Anomaly detection method, apparatus, device, and storage medium

Abstract

The application provides an abnormality detection method, device, equipment and storage medium, which is applied to an automatic clutch. The automatic clutch performs engagement and disengagement actions between a bearing of a brushless direct current motor. First, a position sensor is used to obtain a first rotation angle of the brushless direct current motor. Meanwhile, a Hall sensor is used to obtain a second rotation angle of the brushless direct current motor. Then, a verification instruction is issued according to the first rotation angle and the second rotation angle. In response to the verification instruction, a third rotation angle is used to verify a fourth rotation angle, and whether the Hall sensor is abnormal is detected. Whether the Hall sensor is abnormal can be found in time, the reliability of mechanical integrity verification work of the automatic clutch can be ensured, the risk of damage of a power assembly can be avoided, and safe driving of a vehicle can be ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automobile transmission technology, and in particular to an abnormality detection method, device, equipment and storage medium. BACKGROUND

[0002] With the widespread use of new energy vehicles, vehicle safety technology and power protection safety awareness are no longer limited to passenger safety, battery safety and other aspects, but also more concerned about the safety protection of vehicle powertrain.

[0003] When the automatic clutch performs the engagement and disengagement actions, whether its mechanical integrity before work is perfect is particularly important. Assuming that the mechanical integrity of the automatic clutch before performing the engagement or disengagement action is abnormal, there is bound to be a risk of powertrain damage during driving, which may cause driving accidents and cause life and property safety damage.

[0004] In order to prevent the above problems, the mechanical integrity of the automatic clutch before work can be verified, and the Hall sensor can be used to calculate the motor rotation angle during the verification process. However, due to the influence of the complex working environment, the Hall sensor may have large test precision deviation or faults and other abnormalities. If the abnormalities of the Hall sensor are not discovered in time, the reliability of the mechanical integrity verification of the automatic clutch will be affected, and the risk of powertrain damage will still exist, causing safety hazards of vehicle driving. SUMMARY

[0005] The present application provides an abnormality detection method, device, equipment and storage medium for detecting whether the Hall sensor used when verifying the mechanical integrity of the automatic clutch before work has abnormalities, so as to ensure the reliability of the mechanical integrity verification of the automatic clutch and avoid the risk of powertrain damage.

[0006] In a first aspect, the present application provides an abnormality detection method applied to an automatic clutch, wherein the automatic clutch performs engagement and disengagement actions with the bearing of a brushless DC motor; the method comprises:

[0007] acquiring a first rotation angle of the brushless DC motor through a position sensor and acquiring a second rotation angle of the brushless DC motor through a Hall sensor;

[0008] issuing a verification instruction according to the first rotation angle and the second rotation angle;

[0009] verifying a fourth rotation angle according to a third rotation angle in response to the verification instruction, to detect whether the Hall sensor has abnormalities;

[0010] The third rotation angle and the fourth rotation angle are respectively rotation angles of the brushless direct current motor obtained by the position sensor and the Hall sensor respectively after a stall signal of the brushless direct current motor occurs.

[0011] In a possible design, the obtaining of the first rotation angle of the brushless direct current motor by the position sensor includes:

[0012] The first rotation angle is obtained according to a movement distance of the automatic clutch obtained by the position sensor.

[0013] In a possible design, the obtaining of the second rotation angle of the brushless direct current motor by the Hall sensor includes:

[0014] The second rotation angle is obtained according to a Hall signal read by the Hall sensor.

[0015] In a possible design, the issuing of the verification instruction according to the first rotation angle and the second rotation angle includes:

[0016] An angle difference between the first rotation angle and the second rotation angle is obtained.

[0017] It is determined whether the angle difference satisfies a verification condition, and if yes, the verification instruction is issued.

[0018] The verification condition is used to represent that the angle difference is greater than or equal to a calibration difference value within a preset time length.

[0019] In a possible design, the verifying of the fourth rotation angle according to the third rotation angle in response to the verification instruction is used to detect whether the Hall sensor is abnormal, and includes:

[0020] It is respectively determined whether the third rotation angle and the fourth rotation angle change.

[0021] If the third rotation angle does not change but the fourth rotation angle changes, or the third rotation angle and the fourth rotation angle both change, it is determined that the Hall sensor is abnormal.

[0022] In a possible design, after it is determined that the Hall sensor is abnormal, the method further includes:

[0023] The automatic clutch is controlled to remain in a disengaged state and not to perform an engagement action again.

[0024] A first abnormality prompt signal is generated, so that the Hall sensor is warned to be abnormal through the first abnormality prompt signal.

[0025] In a possible design, the third rotation angle changes and the fourth rotation angle does not change, or the third rotation angle and the fourth rotation angle both change; and the method further includes:

[0026] determining that the position sensor is abnormal;

[0027] controlling the automatic clutch to remain in a disengaged state and not to perform a re-engagement action;

[0028] generating a second abnormality prompt signal to warn that the position sensor is abnormal through the second abnormality prompt signal.

[0029] In a second aspect, the present application provides an abnormality detection device, which includes:

[0030] an acquisition module configured to acquire a first rotation angle of a brushless direct current motor through a position sensor and acquire a second rotation angle of the brushless direct current motor through a Hall sensor;

[0031] a first processing module configured to issue a verification instruction according to the first rotation angle and the second rotation angle;

[0032] a second processing module configured to determine, in response to the verification instruction, whether the Hall sensor is abnormal according to a third rotation angle and a fourth rotation angle;

[0033] The third rotation angle and the fourth rotation angle are respectively rotation angles of the brushless direct current motor acquired by the position sensor and the Hall sensor after the brushless direct current motor generates a stall signal.

[0034] In a possible design, the acquisition module is specifically configured to:

[0035] acquire a movement distance of an automatic clutch through the position sensor, and obtain the first rotation angle according to the movement distance.

[0036] In a possible design, the acquisition module is specifically configured to:

[0037] obtain the second rotation angle through a Hall signal read by the Hall sensor.

[0038] In a possible design, the first processing module is specifically configured to:

[0039] acquire an angle difference between the first rotation angle and the second rotation angle;

[0040] determine whether the angle difference satisfies a verification condition, and issue the verification instruction if the angle difference satisfies the verification condition;

[0041] The check condition is used to represent that the angle difference is greater than or equal to the calibration difference value in a preset time length.

[0042] In a possible design, the second processing module is specifically configured to:

[0043] respectively determine whether the third rotation angle and the fourth rotation angle change;

[0044] if the third rotation angle does not change but the fourth rotation angle changes, or the third rotation angle and the fourth rotation angle both change, it is determined that the Hall sensor is abnormal.

[0045] In a possible design, the second processing module is further configured to:

[0046] control the automatic clutch to be in a disengaged position and not to perform an engagement action;

[0047] generate a first abnormality prompt signal, so as to warn that the Hall sensor is abnormal through the first abnormality prompt signal.

[0048] In a possible design, if the third rotation angle changes but the fourth rotation angle does not change, or the third rotation angle and the fourth rotation angle both change, the second processing module is further configured to:

[0049] determine that the position sensor is abnormal;

[0050] control the automatic clutch to be in a disengaged position and not to perform an engagement action;

[0051] generate a second abnormality prompt signal, so as to warn that the position sensor is abnormal through the second abnormality prompt signal.

[0052] In a third aspect, the present application provides an electronic device, comprising a processor and a memory connected with the processor in communication;

[0053] The memory stores computer execution instructions.

[0054] The processor executes the computer execution instructions stored in the memory, so as to implement any one of the possible abnormality detection methods provided in the first aspect.

[0055] In a fourth aspect, the present application provides a computer readable storage medium, wherein the computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by a processor to implement any one of the possible abnormality detection methods provided in the first aspect.

[0056] In a fifth aspect, the present application provides a computer program product comprising computer-executable instructions for implementing any one of the possible abnormality detection methods provided in the first aspect when executed by a processor.

[0057] The present application provides an abnormality detection method, device, equipment and storage medium, which is applied to an automatic clutch. The automatic clutch performs engagement and disengagement actions between a bearing of a brushless direct current motor. First, a position sensor is used to obtain a first rotation angle of the brushless direct current motor, and a Hall sensor is used to obtain a second rotation angle of the brushless direct current motor. Then, a verification instruction is issued according to the first rotation angle and the second rotation angle. In response to the verification instruction, a third rotation angle is used to verify a fourth rotation angle, so as to detect whether the Hall sensor is abnormal. In this way, the reliability of the mechanical integrity verification work of the automatic clutch can be ensured, the risk of damage to the powertrain can be avoided, and the safe driving of the vehicle can be ensured. BRIEF DESCRIPTION OF DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0059] Figure 1 An application scenario schematic diagram is provided for the embodiments of the present application.

[0060] Figure 2 A flowchart of an abnormality detection method is provided for the embodiments of the present application.

[0061] Figure 3 A flowchart of another abnormality detection method is provided for the embodiments of the present application.

[0062] Figure 4 A flowchart of still another abnormality detection method is provided for the embodiments of the present application.

[0063] Figure 5 A structural schematic diagram of an abnormality detection device is provided for the embodiments of the present application.

[0064] Figure 6 A structural schematic diagram of an electronic device is provided for the embodiments of the present application. DETAILED DESCRIPTION

[0065] The exemplary embodiments will be described in detail herein with reference to the attached drawings. The description of the exemplary embodiments is intended to apply to all alternative modifications and equivalents of the methods and apparatuses as set forth herein. It is to be understood that other embodiments can be utilized, and structural or operational modifications can be made without departing from the scope of the present application. Accordingly, the following detailed description is not intended to limit the scope of the application as set forth in the claims.

[0066] The terms "first", "second", "third", "fourth" and the like in the description and in the claims, where they occur, are used as labels for nouns that they precede, and do not necessarily describe a relationship with, or order of, such terms. It should be understood that the use of such terms is only to distinguish one element from another element, and does not imply a relationship or order between the elements. For example, a first element could be discussed as being, for example, "prior to", or "subsequent to", a second element. The use of such terms in the description is not meant to em body a strict chronological order, unless specifically qualified by the term "chronologically", or terms of similar meaning. Moreover, the terms "comprise", "have", "contain", and "include" and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, product, or apparatus that comprises, has, contains or includes an element or list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, system, product, or apparatus.

[0067] The mechanical integrity of the automatic clutch before work is particularly important when performing engagement and disengagement actions. Assuming that the mechanical integrity of the automatic clutch before performing the engagement or disengagement action is abnormal, there is a risk of damage to the power assembly during driving, which may cause driving accidents and cause harm to life and property safety. In order to eliminate the risk of damage to the power assembly, the mechanical integrity of the automatic clutch before work can be verified. In this verification process, the Hall sensor can be used to calculate the motor rotation angle. However, due to the influence of the complex working environment, the Hall sensor may have a large test precision deviation or be abnormal. If the abnormality of the Hall sensor is not discovered in time, the reliability of the mechanical integrity verification of the automatic clutch will be affected, and the risk of damage to the power assembly will still exist, which will cause a safety hazard for vehicle driving.

[0068] To solve the above problems in the prior art, the application provides an abnormality detection method, device, equipment and storage medium. The application provides the application concept of the abnormality detection method, which is that, in the process of calculating the rotation angle of a brushless direct current motor by using a Hall sensor to verify the mechanical integrity of an automatic clutch, i.e., whether the working state of the automatic clutch is perfect, the rotation angle of the brushless direct current motor at the same time is obtained by using a position sensor. When the rotation angles of the brushless direct current motor at the same time obtained by the two sensors are different, a verification instruction is sent. Then, the rotation angle of the brushless direct current motor obtained by the position sensor after the brushless direct current motor generates a stall signal is verified according to the verification instruction, and the rotation angle of the brushless direct current motor obtained by the Hall sensor after the brushless direct current motor generates the stall signal is verified, so as to detect whether the Hall sensor is abnormal. Thus, the reliability of the mechanical integrity verification of the automatic clutch is ensured, the risk of damage of the power assembly is avoided, and the safe driving of the vehicle is ensured.

[0069] In the following, an exemplary application scenario of the embodiments of the application is introduced.

[0070] Figure 1 An application scenario diagram provided by the embodiments of the application is shown in FIG. 1. Figure 1 As shown in FIG. 1, an automatic clutch is arranged on a vehicle 100, for example, a new energy electric vehicle. The automatic clutch is used to perform the engagement and disengagement actions between the automatic clutch and a high-speed rotating motor bearing, so that multiple motors arranged in the vehicle 100, for example, two motors, can work simultaneously or only one motor can work alone, so as to meet the requirements of the driver on the power performance and the economy of the vehicle 100.

[0071] The mechanical integrity of the automatic clutch before the engagement or disengagement action, i.e., whether the working state is perfect, directly affects whether the vehicle 100 has the risk of damage of the power assembly. If the mechanical integrity of the automatic clutch before the engagement or disengagement action is abnormal, the power assembly is inevitably damaged when the automatic clutch performs the engagement or disengagement action.

[0072] Therefore, the mechanical integrity of the automatic clutch before the engagement or disengagement action can be verified. In the verification process, the rotation angle of the brushless direct current motor can be calculated by using the Hall sensor. However, due to the influence of the complex working environment, the Hall sensor is extremely likely to have a large deviation in test precision or a fault. If the abnormality of the Hall sensor is not found in time, the reliability of the verification of the mechanical integrity of the automatic clutch by using the Hall sensor is inevitably affected.

[0073] Therefore, the electronic device 200 is configured to perform the abnormality detection method provided in the embodiments of the present application, which is used for abnormality detection in the verification of whether the mechanical integrity of the automatic clutch is intact, to effectively check the rotation angle of the brushless direct current motor obtained by the Hall sensor in the mechanical integrity verification process, to determine whether the Hall sensor is abnormal, to ensure the reliability of the mechanical integrity verification of the automatic clutch, to avoid damage risk of the power assembly, and to ensure the safe driving of the vehicle.

[0074] It should be noted that the electronic device 200 can be a computer, a server, a server cluster, a microcontroller unit (MCU), an electronic control unit (ECU), a vehicle-mounted controller, etc. The embodiments of the present application do not limit the type of electronic device. Figure 1 The electronic device 200 in the above application scenario is exemplified by taking the ECU as an example.

[0075] The above application scenario is only illustrative, and the abnormality detection method, device, equipment and storage medium provided in the embodiments of the present application include but are not limited to the above application scenario. The automatic clutch can also be provided in a device such as a drone or an airplane.

[0076] Figure 2 A flowchart of an abnormality detection method provided in the embodiments of the present application is shown in FIG. 1. As shown in FIG. 1, the abnormality detection method provided in the embodiments of the present application includes the following steps. Figure 2

[0077] S101a: obtaining a first rotation angle of a brushless direct current motor through a position sensor.

[0078] S101b: obtaining a second rotation angle of the brushless direct current motor through a Hall sensor.

[0079] In the verification process of whether the mechanical integrity of the automatic clutch is intact, in the verification process, the automatic clutch will advance from the disengaged position to the engaged position and then return to the disengaged position after completing the engagement action. If the entire journey from the disengaged position to the engaged position and back to the disengaged position is intact, it indicates that the mechanical integrity of the automatic clutch is intact.

[0080] In the journey, the Hall sensor is used to obtain the rotation angle of the brushless direct current motor to determine the disengaged position or the engaged position of the automatic clutch.

[0081] ​Based on this, the position sensor and the Hall sensor synchronously acquire the rotation angle of the brushless direct current motor in the process that the automatic clutch advances from the disengagement position to the engagement position to perform the engagement action and returns to the disengagement position. For the convenience of description, the rotation angle of the brushless direct current motor acquired by the position sensor is a first rotation angle, and the rotation angle of the brushless direct current motor acquired by the Hall sensor is a second rotation angle.

[0082] In a possible design, the first rotation angle of the brushless direct current motor acquired by the position sensor comprises the following steps.

[0083] The movement distance of the automatic clutch is acquired by the position sensor, and the first rotation angle is obtained according to the movement distance.

[0084] The rotation angle of the brushless direct current motor in the process that the automatic clutch advances from the disengagement position to the engagement position is from 0 to 3600°, and at the same time, the stroke of the fork is the length of the entire fork shaft, for example, 10 cm. Therefore, the movement distance of the automatic clutch, that is, the stroke of the fork, can be acquired by the position sensor, so as to convert the corresponding rotation angle of the brushless direct current motor, that is, to convert the movement distance into the corresponding angle, to obtain the first rotation angle.

[0085] In a possible design, the second rotation angle of the brushless direct current motor acquired by the Hall sensor comprises the following steps.

[0086] The second rotation angle is obtained by reading the Hall signal of the Hall sensor.

[0087] The rotation angle of the brushless direct current motor in the process that the automatic clutch advances from the disengagement position to the engagement position is from 0 to 3600°, and at the same time, the Hall signal of the Hall sensor appears 100 times in the process. Based on this, the number of times that the Hall signal appears can be read by the Hall sensor, and the number of times that the Hall signal appears is converted into the rotation angle of the brushless direct current motor to obtain the second rotation angle.

[0088] It can be understood that the number of the acquired first rotation angle and the second rotation angle is not one, but is acquired multiple times in the entire process that the automatic clutch advances from the disengagement position to the engagement position and returns to the disengagement position. In the entire process, the rotation angle of the brushless direct current motor acquired by the position sensor is collectively referred to as the first rotation angle, and the rotation angle of the brushless direct current motor acquired by the Hall sensor is collectively referred to as the second rotation angle. The acquisition time of the first rotation angle and the second rotation angle can be real-time acquisition or acquisition according to a preset time period. It should be noted that the brushless direct current motor is stalled when the automatic clutch performs the disengagement and engagement actions in the case that the mechanical integrity of the automatic clutch is perfect.

[0089] It should be noted that the acquisition occasion acquired in real time must include the moment when the brushless DC motor occurs to be stalled, and if the acquisition occasion is a preset time period set by a person, the preset time period must contain the moment when the brushless DC motor occurs to be stalled.

[0090] In actual working conditions, the rotation angle of the brushless DC motor when the automatic clutch is in the disengaged position and the engaged position can be artificially calibrated. For example, the rotation angle of the brushless DC motor less than 50° and greater than 3500° can be used to calibrate the disengaged position and the engaged position of the automatic clutch. That is, when the rotation angle of the brushless DC motor is less than 50°, it is considered that the automatic clutch is in the disengaged position; when the rotation angle of the brushless DC motor is greater than 3500°, it is considered that the automatic clutch is in the engaged position. In the verification process of whether the mechanical integrity of the automatic clutch is perfect, the rotation angle of the brushless DC motor is acquired by the Hall sensor, and the verification process is completed based on the acquired rotation angle.

[0091] S102: issuing a verification instruction according to the first rotation angle and the second rotation angle.

[0092] After the first rotation angle and the second rotation angle are acquired respectively, a verification instruction is issued based on the first rotation angle and the second rotation angle.

[0093] The purpose of the verification instruction is to verify the rotation angle of the brushless DC motor acquired by the Hall sensor by the rotation angle of the brushless DC motor acquired by the position sensor, so as to judge whether the Hall sensor is abnormal. Therefore, a verification condition for verification can be set, and if the first rotation angle and the second rotation angle meet the verification condition, it means that the verification occasion is reached, and the verification instruction can be issued for verification.

[0094] S103: responding to the verification instruction, verifying the fourth rotation angle according to the third rotation angle, so as to detect whether the Hall sensor is abnormal.

[0095] The third rotation angle and the fourth rotation angle are respectively the rotation angle of the brushless DC motor acquired by the position sensor and the Hall sensor after the brushless DC motor occurs to be stalled.

[0096] The verification instruction is issued when the verification occasion is reached, the fourth rotation angle is verified according to the third rotation angle in response to the verification instruction, and whether the Hall sensor is abnormal is judged according to the verification result.

[0097] The third rotation angle is the rotation angle of the brushless DC motor acquired by the position sensor after the brushless DC motor occurs to be stalled, and the fourth rotation angle is the rotation angle of the brushless DC motor acquired by the Hall sensor after the brushless DC motor occurs to be stalled.

[0098] The principle of checking the fourth rotation angle by the third rotation angle in response to the checking instruction lies in determining the reliability of the two according to whether the two change. For example, if the data collected by the Hall sensor changes and the data collected by the position sensor does not change, it is considered that the data collected by the position sensor is reliable, and the Hall sensor is abnormal. If the data collected by the Hall sensor changes and the data collected by the position sensor also changes, it is considered that both are unreliable, and it is still determined that the Hall sensor is abnormal. It can be seen that the principle of the check is not only to trust the data collected by the Hall sensor, but also to refer to the data collected by the position sensor to confirm and check the data collected by the Hall sensor to detect whether the Hall sensor is abnormal.

[0099] It can be known from the description of the above embodiments that, in the verification process of whether the mechanical integrity of the automatic clutch is perfect, the rotation angle of the brushless direct current motor is obtained by the Hall sensor, and the verification process is completed based on the obtained rotation angle. Therefore, whether the Hall sensor is abnormal directly affects the reliability of the verification process. The abnormality detection method provided in the embodiments of the present application sets a position sensor, obtains the rotation angle of the brushless direct current motor after the brushless direct current motor appears a stall signal through the position sensor, checks the rotation angle of the brushless direct current motor obtained by the Hall sensor after the brushless direct current motor appears the stall signal, and can detect whether the Hall sensor is abnormal, so as to guarantee the reliability of the mechanical integrity verification of the automatic clutch, avoid the damage risk of the power assembly, and guarantee the safe driving of the vehicle.

[0100] The abnormality detection method provided in the embodiments of the present application is applied to an automatic clutch, and the automatic clutch performs engagement and disengagement actions with the bearing of a brushless direct current motor. First, a first rotation angle of the brushless direct current motor is obtained through a position sensor, and simultaneously, a second rotation angle of the brushless direct current motor is obtained through a Hall sensor. Then, a checking instruction is issued according to the first rotation angle and the second rotation angle, and then the fourth rotation angle is checked according to the third rotation angle in response to the checking instruction, so as to detect whether the Hall sensor is abnormal. The abnormality of the Hall sensor can be found in time, and then the reliability of the mechanical integrity verification work of the automatic clutch can be guaranteed, the damage risk of the power assembly can be avoided, and the safe driving of the vehicle can be guaranteed.

[0101] Figure 3 The flowchart of another abnormality detection method provided in the embodiments of the present application is shown. As shown in Figure 3 The abnormality detection method provided in the embodiments of the present application comprises:

[0102] S201a: obtaining a first rotation angle of a brushless direct current motor through a position sensor.

[0103] S201b: acquiring a second rotation angle of the brushless direct current motor through the Hall sensor.

[0104] The possible implementation, principle and technical effect of steps S201a and S201b are similar to those of steps S101a and S101b respectively, and the details can be referred to the foregoing description, which will not be repeated here.

[0105] S202: acquiring an angle difference between the first rotation angle and the second rotation angle.

[0106] The first rotation angle and the second rotation angle are rotation angles of the brushless direct current motor acquired by two different acquisition devices at the same time, and the two different acquisition devices are the position sensor and the Hall sensor respectively. This step is to acquire the angle difference between the first rotation angle and the second rotation angle, that is, to determine the deviation therebetween.

[0107] S203: determining whether the angle difference meets a verification condition.

[0108] It is determined whether the acquired angle difference meets a verification condition preset in advance, and the verification condition is used to quantify the verification opportunity. If the verification condition is met, it means that the verification opportunity is reached, and a verification instruction is issued to verify the data acquired by the Hall sensor by using the data acquired by the position sensor, that is, step S204 is executed. Otherwise, if the verification condition is not met, it means that the verification opportunity has not been reached, and steps S201a and S201b are continuously executed to acquire new first rotation angle and second rotation angle.

[0109] Alternatively, the verification condition can be set according to actual working conditions. For example, if the angle difference between the first rotation angle and the second rotation angle is acquired, the verification condition set can be that the angle difference in a preset time period is greater than or equal to a calibration difference value, for example, 300°. In other words, if the difference between the first rotation angle and the second rotation angle in a preset time period, for example, 3s, is greater than or equal to 300°, it means that the verification condition is met, and the verification instruction can be issued for verification. The specific value of the calibration difference value and the value of the preset time period can be set according to actual working conditions, and the present embodiment does not limit them.

[0110] It can be understood that the above-mentioned verification condition is only a schematic enumeration, and the corresponding verification condition can be set according to actual conditions in actual working conditions, and the specific content of the verification condition is not limited in the present embodiment.

[0111] S204: issuing a verification instruction.

[0112] If the check condition is met and the check timing is reached, a check instruction is issued, and the data collected by the position sensor is used to check the data collected by the Hall sensor in response to the check instruction, and whether the Hall sensor is abnormal is determined according to the check result.

[0113] S205: In response to the check instruction, the fourth rotation angle is checked according to the third rotation angle to detect whether the Hall sensor is abnormal.

[0114] When the check timing is reached, a check instruction is issued, and the fourth rotation angle is checked according to the third rotation angle in response to the check instruction, and whether the Hall sensor is abnormal is determined according to the check result.

[0115] The third rotation angle is the rotation angle of the brushless direct current motor obtained by the position sensor when the stall signal of the brushless direct current motor appears, and the fourth rotation angle is the rotation angle of the brushless direct current motor obtained by the Hall sensor when the stall signal of the brushless direct current motor appears.

[0116] The principle of checking the fourth rotation angle using the third rotation angle in response to the check instruction is to determine the credibility of the two according to whether they change. For example, if the data collected by the Hall sensor changes and the data collected by the position sensor does not change, it is considered that the data collected by the position sensor is reliable, and the Hall sensor is abnormal. If the data collected by the Hall sensor changes and the data collected by the position sensor also changes, it is considered that both are unreliable, and it is still determined that the Hall sensor is abnormal. It can be seen that the principle of this check is not only to trust the data collected by the Hall sensor, but also to refer to the data collected by the position sensor to confirm and check the data collected by the Hall sensor to detect whether the Hall sensor is abnormal.

[0117] In a possible design, the possible implementation of step S205 is as shown in Figure 4 . Figure 4 Another flowchart of an abnormality detection method provided by an embodiment of the present application is shown in Figure 4 . An embodiment of the present application includes:

[0118] S301: Whether the third rotation angle and the fourth rotation angle change is determined respectively.

[0119] S302: If the third rotation angle does not change but the fourth rotation angle changes, it is determined that the Hall sensor is abnormal.

[0120] S303: If the third rotation angle and the fourth rotation angle both change, it is determined that the Hall sensor is abnormal.

[0121] determining whether the rotation angle of the brushless direct current motor obtained by the position sensor and the rotation angle of the brushless direct current motor obtained by the Hall sensor have changed after the brushless direct current motor is determined to have stalled, i.e., a stall signal is generated. That is, whether the third rotation angle and the fourth rotation angle have changed is determined respectively.

[0122] If both have changed, or only the fourth rotation angle has changed and the third rotation angle has not changed, it is determined that the Hall sensor is abnormal, i.e., step S302 or step S303 is executed.

[0123] According to the above description, after it is determined that the Hall sensor is abnormal, in order to protect the powertrain, the following steps S206 and S207 can be further executed to control the automatic clutch to not perform the engagement action, and to report a warning that the Hall sensor is abnormal to the control unit, so that the control unit can issue a response instruction according to the current situation of the vehicle, thereby ensuring safe driving of the vehicle.

[0124] S206: controlling the automatic clutch to remain in the disengaged state and not to perform the engagement action.

[0125] S207: generating a first abnormality prompt signal to warn that the Hall sensor is abnormal through the first abnormality prompt signal

[0126] After it is determined that the Hall sensor is abnormal, the automatic clutch is controlled to remain in the disengaged state and not to perform the engagement action and the disengagement action. In other words, if the Hall sensor is abnormal and the automatic clutch still performs the engagement action and the disengagement action, it may cause a risk of damage to the powertrain. Therefore, in order to protect the powertrain, the automatic clutch is controlled to remain in the disengaged state and not to perform the engagement action and the disengagement action.

[0127] On the other hand, the first abnormality prompt signal can also be generated, for example, the first abnormality prompt signal can be reported to the control unit such as the vehicle controller, to warn that the Hall sensor is abnormal. The control unit receiving the first abnormality prompt signal can issue a response instruction in response to the warning, thereby further ensuring safe driving of the vehicle.

[0128] Optionally, in step S205, if the third rotation angle changes but the fourth rotation angle does not change, or both the third rotation angle and the fourth rotation angle change, it can also be considered that the data collected by the position sensor is not reliable, that is, it is determined that the position sensor is abnormal. Similarly, in order to protect the power assembly, the control automatic clutch remains in the disengaged state and no longer performs the engagement action and the disengagement action. On the other hand, a second abnormality prompt signal can also be generated, which warns that the position sensor is abnormal, so that the position sensor can be repaired, replaced, etc. according to the warning, to ensure the normal operation of the fault detection method provided in the embodiments of the application.

[0129] The abnormality detection method provided in the embodiments of the application is applied to an automatic clutch which performs the engagement action and the disengagement action with the bearing of the brushless direct current motor. After the first rotation angle and the second rotation angle of the brushless direct current motor are obtained by the position sensor and the Hall sensor respectively, it is determined whether the angle difference between the first rotation angle and the second rotation angle satisfies a verification condition. If yes, a verification instruction is issued, and then the fourth rotation angle is verified according to the third rotation angle in response to the verification instruction, to detect whether the Hall sensor is abnormal. After it is determined that the Hall sensor is abnormal, the automatic clutch is controlled to remain in the disengaged state and no longer perform the engagement action, and a first abnormality prompt signal is generated to warn that the Hall sensor is abnormal. The abnormality of the Hall sensor is discovered in time, the reliability of the mechanical integrity verification of the automatic clutch is ensured, the risk of damage to the power assembly is effectively avoided, and the abnormality of the Hall sensor is warned, to further ensure the safe driving of the vehicle.

[0130] Figure 5 A structural schematic diagram of an abnormality detection device provided in the embodiments of the application is shown in FIG. 4. Figure 5 As shown in FIG. 4, the abnormality detection device 400 provided in the embodiments of the application comprises:

[0131] The acquisition module 401 is configured to obtain the first rotation angle of the brushless direct current motor by the position sensor, and obtain the second rotation angle of the brushless direct current motor by the Hall sensor.

[0132] The first processing module 402 is configured to issue a verification instruction according to the first rotation angle and the second rotation angle.

[0133] The second processing module 403 is configured to determine whether the Hall sensor is abnormal according to the third rotation angle and the fourth rotation angle in response to the verification instruction.

[0134] The third rotation angle and the fourth rotation angle are respectively the rotation angles of the brushless direct current motor obtained by the position sensor and the Hall sensor after the brushless direct current motor generates a stall signal.

[0135] In a possible design, the acquisition module 401 is specifically configured to:

[0136] The movement distance of the automatic clutch is acquired by the position sensor, and the first rotation angle is obtained according to the movement distance.

[0137] In a possible design, the acquisition module 401 is further specifically configured to:

[0138] The second rotation angle is obtained according to the Hall signal read by the Hall sensor.

[0139] In a possible design, the first processing module 402 is specifically configured to:

[0140] acquire an angle difference between the first rotation angle and the second rotation angle;

[0141] determine whether the angle difference satisfies a check condition, and if so, issue a check instruction;

[0142] The check condition is used to represent that the angle difference is greater than or equal to a calibration difference value within a preset time length.

[0143] In a possible design, the second processing module 403 is specifically configured to:

[0144] determine whether the third rotation angle and the fourth rotation angle change respectively;

[0145] If the third rotation angle does not change but the fourth rotation angle changes, or the third rotation angle and the fourth rotation angle both change, it is determined that the Hall sensor is abnormal.

[0146] In a possible design, the second processing module 403 is further configured to:

[0147] control the automatic clutch to be in a disengaged position and not to perform an engagement action;

[0148] generate a first abnormality prompt signal to warn that the Hall sensor is abnormal through the first abnormality prompt signal.

[0149] In a possible design, if the third rotation angle changes but the fourth rotation angle does not change, or the third rotation angle and the fourth rotation angle both change, the second processing module 403 is further configured to:

[0150] determine that the position sensor is abnormal;

[0151] control the automatic clutch to be in a disengaged position and not to perform an engagement action;

[0152] generate a second abnormality prompt signal to warn that the position sensor is abnormal through the second abnormality prompt signal.

[0153] The abnormality detection apparatus provided by the embodiments of the present application can execute the corresponding steps of the abnormality detection method in the method embodiments, and the implementation principles and technical effects are similar, which will not be repeated here.

[0154] Figure 6 A structural schematic diagram of an electronic device is provided in the embodiments of the present application. As shown in the figure, Figure 6 The electronic device 500 can include a processor 501 and a memory 502 connected with the processor 501.

[0155] The memory 502 is configured to store a program. Specifically, the program can include program codes, and the program codes include computer execution instructions.

[0156] The memory 502 can include a high-speed RAM memory, and can also include a non-volatile memory (NoN-volatile memory), such as at least one disk memory.

[0157] The processor 501 is configured to execute the computer execution instructions stored in the memory 502 to implement the abnormality detection method.

[0158] The processor 501 can be a central processing unit (CPU) or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0159] Optionally, the memory 502 can be independent or integrated with the processor 501. When the memory 502 is a device independent of the processor 501, the electronic device 500 can further include:

[0160] A bus 503 is configured to connect the processor 501 and the memory 502. The bus can be an industry standard architecture (ISA) bus, a peripheral component (PCI) bus, or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc., but it does not mean that there is only one bus or one type of bus.

[0161] Optionally, in specific implementation, if the memory 502 and the processor 501 are integrated on a chip, the memory 502 and the processor 501 can communicate through an internal interface.

[0162] The application further provides a computer readable storage medium, which can include a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media capable of storing program codes. Specifically, the computer readable storage medium stores computer execution instructions, and the computer execution instructions are used for the abnormality detection method in the above embodiments.

[0163] The application further provides a computer program product, which includes computer execution instructions, and the computer execution instructions are executed by a processor to realize the abnormality detection method in the above embodiments.

[0164] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the application cover any and all variations of the application that come within the scope of the general concept of the application and that the claims be interpreted not to be limited to the specific examples described herein. The specification and examples are to be considered exemplary only, with the true scope and spirit of the application indicated by the following claims.

[0165] It should be understood that the application is not limited to the precise construction that has been described above and shown in the accompanying drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the application. The scope of the application is limited only by the appended claims.

Claims

1. An anomaly detection method characterized by, The method is applied to an automatic clutch which performs engagement and disengagement with a bearing of a brushless direct current motor, and comprises the following steps: acquiring a moving distance of the automatic clutch by a position sensor, and obtaining a first rotation angle according to the moving distance; acquiring a second rotation angle of the brushless direct current motor by a Hall sensor; issuing a verification instruction according to the first rotation angle and the second rotation angle; verifying a fourth rotation angle according to a third rotation angle in response to the verification instruction, so as to detect whether the Hall sensor is abnormal; wherein the third rotation angle and the fourth rotation angle are respectively rotation angles of the brushless direct current motor acquired by the position sensor and the Hall sensor after the brushless direct current motor generates a stall signal; the step of verifying the fourth rotation angle according to the third rotation angle in response to the verification instruction, so as to detect whether the Hall sensor is abnormal, comprises the following steps: respectively judging whether the third rotation angle and the fourth rotation angle change; 2. The abnormality detection method according to claim 1, characterized by, if the third rotation angle does not change but the fourth rotation angle changes, or the third rotation angle and the fourth rotation angle both change, it is determined that the Hall sensor is abnormal. the step of acquiring the second rotation angle of the brushless direct current motor by the Hall sensor, comprises the following step:

3. The abnormality detection method according to claim 1, characterized by, obtaining the second rotation angle from a Hall signal read by the Hall sensor. the step of issuing the verification instruction according to the first rotation angle and the second rotation angle, comprises the following steps: acquiring an angle difference between the first rotation angle and the second rotation angle; judging whether the angle difference meets a verification condition, and issuing the verification instruction if yes; 4. The abnormality detection method according to claim 1, characterized by, wherein the verification condition is used to represent that the angle difference is greater than or equal to a calibration difference value within a preset time length. after it is determined that the Hall sensor is abnormal, the method further comprises the following steps: controlling the automatic clutch to remain in a disengaged state and not to perform engagement any more; 5. The anomaly detection method according to claim 1, characterized by, generating a first abnormality prompt signal to warn that the Hall sensor is abnormal through the first abnormality prompt signal. if the third rotation angle changes but the fourth rotation angle does not change, or the third rotation angle and the fourth rotation angle both change, the method further comprises the following steps: determining that the position sensor is abnormal; controlling the automatic clutch to remain in a disengaged state and not to perform engagement any more; 6. An abnormality detection device characterized by comprising: generating a second abnormality prompt signal to warn that the position sensor is abnormal through the second abnormality prompt signal. comprises the following steps: an acquiring module is configured to acquire a moving distance of an automatic clutch by a position sensor, obtain a first rotation angle according to the moving distance, and acquire a second rotation angle of a brushless direct current motor by a Hall sensor; a first processing module is configured to issue a verification instruction according to the first rotation angle and the second rotation angle; a second processing module is configured to determine whether a Hall sensor is abnormal according to a third rotation angle and a fourth rotation angle in response to the verification instruction. The third rotation angle and the fourth rotation angle are respectively rotation angles of the brushless direct current motor acquired by the position sensor and the Hall sensor respectively after a stall signal of the brushless direct current motor occurs. The second processing module is specifically configured to: respectively determine whether the third rotation angle and the fourth rotation angle change; if the third rotation angle does not change but the fourth rotation angle changes, or the third rotation angle and the fourth rotation angle both change, it is determined that the Hall sensor is abnormal.

7. An electronic device, comprising: comprise: a processor, and a memory connected with the processor in communication; the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory to implement the abnormality detection method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by the processor to implement the abnormality detection method according to any one of claims 1 to 5.

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