, and the torque and angle sensor is disposed on the central shaft of the worm gear, for acquiring the torque signal fluctuation and angle signal fluctuation during the operation of the steering column, so as to obtain the current torque value and the current angle value.

9. The controller according to claim 8, characterized in that, When the current operating parameters include the current acceleration, current torque value, and current angle value, the standard operating parameters include: standard acceleration, standard torque value, and standard angle value, and the comparison results include: acceleration comparison results, torque comparison results, and angle comparison results; The comparison module is also used for: The current acceleration is compared with the standard acceleration to obtain an acceleration comparison result; the current torque value is compared with the standard torque value to obtain a torque comparison result; and the current angle value is compared with the standard angle value to obtain an angle comparison result. The alarm module is also used for: When the acceleration comparison result, the torque comparison result, and the angle comparison result all meet the abnormal jamming requirements, an alarm message is output to indicate abnormal jamming of the worm gear.

10. A vehicle, characterized in that, The monitoring method for the worm gear as described in any one of claims 1 to 7.

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