Fault diagnosis and treatment method, device and storage medium of pneumatic brake system

Abstract

This application provides a method, apparatus, and storage medium for fault diagnosis and handling of a pneumatic braking system, relating to the field of vehicle technology. The method involves acquiring pressure values ​​collected by a pressure sensor on an air reservoir; determining whether the pneumatic braking system is under-pressured based on the pressure values; if the pneumatic braking system is under-pressured, diagnosing the fault type of the pneumatic braking system based on the correlation between the pressure values ​​and the states of the air reservoir pressure switch and the dryer switch, and according to the first switching state of the air reservoir pressure switch and the second switching state of the dryer switch. The correlation includes the normal states of the air reservoir pressure switch and the dryer switch under different pressure values; and repairing the pneumatic braking system according to the fault type to ensure the normal operation of the air pump in the pneumatic braking system, thereby guaranteeing vehicle braking operation and driving safety.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a method, apparatus and storage medium for fault diagnosis and treatment of a pneumatic braking system. Background Technology

[0002] Currently, due to the large braking torque required by medium and heavy-duty vehicles, their braking systems generally employ pneumatic braking systems. These systems primarily consist of an air pump, dryer, air reservoir, various valves, brakes, and piping. The air pump generates high-pressure gas, which is dried by the dryer and stored in the air reservoir. Depressing the brake pedal releases a pressure signal from the reservoir, which then travels through the piping and valves to the brakes, thus achieving vehicle deceleration and parking functions.

[0003] In related technologies, the start-stop control of the air pump in a pneumatic braking system is typically determined by the pressure value of the pressure sensor on the air tank or the on / off state of the air tank pressure switch. Specifically, when the air tank pressure switch is determined to be open, the air pump is enabled, and when the dryer switch is detected to change from open to closed, the air pump is stopped; or, when the pressure value of the pressure sensor on the air tank is determined to be less than the normal operating range, the air pump is enabled, and when the dryer switch is detected to change from open to closed, the air pump is stopped.

[0004] However, if components such as the pressure sensor or the air tank pressure switch malfunction, the air pump will not work when the air pressure braking system is under-pressured, affecting vehicle braking operation and driving safety. Therefore, a fault diagnosis and handling solution for air pressure braking systems is urgently needed. Summary of the Invention

[0005] This application provides a fault diagnosis and handling method, device and storage medium for a pneumatic braking system, which solves the problem that the air pump cannot work properly when the pressure sensor or air tank pressure switch of a pneumatic braking vehicle fails, thereby ensuring the safety of vehicle driving.

[0006] In a first aspect, this application provides a method for diagnosing and handling faults in a pneumatic braking system, including:

[0007] Obtain the pressure value collected by the pressure sensor on the gas storage tank;

[0008] Based on the above pressure values, determine whether the air pressure braking system is under-pressured;

[0009] If the pneumatic braking system is under-pressured, the fault type of the pneumatic braking system can be diagnosed based on the correlation between the pressure value and the status of the air tank pressure switch and the dryer switch, according to the first switch status of the air tank pressure switch and the second switch status of the dryer switch. The correlation includes the normal status of the air tank pressure switch and the dryer switch under different pressure values.

[0010] Based on the type of fault, the air pressure braking system is repaired to ensure that the air pump in the air pressure braking system works normally.

[0011] In one possible implementation, based on the correlation between pressure values ​​and the states of the air tank pressure switch and the dryer switch, the fault type of the pneumatic braking system is diagnosed according to the first switch state of the air tank pressure switch and the second switch state of the dryer switch. This includes: if the pressure value is greater than or equal to a first threshold, determining whether the first switch state is consistent with the air tank pressure switch state corresponding to the pressure value in the correlation, and determining whether the second switch state is consistent with the dryer switch state corresponding to the pressure value in the correlation, wherein the first threshold is less than the smaller boundary value of the normal threshold range corresponding to the braking requirement; if the first switch state is inconsistent with the air tank pressure switch state corresponding to the pressure value in the correlation, a fault of open circuit in the air tank pressure switch in the pneumatic braking system is determined; if the second switch state is inconsistent with the dryer switch state corresponding to the pressure value in the correlation, a fault of open circuit in the dryer switch in the pneumatic braking system is determined; correspondingly, according to the fault type, the pneumatic braking system is repaired, including: reporting a fault code and illuminating the braking system fault light, controlling the air pump in the pneumatic braking system to work, and responding to the detection that the dryer switch is closed, controlling the air pump to stop working.

[0012] In one possible implementation, the air reservoir includes a front air reservoir and a rear air reservoir, and further includes: if the pressure value of at least one of the front and rear air reservoirs is less than a first threshold, then it is determined that there is a low air pressure level one fault in the pneumatic braking system; correspondingly, according to the fault type, the pneumatic braking system is repaired, including: reporting a fault code and illuminating the braking system fault light, enabling the air pump in the pneumatic braking system, and responding to the detection that the dryer switch is closed, controlling the air pump to stop working.

[0013] In one possible implementation, after enabling the air pump in the air pressure braking system, the system further includes: if the pressure values ​​of both the front and rear air reservoirs are less than the first threshold, then limiting the vehicle speed to a first speed; if the pressure values ​​of both the front and rear air reservoirs are less than a second threshold, then limiting the vehicle speed to a second speed, wherein the second speed is less than the first speed and the second threshold is less than the first threshold; and sending a first warning signal to the instrument system, the first warning signal being used to illuminate the turtle light in the instrument system.

[0014] In one possible implementation, the fault diagnosis and handling method for the pneumatic braking system further includes: if the pressure value of the front air tank is abnormal, then a fault is determined in the first pressure sensor circuit; if the pressure value of the rear air tank is abnormal, then a fault is determined in the second pressure sensor circuit. The first pressure sensor circuit is the circuit corresponding to the front air tank, and the second pressure sensor circuit is the circuit corresponding to the rear air tank. Abnormalities include values ​​of 0 or greater than a third threshold, where the third threshold is greater than the larger boundary value of the normal threshold range corresponding to the braking requirement. Correspondingly, the pneumatic braking system is repaired according to the fault type, including: if either the first or second pressure sensor circuit is faulty, a fault code is reported and the braking system fault light is illuminated; if both the first and second pressure sensor circuits are faulty, the air pump is controlled to operate according to the on / off state of the air tank pressure switch, or the air pump is controlled to stop operating when the dryer switch is detected to change from open to closed.

[0015] In one possible implementation, if both the first pressure sensor circuit and the second pressure sensor circuit are faulty, the system may further include at least one of the following: limiting the vehicle speed to a first speed and illuminating the turtle-shaped indicator light in the instrument system; and in response to the detection that the air tank pressure switch is open, limiting the vehicle speed to a second speed, wherein the second speed is less than the first speed.

[0016] In one possible implementation, the fault diagnosis and handling method of the pneumatic braking system further includes: if the pressure value meets the braking requirements, determining whether the first switch state is consistent with the pressure switch state of the air tank corresponding to the pressure value in the associated relationship; if the first switch state is inconsistent with the pressure switch state of the air tank corresponding to the pressure value in the associated relationship, determining that the air tank pressure switch in the pneumatic braking system has a short circuit fault, reporting the fault code and illuminating the braking system fault light, and determining whether to enable the air pump or control the air pump to stop working when the dryer switch is detected to change from open to closed based on the pressure value of the pressure sensor on the air tank.

[0017] In one possible implementation, the fault diagnosis and handling method of the pneumatic braking system further includes: if the pressure value meets the braking requirements, determining whether the continuous working time of the air pump is greater than the set time; if the continuous working time of the air pump is greater than the set time, and the dryer switch remains in the open state during the continuous working time, determining that the dryer pressure switch in the pneumatic braking system has a short circuit fault, reporting the fault code and illuminating the braking system fault light, and controlling the air pump to stop working.

[0018] In one possible implementation, the pneumatic braking system is repaired according to the type of fault, including: if there are multiple types of faults, the pneumatic braking system is repaired according to the severity of the multiple fault types.

[0019] Secondly, this application provides a fault diagnosis and handling device for a pneumatic braking system, comprising:

[0020] The acquisition module is used to acquire the pressure value collected by the pressure sensor on the gas storage tank;

[0021] The determination module is used to determine whether the pneumatic braking system is under-pressured based on the above pressure values;

[0022] The diagnostic module is used to diagnose the fault type of the pneumatic braking system if the pneumatic braking system is under-pressured. Based on the correlation between the pressure value and the status of the air tank pressure switch and the dryer switch, and according to the first switch status of the air tank pressure switch and the second switch status of the dryer switch, the module diagnoses the fault type of the pneumatic braking system. The correlation includes the normal status of the air tank pressure switch and the dryer switch under different pressure values.

[0023] The processing module is used to repair the air pressure braking system according to the fault type, so that the air pump in the air pressure braking system can work normally.

[0024] Thirdly, this application provides an electronic device, including: a memory and a processor;

[0025] The memory stores computer programs;

[0026] The processor executes the computer program to implement the method described in the first aspect.

[0027] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed, are used to implement the method described in the first aspect.

[0028] Fifthly, this application provides a computer program product, including a computer program that, when executed, implements the method described in the first aspect.

[0029] The method, apparatus, and storage medium for fault diagnosis and handling of the pneumatic braking system provided in this application acquire pressure values ​​collected by pressure sensors on the air reservoir. Based on the pressure values, it determines whether the pneumatic braking system is under-pressured. If the pneumatic braking system is under-pressured, it diagnoses the fault type of the pneumatic braking system based on the correlation between the pressure values ​​and the states of the air reservoir pressure switch and the dryer switch, according to the first switch state of the air reservoir pressure switch and the second switch state of the dryer switch. The correlation includes the normal states of the air reservoir pressure switch and the dryer switch under different pressure values. Based on the fault type, the pneumatic braking system is repaired to ensure the normal operation of the air pump in the pneumatic braking system, thereby ensuring vehicle braking operation and vehicle driving safety. Attached Figure Description

[0030] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0031] Figure 1 A schematic diagram illustrating an application scenario of the fault diagnosis and handling method for a pneumatic braking system provided in an exemplary embodiment of this application;

[0032] Figure 2 A flowchart illustrating a fault diagnosis and handling method for a pneumatic braking system provided as an exemplary embodiment of this application;

[0033] Figure 3 A schematic diagram of the structure of a fault diagnosis and processing device for a pneumatic braking system provided as an exemplary embodiment of this application;

[0034] Figure 4 A schematic diagram of the structure of an electronic device provided as an exemplary embodiment of this application.

[0035] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0036] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0037] It should be noted that the fault diagnosis and handling method, device and storage medium of the pneumatic braking system provided in this application can be used in the field of vehicle technology, such as the field of automobile technology and train braking, and can also be used in the field of various industrial mechanical transmission systems or other related fields. The application field of this application is not limited.

[0038] In related technologies, the start-stop control of the air pump in a pneumatic braking system is usually determined by the pressure value of the pressure sensor on the air tank or the on / off state of the air tank pressure switch. However, when the pressure sensor or air tank pressure switch malfunctions, the air pump will not work when the pneumatic braking system is under-pressured, which will affect the vehicle's braking operation and driving safety.

[0039] To address the aforementioned issues, this application provides a solution for fault diagnosis and handling of a pneumatic braking system. This solution can diagnose and report the fault types of the pneumatic braking system and perform repairs based on the fault types, thereby ensuring vehicle braking operation and driving safety.

[0040] Specifically, on the one hand, based on the correlation between the pressure value of the pressure sensor on the air tank and the status of the air tank pressure switch and the dryer switch, the fault type of the pneumatic braking system is diagnosed; on the other hand, when a failure of the pneumatic braking system is detected, the start and stop of the air pump is controlled or the vehicle speed is limited, and the user is promptly alerted through fault codes and malfunction indicators. This fault diagnosis and handling scheme for the pneumatic braking system diagnoses whether the system is in a fault mode and the corresponding fault type through multiple conditions, making the diagnostic results more reliable; secondly, in fault mode, controlling the start and stop of the air pump can also limit the vehicle speed, thereby ensuring vehicle driving safety.

[0041] Figure 1 This is a schematic diagram illustrating an application scenario of the fault diagnosis and handling method for a pneumatic braking system provided as an exemplary embodiment of this application. For example... Figure 1 As shown, this application scenario includes the vehicle control unit, air pump control unit, air pump, dryer, front air reservoir, rear air reservoir, pressure sensor, dryer switch, air reservoir pressure switch, brake pedal, brake master valve, brake master cylinder, and various valve bodies, etc. In practical applications, for example, after the vehicle is started, the air pump control unit enables the air pump, which begins to pump air to generate high-pressure gas. After being dried by the dryer, the gas is stored in the front and rear air reservoirs. When the vehicle control unit receives a signal that the dryer switch is closed, the air pump control unit controls the air pump to stop working. For example, when the user presses the brake pedal, the brake master valve is opened, and the vehicle's brake master cylinder drives the front and rear air reservoirs to release air pressure signals. These air pressure signals are transmitted through pipelines and various valve bodies and ultimately act on the vehicle's brakes, thereby achieving functions such as vehicle deceleration and parking.

[0042] The vehicle control unit obtains information such as the operating status of the air pump, the continuous operating time of the air pump, fault codes in the instrument panel, the pressure values ​​of the front and rear air tanks, the on / off status of the dryer switch, and the on / off status of the air tank pressure switch from the air pump control unit via bus communication. This bus communication can be a Controller Area Network (CAN) bus, used for communication between various components within the vehicle.

[0043] It should be noted that the vehicle control unit can also be called the host. For example, the vehicle control unit can be an infotainment head unit (IHU) or a desktop head unit (DHU).

[0044] The following is combined with Figure 1 Application scenarios, refer to Figure 2 This application describes a fault diagnosis and handling method for a pneumatic braking system according to exemplary embodiments thereof. It should be noted that the above application scenarios are shown only to facilitate understanding of the spirit and principles of this application, and the embodiments of this application are not limited to those described herein. Figure 1 The limitations of the application scenarios shown.

[0045] Figure 2 This is a schematic flowchart illustrating a fault diagnosis and handling method for a pneumatic braking system provided in an exemplary embodiment of this application. The fault diagnosis and handling method for a pneumatic braking system provided in this embodiment can be... Figure 1 The vehicle control unit shown executes this. For example... Figure 2 As shown, the fault diagnosis and handling method of the pneumatic braking system in this embodiment includes the following steps:

[0046] Step 201: Obtain the pressure value collected by the pressure sensor on the gas storage tank.

[0047] Among them, a pressure sensor is a device or apparatus that can sense pressure signals and convert them into usable output electrical signals according to certain rules.

[0048] In one implementation, such as Figure 1 As shown, the pressure sensor connected to the air tank collects the pressure value of the air tank in real time and reports it to the instrument. The vehicle control unit obtains the pressure value recorded in the instrument through bus communication, namely the pressure value of the front air tank and the pressure value of the rear air tank.

[0049] Step 202: Determine whether the pneumatic braking system is under-pressured based on the pressure value.

[0050] In this step, the pressure values ​​of the front and rear air tanks are used to determine if the air brake system is under-pressured. For example, the pressure value of the front air tank is P. S1 The pressure value of the rear gas storage tank is P. S2 P1 is the minimum air pressure threshold required for the front and rear air tanks to meet braking requirements, and P2 is the maximum air pressure threshold required for the front and rear air tanks to meet braking requirements. If P1 ≤ P S1 ≤P2 and P1≤P S2 If P ≤ P2, it means the air pressure in the front and rear air tanks is within the normal threshold range, meeting the braking requirements; correspondingly, if P S1 ≥P2 and P S2 ≥P2 indicates that the air pressure in the front and rear air tanks is greater than the maximum value of the normal threshold range. In this case, the air pressure braking system is over-pressurized; if P S1 <P1 or P S2<P1 indicates that the air pressure in either the front or rear air tank is less than the minimum value of the normal threshold range. In this case, the air pressure braking system is under-pressured.

[0051] Step 203: If the pneumatic braking system is under-pressured, then based on the correlation between the pressure value and the status of the air tank pressure switch and the dryer switch, the fault type of the pneumatic braking system is diagnosed according to the first switch status of the air tank pressure switch and the second switch status of the dryer switch. The correlation includes the normal status of the air tank pressure switch and the dryer switch under different pressure values.

[0052] For example, Table 1 shows the correlation between pressure values ​​and the states of the air tank pressure switch and the dryer switch provided in the exemplary embodiments of this application. As shown in Table 1, when the pressure values ​​of the front and rear air tanks are within the normal threshold range and meet the braking requirements, the states of the air tank pressure switch and the dryer switch are both 0; when the pressure of any air line is lower than the threshold P1, the states of the air tank pressure switch and the dryer switch are both 1, enabling the air pump to work; when the pressure values ​​of the front and rear air tanks both meet the braking threshold P2, the state of the air tank pressure switch is 0, the state of the dryer switch changes from 1 to 0, and the air pump stops working.

[0053] Table 1

[0054]

[0055] Correspondingly, when the air pressure braking system is under-pressured, referring to Table 1, the pressure value P of the front air reservoir is used as the reference. S1 The pressure value P of the rear air storage tank S2 And the correlation with the status of the air tank pressure switch and the dryer switch, to diagnose whether the pneumatic braking system is faulty and the corresponding fault type.

[0056] Step 204: Repair the air pressure braking system according to the fault type to ensure that the air pump in the air pressure braking system works normally.

[0057] In this step, the air pressure braking system is repaired based on the fault type obtained in step 203. For example, if the fault type obtained in step 203 is A, the vehicle control unit sends the repair instruction corresponding to fault A to the corresponding processing module, so that the air pump can work normally when the air pressure braking system is under-pressured.

[0058] The instructions for repair can be preset according to the severity of the fault, and the severity of the fault can be determined based on whether the fault affects the vehicle's braking and driving safety.

[0059] In this embodiment, the pressure value collected by the pressure sensor on the air tank is obtained, and it is determined whether the air pressure braking system is under-pressured based on the pressure value. If the air pressure braking system is under-pressured, the fault type of the air pressure braking system is diagnosed based on the correlation between the pressure value and the state of the air tank pressure switch and the dryer switch. Based on the fault type, the air pressure braking system is repaired so that the air pump in the air pressure braking system works normally, thereby ensuring the vehicle braking operation and the vehicle driving safety.

[0060] Based on the above embodiments, in some embodiments, based on the correlation between pressure values ​​and the states of the air tank pressure switch and the dryer switch, and according to the first switching state of the air tank pressure switch and the second switching state of the dryer switch, the fault type of the pneumatic braking system is diagnosed, further including:

[0061] If the pressure value is greater than or equal to the first threshold, it is determined whether the first switch state is consistent with the pressure switch state of the air tank corresponding to the pressure value in the associated relationship, and whether the second switch state is consistent with the dryer switch state corresponding to the pressure value in the associated relationship, wherein the first threshold is less than the smaller boundary value of the normal threshold range corresponding to the braking requirement;

[0062] If the first switch state is inconsistent with the air tank pressure switch state corresponding to the pressure value in the associated relationship, then the air tank pressure switch in the pneumatic braking system is determined to be open circuit fault; if the second switch state is inconsistent with the dryer switch state corresponding to the pressure value in the associated relationship, then the dryer switch in the pneumatic braking system is determined to be open circuit fault.

[0063] In this embodiment, repairing the pneumatic braking system according to the fault type may include: reporting a fault code and illuminating the braking system fault light, controlling the air pump in the pneumatic braking system to work, and responding to the detection that the dryer switch is closed by controlling the air pump to stop working.

[0064] For example, referring to Table 1, the first threshold can be represented by P1-ΔP, which is the value when the pneumatic braking system is under-pressured, i.e., P1-ΔP. S1 <P1 or P S2 <P1, if the pressure value P of the front gas storage tank at this time S1 ≥P1-ΔP or the pressure value P of the rear gas storage tank S2 If the value is ≥P1-ΔP, then it is determined whether the air tank pressure switch is in the open state and whether the dryer switch is in the open state; if the air tank pressure switch is in the closed state, then it is determined that the air tank pressure switch in the pneumatic braking system is open-circuited; if the dryer switch is in the closed state, then it is determined that the dryer switch in the pneumatic braking system is open-circuited.

[0065] Correspondingly, since the air pressure braking system is currently under-pressured, the vehicle control unit reports a fault code to the instrument panel based on the fault type and illuminates the brake system fault light on the instrument panel. The vehicle control unit sends a control command to the air pump control unit, which then controls the air pump to start working until it detects that the dryer switch is closed, i.e., when the dryer switch's closed state changes from 1 to 0, the air pump control unit controls the air pump to stop working. The fault code refers to the fault code obtained by the vehicle control unit after a vehicle malfunction occurs. For example, a fault code 2 is reported for an open circuit in the air reservoir pressure switch, and a fault code 4 is reported for an open circuit in the dryer switch. Correspondingly, the icon for the brake system fault light is a circle enclosed in parentheses with an exclamation mark inside. When the brake system fault light illuminates, it indicates that the vehicle's braking system may have malfunctioned, providing a timely warning to the user.

[0066] In some embodiments, the gas storage tank may include a front gas storage tank and a rear gas storage tank, such as... Figure 1 Example. In this case, the fault diagnosis and handling method for the pneumatic braking system may further include: if the pressure value of at least one of the front and rear air reservoirs is less than a first threshold, then it is determined that the pneumatic braking system has a low-pressure level one fault. Correspondingly, depending on the fault type, the repair process for the pneumatic braking system may include: reporting a fault code and illuminating the braking system fault light, enabling the air pump in the pneumatic braking system, and responding to the detection that the dryer switch is closed by controlling the air pump to stop working.

[0067] For example, if the pressure value P of the front gas reservoir S1 <P1-ΔP or the pressure value P of the rear gas storage tank S2 If <P1-ΔP, it is determined that there is a low air pressure level 1 fault in the air pressure braking system; the vehicle control unit reports fault code 6 to the instrument panel according to the fault type and illuminates the brake system fault light on the instrument panel. The vehicle control unit sends a control command to the air pump control unit, which controls the air pump to start working until the dryer switch is detected to be closed, at which point the air pump control unit controls the air pump to stop working.

[0068] Based on the above embodiments, in some embodiments, the fault diagnosis and handling method of the pneumatic braking system may further include at least one of the following:

[0069] If the pressure values ​​of both the front and rear air tanks are less than the first threshold, the vehicle speed is limited to the first speed.

[0070] If the pressure values ​​of both the front and rear air tanks are less than the second threshold, the vehicle speed is limited to the second speed, where the second speed is less than the first speed and the second threshold is less than the first threshold.

[0071] A first warning signal is sent to the instrument system, which is used to illuminate the turtle light in the instrument system.

[0072] The second threshold can be represented by P1-2*ΔP. For example, if the pressure values ​​of the front and rear gas cylinders satisfy P... S1 <P1-ΔP and P S2 When the speed is less than P1-ΔP, the vehicle control unit controls the vehicle's maximum speed to V1 via the speed limiting module. Optionally, V1 can be 65 km / h to ensure safety when the vehicle is traveling at high speeds. If the pressure values ​​of the front and rear air tanks meet P... S1 <P1-2*ΔP and P S2 When the speed is less than P1-2*ΔP, the vehicle control unit controls the maximum vehicle speed to V2 through the vehicle speed limiting module. Optionally, V2 can be 10km / h. Limiting the speed to V2 ensures that the vehicle can still travel slowly. In addition, the vehicle control unit sends a control command to the instrument system to illuminate the turtle light in the instrument system. The turtle light is a fault indicator light that resembles a turtle. It is used to warn the user that the vehicle may have a fault and can only be driven slowly. It is necessary to stop immediately for inspection or timely repair.

[0073] In some embodiments, the fault diagnosis and handling method of the air pressure braking system may further include: if the pressure value of the front air tank is abnormal, then it is determined that the first pressure sensor circuit is faulty; if the pressure value of the rear air tank is abnormal, then it is determined that the second pressure sensor circuit is faulty. The first pressure sensor circuit is the circuit corresponding to the front air tank, and the second pressure sensor circuit is the circuit corresponding to the rear air tank. Abnormality includes a value of 0 or greater than a third threshold, where the third threshold is greater than the larger boundary value of the normal threshold range corresponding to the braking requirement.

[0074] Correspondingly, depending on the type of fault, the repair of the pneumatic braking system may also include: if there is a fault in the first pressure sensor circuit or the second pressure sensor circuit, a fault code is reported and the braking system fault light is illuminated; if there is a fault in both the first and second pressure sensor circuits, the air pump is controlled to work according to the on / off state of the air tank pressure switch or the air pump is controlled to stop working when the dryer switch is detected to change from open to closed.

[0075] For example, if the pressure value P of the front gas reservoir S1 If the pressure value P in the rear gas storage tank is 0 or greater than the third threshold (optionally, the third threshold is 1 MPa), then a fault is determined in the first pressure sensor circuit; if the pressure value P in the rear gas storage tank is 0 or greater than the third threshold, then a fault is determined in the first pressure sensor circuit. S2If the value is 0 or greater than the third threshold, a fault is determined to exist in the second pressure sensor circuit; if a fault exists in any circuit, a short circuit or open circuit fault is determined to exist in the air pressure braking system pressure sensor circuit; the vehicle control unit reports fault code 5 to the instrument panel according to the fault type and illuminates the brake system fault light on the instrument panel; the vehicle control unit sends a control command to the air pump control unit, which controls the air pump to start working until the dryer switch is detected to be closed, at which point the air pump control unit controls the air pump to stop working.

[0076] Furthermore, if both the first pressure sensor circuit and the second pressure sensor circuit are faulty, the fault diagnosis and handling method for the pneumatic braking system also includes at least one of the following:

[0077] The vehicle speed is limited to the first speed, and the turtle-shaped indicator light in the instrument panel is turned on;

[0078] Upon detecting that the air tank pressure switch has been opened, the vehicle speed is limited to the second speed, which is less than the first speed.

[0079] For example, if the pressure value P of the front gas reservoir S1 The value is 0 or greater than the third threshold, and the pressure value P of the rear gas storage tank is also 0. S2 When the value is 0 or greater than the third threshold, the vehicle control unit controls the maximum vehicle speed to V1 through the vehicle speed limiting module, and at the same time sends a control command to the instrument system to illuminate the turtle light in the instrument system; when the vehicle control unit detects that the air tank pressure switch is open, in order to ensure driving safety, it controls the maximum vehicle speed to V2 through the vehicle speed limiting module.

[0080] In some embodiments, the fault diagnosis and handling method of the pneumatic braking system further includes: if the pressure value of the air tank meets the braking requirements, then determining whether the first switch state is consistent with the air tank pressure switch state corresponding to the pressure value in the associated relationship;

[0081] If the state of the first switch is inconsistent with the state of the air tank pressure switch corresponding to the pressure value in the association relationship, a short circuit fault is determined in the air tank pressure switch of the pneumatic braking system. The fault code is reported and the braking system fault light is illuminated. The air pump is enabled based on the pressure value of the pressure sensor on the air tank, or the air pump is controlled to stop working when the dryer switch is detected to change from open to closed.

[0082] For example, referring to Table 1, if the pressure value P of the front gas storage tank... S1 ≥P1 and the pressure value P of the rear gas storage tank S2If the value is ≥P1, then it is determined whether the air tank pressure switch is in the closed state and whether the dryer switch is in the closed state. If the air tank pressure switch is in the open state, then a short circuit fault in the air tank pressure switch of the air pressure braking system is determined. The vehicle control unit reports fault code 1 to the instrument panel according to the fault type and illuminates the brake system fault light on the instrument panel. If the air pump is in the enabled state at this time, the air pump control unit controls the air pump to stop working after receiving the signal that the dryer switch is closed. If the air pump is in the disabled state at this time, it starts to be enabled when the signal of either the first pressure sensor circuit or the second pressure sensor circuit is less than P1, and is enabled until the air pump control unit controls the air pump to stop working after receiving the signal that the dryer switch is closed.

[0083] Based on the above embodiments, in some embodiments, the fault diagnosis and handling method of the pneumatic braking system further includes:

[0084] If the pressure value meets the braking requirements, then determine whether the continuous working time of the air pump is greater than the set time.

[0085] If the continuous working time of the air pump exceeds the set time, and the dryer switch remains in the open state during the continuous working time, a short circuit fault is determined in the dryer pressure switch of the pneumatic braking system. The fault code is reported, the braking system fault light is illuminated, and the air pump is controlled to stop working.

[0086] For example, if the pressure value P of the front gas reservoir S1 ≥P1 and the pressure value P of the rear gas storage tank S2 If the air pump operates continuously for more than 600 seconds and the dryer switch remains on during continuous operation, then a short circuit fault in the dryer pressure switch of the air pressure braking system is determined. The vehicle control unit reports fault code 3 to the instrument panel according to the fault type and illuminates the brake system fault light on the instrument panel. The air pump control unit then controls the air pump to stop working immediately.

[0087] In some embodiments, the pneumatic braking system is repaired according to the fault type, including: if multiple fault types exist, the pneumatic braking system is repaired according to the severity of each fault type. For example, if both a cylinder pressure switch open circuit fault and a low-pressure level 1 fault exist simultaneously in the pneumatic braking system, the repair measures for the low-pressure level 1 fault are applied. In this example, the low-pressure level 1 fault is more severe than the cylinder pressure switch open circuit fault.

[0088] In summary, this application has at least the following advantages:

[0089] 1. By using multiple conditions to determine whether the braking system is under-pressured, the control is more reliable. By analyzing the correlation between the pressure values ​​of the front and rear air tanks and the status of the air tank pressure switch and the dryer switch, the system can diagnose whether the pneumatic braking system is in a fault mode and the type of corresponding fault, making the diagnostic results more reliable.

[0090] 2. In fault mode, the vehicle control unit promptly alerts the user through fault codes and fault lights. There are corresponding repair and handling measures for each fault type. While controlling the start and stop of the air pump, it can also actively limit the vehicle's driving speed to ensure the safety of vehicle driving.

[0091] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0092] Figure 3 A schematic diagram of the structure of a fault diagnosis and handling device for a pneumatic braking system provided as an exemplary embodiment of this application. Figure 3 As shown, the fault diagnosis and processing device 30 of the pneumatic braking system includes an acquisition module 31, a determination module 32, a diagnosis module 33, and a processing module 34, wherein:

[0093] The acquisition module 31 is used to acquire the pressure value collected by the pressure sensor on the gas storage tank;

[0094] The determination module 32 is used to determine whether the pneumatic braking system is under-pressured based on the pressure value.

[0095] The diagnostic module 33 is used to diagnose the fault type of the pneumatic braking system if the pneumatic braking system is under-pressured. Based on the correlation between the pressure value and the state of the air tank pressure switch and the dryer switch, and according to the first switch state of the air tank pressure switch and the second switch state of the dryer switch, the module 33 diagnoses the fault type of the pneumatic braking system. The correlation includes the normal state of the air tank pressure switch and the dryer switch under different pressure values.

[0096] The processing module 34 is used to repair the air pressure braking system according to the fault type, so that the air pump of the air pressure braking system can work normally.

[0097] Optionally, the diagnostic module 33 is specifically used for:

[0098] When the pressure value is greater than or equal to the first threshold, it is determined whether the first switch state is consistent with the pressure switch state of the air tank corresponding to the pressure value in the associated relationship, and whether the second switch state is consistent with the switch state of the dryer corresponding to the pressure value in the associated relationship, wherein the first threshold is less than the smaller boundary value of the normal threshold range corresponding to the braking requirement;

[0099] When the first switch state is inconsistent with the pressure value corresponding to the air tank pressure switch state in the associated relationship, the air tank pressure switch is determined to be open circuit fault in the pneumatic braking system; when the second switch state is inconsistent with the pressure value corresponding to the dryer switch state in the associated relationship, the dryer switch is determined to be open circuit fault in the pneumatic braking system.

[0100] Correspondingly, the processing module 34 is specifically used to: report fault codes and illuminate the brake system fault light, control the air pump in the air pressure brake system to work, and respond to the detection that the dryer switch is closed, control the air pump to stop working.

[0101] Optionally, the air reservoir includes a front air reservoir and a rear air reservoir. The diagnostic module 33 can also be used for:

[0102] When the pressure value of at least one of the front and rear air tanks is less than the first threshold, it is determined that there is a low air pressure level one fault in the air pressure braking system.

[0103] Correspondingly, the processing module 34 can also be used to: report fault codes and illuminate the brake system fault light, enable the air pump in the pneumatic brake system, and respond to the detection that the dryer switch is closed by controlling the air pump to stop working.

[0104] Alternatively, the processing module 34 may also be used for at least one of the following:

[0105] When the pressure values ​​of both the front and rear air tanks are less than the first threshold, the vehicle speed is limited to the first speed.

[0106] When the pressure values ​​of both the front and rear air tanks are less than the second threshold, the vehicle speed is limited to the second speed, which is less than the first speed, and the second threshold is less than the first threshold.

[0107] A first warning signal is sent to the instrument system, which is used to illuminate the turtle light in the instrument system.

[0108] Alternatively, the diagnostic module 33 can also be used for:

[0109] When the pressure value of the front air tank is abnormal, it is determined that the first pressure sensor circuit is faulty. When the pressure value of the rear air tank is abnormal, it is determined that the second pressure sensor circuit is faulty. The first pressure sensor circuit is the circuit corresponding to the front air tank, and the second pressure sensor circuit is the circuit corresponding to the rear air tank. Abnormalities include values ​​of 0 or greater than the third threshold, and the third threshold being greater than the larger boundary value of the normal threshold range corresponding to the braking requirement.

[0110] Correspondingly, the processing module 34 is also used to: report a fault code and illuminate the brake system fault light when there is a fault in the first pressure sensor circuit or the second pressure sensor circuit; and control the air pump to work according to the on / off state of the air tank pressure switch or control the air pump to stop working when the dryer switch is detected to change from open to closed when there is a fault in both the first pressure sensor circuit and the second pressure sensor circuit.

[0111] Optionally, if both the first pressure sensor circuit and the second pressure sensor circuit are faulty, the processing module 34 may also be used for at least one of the following:

[0112] The vehicle speed is limited to the first speed, and the turtle-shaped indicator light in the instrument panel is turned on;

[0113] Upon detecting that the air tank pressure switch has been opened, the vehicle speed is limited to the second speed, which is less than the first speed.

[0114] Alternatively, the diagnostic module 33 can also be used for:

[0115] When the pressure value meets the braking requirements, determine whether the first switch state is consistent with the pressure switch state of the air tank corresponding to the pressure value in the associated relationship;

[0116] When the pressure switch state of the air tank corresponding to the pressure value in the first switch state is inconsistent with the pressure switch state in the associated relationship, a short circuit fault is determined in the air tank pressure switch of the pneumatic braking system.

[0117] Correspondingly, the processing module 34 is also used to: report fault codes and illuminate the brake system fault light, and determine whether to enable the air pump based on the pressure value of the pressure sensor on the air tank or to control the air pump to stop working when the dryer switch is detected to change from open to closed.

[0118] Alternatively, the diagnostic module 33 can also be used for:

[0119] When the pressure value meets the braking requirements, determine whether the continuous working time of the air pump is greater than the set time.

[0120] If the continuous operating time of the air pump exceeds the set time, and the dryer switch remains in the open state during the continuous operating time, a short circuit fault in the dryer pressure switch of the pneumatic braking system is determined.

[0121] Correspondingly, the processing module 34 can also be used to: report fault codes and illuminate the brake system fault light, and control the air pump to stop working.

[0122] Optionally, the processing module 34 can also be used to: repair the pneumatic braking system according to the severity of the various fault types when multiple fault types exist.

[0123] The fault diagnosis and processing device for the pneumatic braking system provided in this application embodiment can execute the technical solution shown in the above method embodiment. Its implementation principle and beneficial effects are similar, and will not be described again here.

[0124] It should be noted that the division of the various modules in the above device is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, these modules can be implemented entirely in software via processing element calls; they can be fully implemented in hardware; or some modules can be implemented by processing element calls to software, while others are implemented in hardware. For example, a processing module can be a separate processing element, or it can be integrated into a chip within the device. Alternatively, it can be stored as program code in the device's memory, and its functions can be called and executed by a processing element. The implementation of other modules is similar. Moreover, these modules can be fully or partially integrated together, or they can be implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. During implementation, each step of the above method or each of the above modules can be completed through integrated logic circuits in the hardware of the processor element or through software instructions.

[0125] For example, these modules can be one or more integrated circuits configured to implement the above methods, such as one or more Application Specific Integrated Circuits (ASICs), one or more Digital Signal Processors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs). As another example, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together as a System-On-a-Chip (SOC).

[0126] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., Digital Video Discs, DVDs), or semiconductor media (e.g., solid-state disks (SSDs)).

[0127] Figure 4 A schematic diagram of the structure of an electronic device provided as an exemplary embodiment of this application. For example... Figure 4 As shown, the electronic device 40 includes at least one processor 41, a memory 42, a communication interface 43, and a system bus 44. The memory 42 and the communication interface 43 are connected to the processor 41 via the system bus 44 and communicate with each other. The memory 42 stores instructions, the communication interface 43 communicates with other devices, and the processor 41 calls the instructions in the memory to execute the method steps provided in the above embodiment of the fault diagnosis and handling method for the pneumatic braking system. The specific implementation and technical effects are similar and will not be repeated here.

[0128] Should Figure 4 The system bus 44 mentioned can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This system bus 44 can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0129] The memory 42 may include random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device.

[0130] Processor 41 can be a general-purpose processor, including a central processing unit, a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0131] This application also provides a computer-readable storage medium storing computer-executable instructions. When executed, these instructions are used to implement the method steps described in the above method embodiments. The specific implementation and technical effects are similar and will not be repeated here.

[0132] This application also provides a computer program product, including a computer program, which, when executed, implements the method steps as described in the above method embodiments. The specific implementation and technical effects are similar and will not be repeated here.

[0133] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0134] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

[0135] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation portals are provided for users to choose to authorize or refuse.

Claims

1. A method for fault diagnosis and handling of a pneumatic braking system, characterized in that, include: Obtain the pressure value collected by the pressure sensor on the gas storage tank; Based on the pressure value, determine whether the pneumatic braking system is under-pressured; If the pneumatic braking system is under-pressured, the fault type of the pneumatic braking system is diagnosed based on the correlation between the pressure value and the states of the air tank pressure switch and the dryer switch, according to the first switch state of the air tank pressure switch and the second switch state of the dryer switch. The correlation includes the normal states of the air tank pressure switch and the dryer switch under different pressure values. In the correlation: when the pressure values ​​of the front and rear air tanks are within the normal threshold range and meet the braking requirements, the states of the air tank pressure switch and the dryer switch are both 0; when the pressure of any air line is lower than the threshold P1, the states of the air tank pressure switch and the dryer switch are both 1, enabling the air pump to work; when the pressure values ​​of the front and rear air tanks both meet the braking threshold P2, the state of the air tank pressure switch is 0, the state of the dryer switch changes from 1 to 0, and the air pump is controlled to stop working. Wherein, P1 is the minimum air pressure threshold for the front and rear air tanks to meet braking requirements, and P2 is the maximum air pressure threshold for the front and rear air tanks to meet braking requirements. According to the fault type, the pneumatic braking system is repaired so that the air pump can work normally when the pneumatic braking system is under-pressured.

2. The method according to claim 1, characterized in that, The method of diagnosing the fault type of the pneumatic braking system based on the correlation between pressure value and the states of the air tank pressure switch and the dryer switch, according to the first switching state of the air tank pressure switch and the second switching state of the dryer switch, includes: If the pressure value is greater than or equal to the first threshold, it is determined whether the first switch state is consistent with the pressure switch state of the gas cylinder corresponding to the pressure value in the association relationship, and whether the second switch state is consistent with the dryer switch state corresponding to the pressure value in the association relationship, wherein the first threshold is less than the smaller boundary value of the normal threshold range corresponding to the braking requirement; If the first switch state is inconsistent with the air tank pressure switch state corresponding to the pressure value in the association relationship, then the air tank pressure switch in the pneumatic braking system is determined to be open circuit fault; if the second switch state is inconsistent with the dryer switch state corresponding to the pressure value in the association relationship, then the dryer switch in the pneumatic braking system is determined to be open circuit fault. Correspondingly, the repair process for the pneumatic braking system according to the fault type includes: reporting a fault code and illuminating the braking system fault light, controlling the air pump in the pneumatic braking system to work, and responding to the detection that the dryer switch is closed, controlling the air pump to stop working.

3. The method according to claim 2, characterized in that, The gas storage tank includes a front gas storage tank and a rear gas storage tank, and the method further includes: If the pressure value of at least one of the front and rear air reservoirs is less than the first threshold, then the air pressure braking system is determined to have a low air pressure level one fault. Correspondingly, the repair process for the pneumatic braking system according to the fault type includes: reporting a fault code and illuminating the braking system fault light, enabling the air pump in the pneumatic braking system, and responding to the detection that the dryer switch is closed, controlling the air pump to stop working.

4. The method according to claim 3, characterized in that, It also includes at least one of the following: If the pressure values ​​of both the front and rear air tanks are less than the first threshold, the vehicle speed is limited to the first speed. If the pressure values ​​of both the front and rear air tanks are less than the second threshold, the vehicle speed is limited to a second speed, which is less than the first speed, and the second threshold is less than the first threshold. A first warning signal is sent to the instrument system, which is used to illuminate the turtle light in the instrument system.

5. The method according to claim 3, characterized in that, Also includes: If the pressure value of the front air tank is abnormal, it is determined that the first pressure sensor circuit is faulty. If the pressure value of the rear air tank is abnormal, it is determined that the second pressure sensor circuit is faulty. The first pressure sensor circuit is the circuit corresponding to the front air tank, and the second pressure sensor circuit is the circuit corresponding to the rear air tank. The abnormality includes a value of 0 or greater than a third threshold. The third threshold is greater than the larger boundary value of the normal threshold range corresponding to the braking requirement. Correspondingly, the repair process for the pneumatic braking system according to the fault type includes: if the first pressure sensor circuit or the second pressure sensor circuit is faulty, a fault code is reported and the braking system fault light is illuminated; if both the first pressure sensor circuit and the second pressure sensor circuit are faulty, the air pump is controlled to work according to the on / off state of the air tank pressure switch or the air pump is controlled to stop working when the dryer switch is detected to change from open to closed.

6. The method according to claim 5, characterized in that, If both the first pressure sensor circuit and the second pressure sensor circuit are faulty, the following at least one of the following is also included: The vehicle speed is limited to the first speed, and the turtle-shaped indicator light in the instrument panel is turned on; Upon detecting that the air tank pressure switch is open, the vehicle speed is limited to a second speed, which is less than the first speed.

7. The method according to any one of claims 1 to 5, characterized in that, Also includes: If the pressure value meets the braking requirements, then determine whether the first switch state is consistent with the air tank pressure switch state corresponding to the pressure value in the association relationship; If the first switch state is inconsistent with the air tank pressure switch state corresponding to the pressure value in the association relationship, then a short circuit fault is determined in the air tank pressure switch of the pneumatic braking system, a fault code is reported and the braking system fault light is illuminated, and the air pump is enabled or controlled to stop working when the dryer switch is detected to change from open to closed, based on the pressure value of the pressure sensor on the air tank.

8. The method according to any one of claims 1 to 5, characterized in that, Also includes: If the pressure value meets the braking requirements, then determine whether the continuous working time of the air pump is greater than the set time. If the continuous operating time of the air pump exceeds the set time, and the dryer switch remains in the open state during the continuous operating time, a short circuit fault is determined in the dryer pressure switch of the pneumatic braking system. A fault code is reported, the braking system fault light is illuminated, and the air pump is controlled to stop working.

9. The method according to any one of claims 1 to 5, characterized in that, The repair process for the pneumatic braking system based on the fault type includes: If multiple fault types exist, the pneumatic braking system shall be repaired according to the severity of each fault type.

10. A fault diagnosis and handling device for a pneumatic braking system, characterized in that, include: The acquisition module is used to acquire the pressure value collected by the pressure sensor on the gas storage tank; The determination module is used to determine whether the pneumatic braking system is under-pressured based on the pressure value. The diagnostic module is used to diagnose the fault type of the pneumatic braking system if it is under-pressured. Based on the correlation between pressure values ​​and the states of the air tank pressure switch and the dryer switch, and according to the first switch state of the air tank pressure switch and the second switch state of the dryer switch, the module determines the fault type of the pneumatic braking system. This correlation includes the normal states of the air tank pressure switch and the dryer switch under different pressure values. Specifically: when the pressure values ​​of the front and rear air tanks are within the normal threshold range and meet the braking requirements, both the air tank pressure switch and the dryer switch are in state 0; when any air pressure is below threshold P1, both the air tank pressure switch and the dryer switch are in state 1, enabling the air pump to operate; when the pressure values ​​of both the front and rear air tanks meet the braking threshold P2, the air tank pressure switch is in state 0, the dryer switch changes from state 1 to state 0, and the air pump stops operating. Wherein, P1 is the minimum air pressure threshold for the front and rear air tanks to meet braking requirements, and P2 is the maximum air pressure threshold for the front and rear air tanks to meet braking requirements. The processing module is used to repair the pneumatic braking system according to the fault type, so that the air pump can work normally when the pneumatic braking system is under-pressured.

11. An electronic device, characterized in that, include: Memory, processor; The memory stores computer programs; The processor executes the computer program to implement the fault diagnosis and handling method for the pneumatic braking system as described in any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed, are used to implement the fault diagnosis and handling method for the pneumatic braking system as described in any one of claims 1 to 9.

13. A computer program product, comprising a computer program, characterized in that, When the computer program is executed, it implements the fault diagnosis and handling method for the pneumatic braking system as described in any one of claims 1 to 9.

Images