System fault automatic diagnosis device, method and operating machinery

Abstract

The present invention relates to the field of fault detection technology, and provides a system fault automatic diagnosis device, method, and operating machine. The device includes: a controller, a main detector, N branch detectors, N circuit breakers, and N on / off detectors. The main detector is configured to transmit main detection information detected in the main circuit and return information from CAN devices on each branch to the controller. The controller is configured to, when all the on / off detectors detect that the on / off status is connected, determine an abnormal branch based on the main detection information, return information from CAN devices on each branch, and a preset fault threshold condition, and control the circuit breaker corresponding to the abnormal branch to disconnect. The controller also controls the branch detector corresponding to the abnormal branch to diagnose a fault in the CAN device in the corresponding branch based on the current status of the main circuit. The present invention achieves rapid location and automatic diagnosis of CAN bus faults, assisting relevant personnel in finding the cause of the fault.

Description

Technical Field

[0001] The present invention relates to the technical field of fault detection, and in particular to a system fault automatic diagnosis device, method and operating machinery. Background Art

[0002] Currently, more and more controllers and sensors are installed on operating machines (e.g., excavators). Controller Area Network (CAN) bus communication is gradually being used to transmit data between different modules.

[0003] As more and more CAN devices are connected to the same CAN bus, a multi-node topology is formed, where each CAN device is connected to a branch, which in turn is connected to the main circuit. However, if a CAN device on a branch experiences an error during operation, communication between all CAN devices on the branch along the entire main circuit will be affected. On-site troubleshooting requires removing all CAN devices on the branch one by one, troubleshooting and locating the faulty device one by one. This is tedious and inefficient, and is particularly cumbersome when encountering occasional self-resetting faults. Summary of the Invention

[0004] The present invention provides a system fault automatic diagnosis device, method and operating machine, which are used to solve the problems of CAN bus fault troubleshooting being complicated and fault diagnosis efficiency being low in the prior art.

[0005] The present invention provides a system fault automatic diagnosis device, comprising: a controller, a main detector, N branch detectors, N circuit breakers, and N on-off detectors, wherein the i-th branch detector is used to diagnose a fault of the i-th branch in a CAN bus system, the i-th circuit breaker is used to disconnect the i-th branch from the main circuit in the CAN bus system, and the i-th on-off detector is used to detect the on-off state of the i-th branch and the main circuit, wherein N≥2, i=1, 2, ..., N;

[0006] The main detector is used to send the main detection information detected in the main loop and the return information of the CAN devices on each branch to the controller;

[0007] The controller is used to determine the abnormal branch based on the main detection information, the return information of the CAN devices on each branch and the preset fault threshold condition when the on-off status detected by all the acquired on-off detectors is connected, and control the circuit breaker corresponding to the abnormal branch to disconnect. The controller also controls the branch detector corresponding to the abnormal branch to diagnose the fault of the CAN device in the corresponding branch based on the current state of the main circuit.

[0008] According to a system fault automatic diagnosis device provided by the present invention, the controller is used to determine an abnormal branch based on the main detection information, the return information of the CAN devices on each branch, and the preset fault threshold condition when the on-off status detected by all the on-off detectors is connected, and control the circuit breaker corresponding to the abnormal branch to open, including:

[0009] The controller is used to obtain the on-off status detected by all on-off detectors. When the on-off status are all connected, the controller determines whether the number of abnormal branches is single or multiple based on the main detection information, the return information of the CAN devices on each branch and the preset fault threshold condition. When the number of abnormal branches is single, the circuit breaker of the single abnormal branch is controlled to be disconnected; when the number of abnormal branches is multiple, the circuit breakers of the multiple abnormal branches are controlled to be disconnected one by one according to the association relationship between the multiple abnormal branches, and when the current state of the main circuit returns to normal, the subsequent abnormal branches of the multiple abnormal branches are stopped from being disconnected.

[0010] According to a system fault automatic diagnosis device provided by the present invention, the controller is used to determine an abnormal branch based on the main detection information, the return information of the CAN devices on each branch, and the preset fault threshold condition when the on-off status detected by all the on-off detectors is connected, and control the circuit breaker corresponding to the abnormal branch to open, including:

[0011] The controller is used to obtain the on-off status detected by all on-off detectors. When the on-off status are all connected, based on the main detection information, the return information of the CAN devices on each branch and the preset fault threshold condition, it is determined whether the number of abnormal branches is single or multiple. When the number of abnormal branches is single, the circuit breaker of the single abnormal branch is controlled to be disconnected; when the number of abnormal branches is multiple, the circuit breakers of multiple abnormal branches are controlled to be disconnected one by one, and when the current state of the main circuit returns to normal, the subsequent abnormal branches of the multiple abnormal branches are stopped from being disconnected.

[0012] According to a system fault automatic diagnosis device provided by the present invention, the controller controls the branch detector corresponding to the abnormal branch to diagnose the fault of the CAN device in the corresponding branch based on the current state of the main circuit, including:

[0013] After the abnormal branch is disconnected from the main circuit, the controller receives the current state of the main circuit detected by the main detector;

[0014] When the current state of the main circuit is normal, the controller controls the branch detector corresponding to the abnormal branch to diagnose the fault of the CAN device in the corresponding branch;

[0015] When all abnormal branches are disconnected from the main circuit and the current state of the main circuit is abnormal, the controller controls the circuit breakers of all branches to disconnect so that the CAN devices of each branch can work independently, and controls each branch detector to diagnose the fault of the CAN device in the corresponding branch.

[0016] According to a system fault automatic diagnosis device provided by the present invention, the main detector includes: a first CAN signal reader and a first CAN voltage measurer, the first CAN signal reader is used to read the CAN signal on the main circuit, and the first CAN voltage measurer is used to measure the ground voltage of the CAN high voltage and the CAN low voltage on the main circuit.

[0017] According to a system fault automatic diagnosis device provided by the present invention, the branch detector includes: a second CAN signal reader and a second CAN voltage measurer, the second CAN signal reader is used to read the CAN signal on the branch, and the second CAN voltage measurer is used to measure the ground voltage of the CAN high voltage and the CAN low voltage on the branch.

[0018] According to the present invention, a system fault automatic diagnosis device further includes: N alarms, the i-th alarm is connected to the i-th branch detector, and the i-th alarm is triggered to alarm when the i-th branch detector detects a fault in the i-th branch.

[0019] According to a system fault automatic diagnosis device provided by the present invention, the shunt detector is used to send the diagnosed fault information to the controller, and the controller is also used to store the fault information and modify the fault threshold condition according to the fault information.

[0020] The present invention also provides a method for automatically diagnosing system faults, which is implemented based on a controller, a main detector, N branch detectors, N circuit breakers, and N on-off detectors. The i-th branch detector is used to diagnose a fault in the i-th branch in a CAN bus system, the i-th circuit breaker is used to disconnect the i-th branch from the main circuit in the CAN bus system, and the i-th on-off detector is used to detect the on-off state of the i-th branch and the main circuit, wherein N≥2, i=1, 2, ..., N. The method is applied to the controller and includes:

[0021] Receive the main detection information in the main circuit detected by the main detector and the return information of the CAN devices on each branch;

[0022] When all the on / off states detected by the acquired on / off detectors are connected, based on the main detection information, the return information of the CAN devices on the branches and the preset fault threshold conditions, the abnormal branch is determined, and the circuit breaker corresponding to the abnormal branch is controlled to be disconnected;

[0023] Based on the current state of the main circuit, the branch detector corresponding to the abnormal branch is controlled to diagnose the fault of the CAN device in the corresponding branch.

[0024] The present invention also provides an operating machine comprising any one of the above-mentioned automatic system fault diagnosis devices.

[0025] The system fault automatic diagnosis device, method and operating machinery provided by the present invention send the main detection information detected in the main circuit and the return information of the CAN equipment on each branch to the controller through the main detector; when the on-off status detected by all the on-off detectors obtained is connected, the controller determines the abnormal branch based on the main detection information, the return information of the CAN equipment on each branch and the preset fault threshold condition, and controls the circuit breaker corresponding to the abnormal branch to disconnect. Based on the current state of the main circuit, the controller controls the branch detector corresponding to the abnormal branch to diagnose the fault of the CAN device in the corresponding branch, that is, each abnormal branch can be independently checked for faults, thereby realizing rapid positioning and automatic diagnosis of CAN bus faults, and assisting relevant personnel in finding the cause of the fault. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 This is a schematic structural diagram of the automatic system fault diagnosis device provided by the present invention;

[0028] Figure 2 This is a schematic diagram of the connection between the automatic system fault diagnosis device provided by the present invention and the CAN bus system;

[0029] Figure 3 It is a flow chart of the automatic system fault diagnosis method provided by the present invention. DETAILED DESCRIPTION

[0030] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0031] The automatic system fault diagnosis device of the embodiment of the present invention is as follows: Figure 1 As shown, the system includes: a controller 110, a main detector 120, N shunt detectors 130, N circuit breakers 140, and N continuity detectors 150. The i-th shunt detector 130 is used to diagnose a fault in the i-th shunt in the CAN bus system, the i-th circuit breaker 140 is used to disconnect the i-th shunt from the main circuit in the CAN bus system, and the i-th continuity detector 150 is used to detect the continuity between the i-th shunt and the main circuit. Where N ≥ 2, i = 1, 2, ..., N. That is, the number of shunt detectors 130, circuit breakers 140, and continuity detectors 150 is equal, and equal to the number of shunts in the CAN bus system to be diagnosed.

[0032] The main detector 120 is used to transmit the main detection information detected in the main loop and the return information of CAN devices on each branch to the controller 110. CAN messages sent and received between CAN devices in each branch of the CAN bus system must pass through the main loop. Therefore, the return information of CAN devices on each branch also passes through the main loop and is detected by the main detector 120. The return information of the CAN device includes: CAN messages sent by the CAN device, including the status of the heartbeat bit. The main detection information includes: the voltage of the main loop to ground, the message transmission cycle, and the resistance between the CAN lines of the main loop. The heartbeat bit is a content in the CAN message information. It sends 1 in the first cycle, 0 in the second cycle, and 1 again in the third cycle, and so on. If the detection device detects a constant 0 or constant 1, it is determined that the heartbeat bit status is abnormal, and the branch corresponding to the CAN device in the CAN message information is considered to be an abnormal branch. The CAN message transmission cycle is the transmission cycle of CAN messages sent by a CAN device detected by the main detector 120. The main circuit ground voltage is the voltage of CAN-H and CAN-L on the main circuit detected by the main detector 120 to the ground, and the main circuit CAN line resistance is the resistance between CAN-H and CAN-L on the main circuit detected by the main detector 120.

[0033] The controller 110 is configured to, when all the on / off states detected by the on / off detectors 150 are connected, determine an abnormal branch based on the main detection information, the feedback information from the CAN devices on each branch, and a preset fault threshold condition, and control the circuit breaker 140 corresponding to the abnormal branch to open. Furthermore, based on the current state of the main circuit, the controller 110 controls the branch detector 130 corresponding to the abnormal branch to diagnose a fault in the CAN device in the corresponding branch. In this embodiment, the controller 110 stores different fault threshold conditions for different main detection information and feedback information from CAN devices. For example, the message transmission period is typically 200-300ms. For CAN devices with higher real-time requirements, the corresponding message transmission period threshold can be set to 600-800ms, while for CAN devices with lower real-time requirements, the corresponding message transmission period threshold can be set to 900-1000ms. Within the threshold range of the message sending cycle, if the controller 110 does not receive the CAN message sent by the corresponding CAN device (the specific CAN device with an abnormality can be determined by the device ID), the branch where the CAN device is located is considered to be an abnormal branch. After the circuit breaker 140 corresponding to the abnormal branch is disconnected, the abnormal branch is disconnected from the main circuit. At this time, the abnormal branch operates independently. The branch detector 130 corresponding to the abnormal branch detects the CAN message on the branch and the branch detection information (branch-to-ground voltage, message sending cycle and branch CAN line resistance) to diagnose and locate whether the branch has a fault. For example: if the heartbeat bit no longer changes and the CAN message sending cycle is abnormally large, it is considered that the CAN device of the abnormal branch does have a fault, which makes it easier for the staff to find the cause of the fault and upload it to the controller 110 through the branch detector 130 corresponding to the abnormal branch. For example: if the CAN message sending cycle is abnormally large, the reason may be that the chip of a certain CAN device is broken, affecting the ground voltage of the CAN line on the branch. If the abnormal branch circuit operates independently and the data detected by the branch detector 130 are normal, it is considered that the abnormality of the abnormal branch circuit is caused by a failure in another related branch circuit. For example, in the case of an operating machine (such as an excavator), after-sales service may be carried out, a customer may install other CAN devices on their own. The customer's CAN devices may malfunction, causing the entire CAN circuit of the operating machine to become abnormal. After the after-sales service engineer unplugs the customer's CAN devices, the operating machine returns to normal.

[0034] In actual use, when the CAN bus system is running, the host computer of the CAN bus system (for example, the ECU of the operating machine) will report an abnormality or the recent log file will show that a certain abnormality has occurred (an abnormality caused by an occasional self-resetting fault). After the relevant staff receives the abnormality, they connect the system fault automatic diagnosis device of this embodiment to the CAN bus system to perform fault self-diagnosis. Specifically, Figure 2As shown, a main detector 120 is connected to the main circuit of the CAN bus system, and each branch detector 130 is connected to each branch. Each circuit breaker 140 is located at the end of each branch near the CAN device. Because the CAN device and the branch are connected via a connector, the pins can be removed and the wiring harness of the CAN device and the branch can be connected through the circuit breaker 140. Each continuity detector 150 has one end located at the connection between each branch and the main circuit, and the other end located at the end where the circuit breaker 140 connects to the branch. Figure 2 The controller 100 is not shown in the figure. The controller 100 only needs to be connected to the main detector 120, the N branch detectors 130, the N circuit breakers 140 and the N on-off detectors 150 by wire or wirelessly.

[0035] It should be noted that: if the controller 110 has a disconnection state among all the on-off states detected by the on-off detector 150 (for example, the plug connector of a branch circuit and the main circuit has poor contact), it can be considered that the abnormality reported by the upper computer is caused by the disconnection of a branch circuit and the main circuit. At this time, the staff will repair the connection between the branch circuit and the main circuit, and continue to use the system fault automatic diagnosis device of this embodiment to perform fault diagnosis.

[0036] The system fault automatic diagnosis device provided in this embodiment sends the main detection information detected in the main circuit and the feedback information of the CAN equipment on each branch to the controller 110 through the main detector 120; when the on-off status detected by all the on-off detectors 150 obtained is connected, the controller 110 determines the abnormal branch based on the main detection information, the feedback information of the CAN equipment on each branch and the preset fault threshold condition, and controls the circuit breaker 140 corresponding to the abnormal branch to disconnect. Based on the current state of the main circuit, the controller 110 controls the branch detector 130 corresponding to the abnormal branch to diagnose the fault of the CAN device in the corresponding branch, that is, each abnormal branch can be independently checked for faults, thereby realizing rapid positioning and automatic diagnosis of CAN bus faults, and assisting relevant personnel in finding the cause of the fault.

[0037] In some embodiments, when the on / off states detected by all the on / off detectors 150 are all connected, the controller 110 is configured to determine an abnormal branch based on the main detection information, the return information of the CAN devices on each branch, and a preset fault threshold condition, and control the circuit breaker 140 corresponding to the abnormal branch to open, specifically including:

[0038] The controller 110 is used to obtain the on-off status detected by all on-off detectors 150. When the on-off status is connected, the number of abnormal branches is determined to be single or multiple (here multiple refers to two or more) based on the main detection information, the return information of the CAN devices on each branch and the preset fault threshold condition. When the number of abnormal branches is single, the circuit breaker 140 of the single abnormal branch is controlled to be disconnected; when the number of abnormal branches is multiple, the circuit breakers 140 of the multiple abnormal branches are controlled to be disconnected one by one according to the association relationship between the multiple abnormal branches, and when the current state of the main circuit returns to normal, the subsequent abnormal branches of the multiple abnormal branches are stopped from being disconnected. The association relationship between the multiple abnormal branches includes the interaction relationship or communication relationship between the CAN devices on the multiple abnormal branches. For example, a CAN device on an abnormal branch must receive a CAN message sent by a CAN device on another abnormal branch before it can take the next action. For example, CAN device A and CAN device B have an interaction relationship. CAN device A must send message a to CAN device B before CAN device B returns message b. If the main detector 120 cannot detect message a and message b on the main circuit, then the branch where CAN device A and CAN device B are located is considered to be an abnormal branch. According to the interaction relationship between CAN device A and CAN device B, the circuit breakers on the branch where CAN device A and CAN device B are located are disconnected one by one, that is, the circuit breaker 140 on the branch where CAN device A is located is disconnected first, and the main detector 120 simulates message a and sends it to the main circuit. If the main detector 120 can detect message b returned by CAN device B, then it is considered that the current state of the main circuit has returned to normal, and the circuit breaker 140 on the branch where CAN device B is located is no longer disconnected. Otherwise, the circuit breaker 140 on the branch where CAN device B is located is still disconnected. In this embodiment, by controlling the circuit breakers 140 of the multiple abnormal branches to be disconnected one by one according to the association relationship between the multiple abnormal branches, the abnormal branches can be quickly and accurately located, avoiding disconnection of unnecessary abnormal branches.

[0039] In some embodiments, when the on / off states detected by all the on / off detectors 150 are all connected, the controller 110 is configured to determine an abnormal branch based on the main detection information, the return information of the CAN devices on each branch, and a preset fault threshold condition, and control the circuit breaker 140 corresponding to the abnormal branch to open, specifically including:

[0040] The controller 110 is used to obtain the on / off status detected by all on / off detectors 150. When the on / off status is all connected, based on the main detection information, the feedback information of the CAN devices on each branch, and the preset fault threshold conditions, it is determined whether the number of abnormal branches is single or multiple. When the number of abnormal branches is single, the circuit breaker 140 of the single abnormal branch is controlled to be disconnected; when the number of abnormal branches is multiple, the circuit breakers 140 of the multiple abnormal branches are controlled to be disconnected one by one, and when the current state of the main circuit returns to normal, the subsequent abnormal branches of the multiple abnormal branches are stopped from being disconnected. For example: since all branches are connected to the main circuit, if the CAN device on one or several branches fails and causes the branch voltage to be abnormal, it will cause the voltage on the main circuit to be abnormal, as well as the voltage of some other branches to be abnormal, so that the CAN devices of these branches cannot work normally and cause the corresponding branches to be abnormal. In the case where the main detector 120 detects the voltage abnormality on the main circuit, the circuit breakers 140 corresponding to the multiple abnormal branches can be disconnected one by one. In this embodiment, the circuit breakers 140 of multiple abnormal branches are disconnected one by one, which can quickly and accurately locate the abnormal branches to a certain extent and avoid disconnecting unnecessary abnormal branches.

[0041] In some embodiments, the controller 110 controls the branch detector 130 corresponding to the abnormal branch to diagnose a fault of a CAN device in the corresponding branch based on the current state of the main circuit, specifically including:

[0042] After the abnormal branch is disconnected from the main circuit, the controller 110 receives the status of the main circuit detected by the main detector 120. Theoretically, after the abnormal branch is disconnected from the main circuit, the CAN device in the abnormal branch will not return abnormal information, and the main detection information detected by the main detector 120 will not show abnormalities. It is considered that the main circuit status has returned to normal. Otherwise, the main circuit is still in an abnormal state.

[0043] If the current state of the main circuit is normal, the controller 110 controls the branch detector 130 corresponding to the abnormal branch to diagnose a fault in the CAN device in the corresponding branch. In other words, if the current state of the main circuit returns to normal, it indicates that the abnormal branch that was disconnected from the main circuit has been physically decoupled from the other branches, allowing for independent fault diagnosis of the CAN devices in each abnormal branch.

[0044] When all abnormal branches are disconnected from the main circuit and the current state of the main circuit is abnormal (i.e., it has not returned to normal), the controller 110 controls the circuit breakers 140 of all branches to disconnect so that the CAN devices of each branch work independently, and controls each branch detector 130 to diagnose the fault of the CAN device in the corresponding branch.

[0045] In this embodiment, after disconnecting the abnormal branch, the abnormal branch and other branches can be quickly physically decoupled by judging whether the current state of the main circuit is normal. Moreover, if it is impossible to physically decouple the branches, all branches are disconnected from the main circuit, and fault diagnosis is performed independently on the CAN devices in each branch, and fault diagnosis can also be automatically diagnosed.

[0046] In some embodiments, the main detector 120 includes a first CAN signal reader and a first CAN voltage meter. The first CAN signal reader is used to read CAN signals on the main circuit (i.e., information returned by CAN devices on each branch circuit), and the first CAN voltage meter is used to measure the voltage relative to ground of the CAN high voltage (CAN-H) and CAN low voltage (CAN-L) on the main circuit. Specifically, the first CAN signal reader and the first CAN voltage meter are both connected to the main circuit and connected to the controller 110. The first CAN signal reader and the first CAN voltage meter facilitate the measurement of digital and analog signals in the main circuit of the CAN bus system.

[0047] In some embodiments, the branch detector 130 includes a second CAN signal reader and a second CAN voltage measurer. The second CAN signal reader is used to read CAN signals on the branch, and the second CAN voltage measurer is used to measure the voltage of the CAN high voltage and CAN low voltage relative to ground on the branch. Specifically, the second CAN signal reader and the second CAN voltage measurer are both connected to the main circuit and connected to the controller 110. The second CAN signal reader and the second CAN voltage measurer facilitate the measurement of digital and analog signals on each branch of the CAN bus system.

[0048] Furthermore, in some embodiments, the automatic system fault diagnosis device further includes: N alarms 160, wherein the i-th alarm 160 is connected to the i-th branch detector 130 and triggers the i-th alarm 160 to sound an alarm when the i-th branch detector 130 detects a fault in the i-th branch. The alarm 160 may be an alarm light or an audible or visual alarm, and the branch causing the fault can be intuitively located through the alarm 160.

[0049] In some embodiments, the shunt detector 130 is used to send the diagnosed fault information to the controller 110, and the controller 110 is also used to store the fault information and correct the fault threshold condition according to the fault information. Specifically, a fault diagnosis database is provided in the controller 110, and the fault information is stored in the fault diagnosis database. The fault information includes: fault type, fault cause and fault frequency, etc. In addition, the controller 110 also corrects the fault threshold condition according to the fault information to increase the accuracy of subsequent fault diagnosis. For example: a certain CAN device (a knob panel in actual use) does not require a high CAN working voltage. The CAN high voltage to ground exceeds 3V and the CAN low voltage to ground is less than 2V, and it can work normally. For this type of CAN device, the fault threshold condition can be adjusted and relaxed based on the voltage to determine whether it is abnormal.

[0050] The following describes the automatic system fault diagnosis method provided by the present invention. The automatic system fault diagnosis method described below and the automatic system fault diagnosis device described above can be referenced to each other.

[0051] The system fault automatic diagnosis method provided by the present invention is implemented based on the above-mentioned system fault automatic diagnosis device, that is, based on a controller, a main detector, N branch detectors, N circuit breakers and N on-off detectors. The i-th branch detector is used to diagnose the fault of the i-th branch in the CAN bus system, the i-th circuit breaker is used to disconnect the i-th branch from the main circuit in the CAN bus system, and the i-th on-off detector is used to detect the on-off status of the i-th branch and the main circuit, wherein N≥2, i=1,2,…,N. The method is applied to the controller, and the specific process of the method is as follows: Figure 3 Shown, including:

[0052] Step S310: Receive the main detection information in the main loop detected by the main detector and the return information of the CAN devices on each branch.

[0053] Step S320: When all the on / off states detected by the acquired on / off detectors are connected, based on the main detection information, the return information of the CAN devices on each branch, and the preset fault threshold condition, an abnormal branch is determined, and the circuit breaker corresponding to the abnormal branch is controlled to be disconnected;

[0054] Step S330: Based on the current state of the main circuit, control the branch detector corresponding to the abnormal branch to diagnose the fault of the CAN device in the corresponding branch.

[0055] The automatic diagnosis method for system faults of the present invention sends the main detection information detected in the main circuit and the feedback information of the CAN devices on each branch to the controller through the main detector; when the on-off status detected by all the on-off detectors obtained by the controller is connected, the controller determines the abnormal branch based on the main detection information, the feedback information of the CAN devices on each branch and the preset fault threshold condition, and controls the circuit breaker corresponding to the abnormal branch to disconnect. Based on the current state of the main circuit, the controller controls the branch detector to diagnose the fault of the CAN device in the abnormal branch, that is, each abnormal branch can be independently checked for faults, thereby realizing rapid positioning and automatic diagnosis of CAN bus faults, and assisting relevant personnel in finding the cause of the fault.

[0056] Optionally, step S320 specifically includes:

[0057] Get the on / off status of all on / off detectors.

[0058] When both the on / off states are connected, the number of abnormal branches is determined to be single or multiple based on the main detection information, the return information of the CAN devices on each branch and the preset fault threshold conditions.

[0059] In the case that the number of abnormal branches is single, the circuit breaker of the single abnormal branch is controlled to be opened.

[0060] When there are multiple abnormal branches, the circuit breakers of the multiple abnormal branches are controlled to be disconnected one by one according to the association relationship between the multiple abnormal branches, and when the current state of the main circuit returns to normal, the subsequent abnormal branches of the multiple abnormal branches are stopped from being disconnected.

[0061] Optionally, step S320 specifically includes:

[0062] Get the on / off status of all on / off detectors.

[0063] When both the on / off states are connected, the number of abnormal branches is determined to be single or multiple based on the main detection information, the return information of the CAN devices on each branch and the preset fault threshold conditions.

[0064] In the case that the number of the abnormal branch circuit is only one, the circuit breaker of the single abnormal branch circuit is controlled to be opened.

[0065] When there are multiple abnormal branches, the circuit breakers of the multiple abnormal branches are controlled to be disconnected one by one, and when the current state of the main circuit returns to normal, the subsequent abnormal branches of the multiple abnormal branches are stopped from being disconnected.

[0066] Optionally, step S330 specifically includes:

[0067] After the abnormal branch is disconnected from the main circuit, the current state of the main circuit detected by the main detector is received.

[0068] When the current state of the main circuit is normal, the branch detector corresponding to the abnormal branch is controlled to diagnose the fault of the CAN device in the corresponding branch.

[0069] When all abnormal branches are disconnected from the main circuit and the current state of the main circuit is abnormal, the circuit breakers of all branches are controlled to be disconnected so that the CAN devices of each branch can work independently, and each branch detector is controlled to diagnose the fault of the CAN device in the corresponding branch.

[0070] The present invention also provides an operating machine, including the above-mentioned automatic system fault diagnosis device. Specifically, the main detector of the system fault automatic diagnosis device is connected to the main circuit of the CAN bus in the operating machine system. Among the N circuit breakers, the i-th circuit breaker is set at the i-th branch of the CAN bus close to one end of the CAN device. Among the N on-off detectors, one end of the i-th on-off detector is set at the connection between the i-th branch and the main circuit, and the other end is set at the end connected to the i-th circuit breaker and the i-th branch. Among the N branch detectors, the i-th branch detector is connected to the i-th branch and is connected between the CAN device of the i-th branch and the i-th circuit breaker. The operating machine of this embodiment includes: engineering machinery such as cranes, excavators, pile drivers, or engineering vehicles such as aerial platforms, fire trucks, and mixer trucks. Since the operating machine is equipped with the above-mentioned automatic system fault diagnosis device, it also has corresponding technical effects.

[0071] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A system fault automatic diagnosis device, characterized in that: include: A controller, a main detector, N branch detectors, N circuit breakers, and N on-off detectors, wherein the i-th branch detector is used to diagnose a fault of the i-th branch in the CAN bus system, the i-th circuit breaker is used to disconnect the i-th branch from the main circuit in the CAN bus system, and the i-th on-off detector is used to detect the on-off state of the i-th branch and the main circuit, wherein N≥2, i=1,2,…,N; The main detector is used to send the main detection information detected in the main loop and the return information of the CAN devices on each branch to the controller; The controller is used to determine the abnormal branch based on the main detection information, the return information of the CAN devices on each branch and the preset fault threshold condition when the on-off status detected by all the acquired on-off detectors is connected, and control the circuit breaker corresponding to the abnormal branch to disconnect, so that the abnormal branch is disconnected from the main circuit and operates independently. The controller also controls the branch detector corresponding to the abnormal branch to diagnose the fault of the CAN device in the corresponding branch based on the current state of the main circuit.

2. The automatic system fault diagnosis device according to claim 1, characterized in that: The controller is configured to, when all the on / off states detected by the acquired on / off detectors are connected, determine an abnormal branch based on the main detection information, the return information of the CAN devices on each branch, and a preset fault threshold condition, and control the circuit breaker corresponding to the abnormal branch to disconnect, including: The controller is used to obtain the on-off status detected by all on-off detectors. When the on-off status are all connected, the controller determines whether the number of abnormal branches is single or multiple based on the main detection information, the return information of the CAN devices on each branch and the preset fault threshold condition. When the number of abnormal branches is single, the circuit breaker of the single abnormal branch is controlled to be disconnected; when the number of abnormal branches is multiple, the circuit breakers of the multiple abnormal branches are controlled to be disconnected one by one according to the association relationship between the multiple abnormal branches, and when the current state of the main circuit returns to normal, the subsequent abnormal branches of the multiple abnormal branches are stopped from being disconnected.

3. The automatic system fault diagnosis device according to claim 1, characterized in that: The controller is configured to, when all the on / off states detected by the acquired on / off detectors are connected, determine an abnormal branch based on the main detection information, the return information of the CAN devices on each branch, and a preset fault threshold condition, and control the circuit breaker corresponding to the abnormal branch to disconnect, including: The controller is used to obtain the on-off status detected by all on-off detectors. When the on-off status are all connected, based on the main detection information, the return information of the CAN devices on each branch and the preset fault threshold condition, it is determined whether the number of abnormal branches is single or multiple. When the number of abnormal branches is single, the circuit breaker of the single abnormal branch is controlled to be disconnected; when the number of abnormal branches is multiple, the circuit breakers of multiple abnormal branches are controlled to be disconnected one by one, and when the current state of the main circuit returns to normal, the subsequent abnormal branches of the multiple abnormal branches are stopped from being disconnected.

4. The automatic system fault diagnosis device according to claim 1, characterized in that: The controller controls the branch detector corresponding to the abnormal branch to diagnose a fault of a CAN device in the corresponding branch based on the current state of the main circuit, including: After the abnormal branch is disconnected from the main circuit, the controller receives the current state of the main circuit detected by the main detector; When the current state of the main circuit is normal, the controller controls the branch detector corresponding to the abnormal branch to diagnose the fault of the CAN device in the corresponding branch; When all abnormal branches are disconnected from the main circuit and the current state of the main circuit is abnormal, the controller controls the circuit breakers of all branches to disconnect so that the CAN devices of each branch can work independently, and controls each branch detector to diagnose the fault of the CAN device in the corresponding branch.

5. The automatic system fault diagnosis device according to claim 1, characterized in that: The main detector includes: a first CAN signal reader and a first CAN voltage measurer, wherein the first CAN signal reader is used to read the CAN signal on the main circuit, and the first CAN voltage measurer is used to measure the ground voltage of the CAN high voltage and the CAN low voltage on the main circuit.

6. The automatic system fault diagnosis device according to claim 1, characterized in that: The shunt detector includes: a second CAN signal reader and a second CAN voltage measurer, wherein the second CAN signal reader is used to read the CAN signal on the shunt, and the second CAN voltage measurer is used to measure the ground voltage of the CAN high voltage and the CAN low voltage on the shunt.

7. The automatic system fault diagnosis device according to claim 1, characterized in that: Also includes: There are N alarms, the i-th alarm is connected to the i-th branch detector, and when the i-th branch detector detects that the i-th branch has a fault, the i-th alarm is triggered to alarm.

8. The automatic system fault diagnosis device according to any one of claims 1 to 7, characterized in that: The shunt detector is used to send the diagnosed fault information to the controller, and the controller is further used to store the fault information and modify the fault threshold condition according to the fault information.

9. A method for automatic diagnosis of system faults, characterized in that: The method is implemented based on a controller, a main detector, N branch detectors, N circuit breakers, and N on-off detectors, wherein the i-th branch detector is used to diagnose a fault of the i-th branch in a CAN bus system, the i-th circuit breaker is used to disconnect the i-th branch from the main circuit in the CAN bus system, and the i-th on-off detector is used to detect the on-off state of the i-th branch and the main circuit, wherein N≥2, i=1, 2, ..., N, and the method is applied to the controller, including: Receive the main detection information in the main circuit detected by the main detector and the return information of the CAN devices on each branch; When the on / off states detected by all the acquired on / off detectors are all connected, based on the main detection information, the return information of the CAN devices on the branches and the preset fault threshold conditions, the abnormal branch is determined, and the circuit breaker corresponding to the abnormal branch is controlled to open, so that the abnormal branch is disconnected from the main circuit and operates independently; Based on the current state of the main circuit, the branch detector corresponding to the abnormal branch is controlled to diagnose the fault of the CAN device in the corresponding branch.

10. A working machine, characterized in that: The invention comprises the automatic system fault diagnosis device according to any one of claims 1 to 8.

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