Motor fault detection method, device, apparatus, system, and working machine

Abstract

The application relates to the technical field of mechanical equipment, and provides a motor fault detection method, device, equipment, system and working machine, the method comprises the following steps: acquiring a motor control instruction, the motor control instruction is used for indicating that a motor of the working machine is in a high-speed running state; the motor control instruction is executed; in the case that the motor is not detected in the high-speed running state, a displacement signal and a pressure signal corresponding to the motor are acquired; based on the displacement signal, the pressure signal and pre-set motor fault determination logic, the fault reason corresponding to the motor is determined. The application is used to solve the defects of long time consumption, low efficiency and poor accuracy caused by the fact that the working machine cannot realize the high-speed running state of the motor in the prior art, and the fault reason of the motor is quickly and accurately obtained.

Description

Technical Field

[0001] This invention relates to the field of mechanical equipment technology, and in particular to a method, apparatus, equipment, system, and working machinery for detecting motor faults. Background Technology

[0002] In the hydraulic system of construction machinery, the travel motor is an essential component, and the high-speed and low-speed operation modes of the travel motor are commonly used functions in the industry. Specifically, the operator controls the solenoid valve, which in turn controls the pilot oil circuit, thereby changing the displacement of the travel motor to switch between high-speed and low-speed operation modes.

[0003] In the working machinery, the high-speed and low-speed operation states of the travel motor are relative states. For example, there may be two buttons in the working machinery that control the travel motor. One button corresponds to the high-speed operation state of the travel motor, and the other button corresponds to the low-speed operation state of the travel motor.

[0004] However, during actual operation of the machinery, there may be a problem where the machine cannot achieve high-speed operation of the travel motor. When this problem occurs, it is necessary to manually troubleshoot the cause of the fault. The entire troubleshooting process is time-consuming, inefficient, and not very accurate. Summary of the Invention

[0005] This invention provides a method, device, equipment, system, and machinery for detecting motor faults, which solves the problems of time-consuming, inefficient, and inaccurate troubleshooting caused by the need for manual troubleshooting when the machinery cannot achieve high-speed motor operation. This invention enables the rapid and accurate identification of the cause of motor faults.

[0006] This invention provides a motor fault detection method, comprising:

[0007] Obtain motor control commands, which are used to instruct the motor of the working machinery to be in a high-speed operating state;

[0008] Execute the motor control command, and if the motor is not detected to be in the high-speed operating state, acquire the displacement signal and pressure signal corresponding to the motor;

[0009] Based on the displacement signal, pressure signal, and pre-set motor fault determination logic, the cause of the motor fault is determined.

[0010] According to a motor fault detection method provided by the present invention, the step of determining the cause of the motor fault based on the displacement signal, pressure signal, and pre-set motor fault determination logic includes:

[0011] Determine whether valid displacement and pressure signals have been acquired, and obtain a determination result;

[0012] Based on the determined results, the cause of the fault is determined.

[0013] According to a motor fault detection method provided by the present invention, determining the cause of the fault based on the determination result includes:

[0014] Obtain the target fault identifier corresponding to the determination result;

[0015] Based on the pre-set correspondence between fault identifiers and fault causes, the fault cause corresponding to the target fault identifier is obtained.

[0016] According to a motor fault detection method provided by the present invention, determining the cause of the fault based on the determination result includes:

[0017] If the determination result is that the pressure signal is invalid, the first fault identifier and the second fault identifier will be used as the target fault identifier;

[0018] The process of obtaining the fault cause corresponding to the target fault identifier based on a pre-set correspondence between fault identifiers and fault causes includes:

[0019] Based on the correspondence, the cause of the fault corresponding to the first fault identifier is determined to be: the target wiring harness corresponding to the solenoid valve of the motor is abnormally open or closed, wherein the target wiring harness is the communication wiring harness between the controller of the working machine and the solenoid valve;

[0020] Based on the correspondence, the cause of the fault corresponding to the second fault identifier is determined to be: the solenoid valve is stuck.

[0021] According to a motor fault detection method provided by the present invention, determining the cause of the fault based on the determination result includes:

[0022] If the determination result is that the pressure signal is valid and the displacement signal is invalid, the third fault identifier will be used as the target fault identifier.

[0023] The process of obtaining the fault cause corresponding to the target fault identifier based on a pre-set correspondence between fault identifiers and fault causes includes:

[0024] Based on the correspondence, the cause of the fault corresponding to the third fault identifier is determined to be: the valve core of the motor is stuck.

[0025] According to a motor fault detection method provided by the present invention, determining the cause of the fault based on the determination result includes:

[0026] If the determination result is that the pressure signal is valid and the displacement signal is valid, the fourth fault identifier will be used as the target fault identifier.

[0027] The process of obtaining the fault cause corresponding to the target fault identifier based on a pre-set correspondence between fault identifiers and fault causes includes:

[0028] Based on the correspondence, the cause of the fault corresponding to the fourth fault identifier is determined to be: the motor transmission plunger of the motor is abnormal.

[0029] The present invention also provides a motor fault detection device, comprising:

[0030] The first acquisition module is used to acquire motor control commands, which are used to indicate that the motor of the working machinery is in a high-speed operating state.

[0031] The second acquisition module is used to execute the motor control command and acquire the displacement signal and pressure signal corresponding to the motor when the motor is not detected to be in the high-speed operation state.

[0032] The determination module is used to determine the cause of the motor failure based on the displacement signal, pressure signal, and pre-set motor failure determination logic.

[0033] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the motor fault detection method as described above.

[0034] The present invention also provides a motor detection system, comprising: a controller, a pressure sensor, a displacement sensor, and a motor. The pressure sensor is used to detect a pressure signal corresponding to the motor and transmit the pressure signal to the controller. The displacement sensor is used to detect a displacement signal corresponding to the motor and transmit the displacement signal to the controller. When the controller executes a program, it implements the motor fault detection method as described in any of the preceding claims.

[0035] The present invention also provides a working machine for implementing the motor fault detection method as described in any of the preceding claims, or including the motor fault detection device as described above, or including the motor fault detection system as described above.

[0036] The motor fault detection method, apparatus, equipment, system, and operating machinery provided by this invention acquire motor control commands, which instruct the motor of the operating machinery to operate at high speed. When the motor is not detected to be operating at high speed, the invention acquires the corresponding displacement and pressure signals of the motor. Thus, when the motor is detected not operating at high speed according to the motor control commands, this invention automatically acquires relevant motor information, namely displacement and pressure signals. Furthermore, based on the displacement and pressure signals and pre-set motor fault determination logic, the corresponding fault cause is determined. The entire process is executed automatically without human intervention, effectively saving labor costs, reducing the time required to determine the fault cause, and improving the efficiency and accuracy of fault cause determination. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0038] Figure 1 This is a flowchart illustrating the motor fault detection method provided by the present invention;

[0039] Figure 2 This is a schematic diagram of the motor fault detection device provided by the present invention;

[0040] Figure 3 This is one of the structural schematic diagrams of the motor detection system provided by the present invention;

[0041] Figure 4 This is the second schematic diagram of the motor detection system provided by the present invention;

[0042] Figure 5 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0044] The following is combined with Figure 1 The present invention describes a motor fault detection method.

[0045] This invention provides a method for detecting motor faults. This method can be applied to smart terminals, such as mobile phones, computers, and tablets, as well as servers and controllers of machinery. The following description uses the application of this method to the controller of machinery as an example; however, it should be noted that this is merely illustrative and not intended to limit the scope of protection of this invention. Other descriptions in this invention are also illustrative and not intended to limit the scope of protection of this invention, and will not be described in detail thereafter.

[0046] like Figure 1 As shown, the method includes:

[0047] Step 101: Obtain motor control commands.

[0048] Among them, the motor control command is used to instruct the motor of the working machine to be in a high-speed running state.

[0049] The motor control commands can be acquired in two ways: automatically generated by the controller, i.e., the controller automatically generates motor control commands based on the current operating conditions of the machinery; or by receiving motor control commands sent from a button that controls the motor.

[0050] The controller can be the vehicle controller for the operating machinery.

[0051] Among them, the motor includes a walking motor.

[0052] Step 102: Execute motor control commands and acquire the corresponding displacement and pressure signals of the motor if the motor is not detected to be running at high speed.

[0053] Specifically, the displacement signal is the displacement data detected by a displacement sensor installed on the working machinery. This displacement sensor is installed on the motor and is used to detect whether there is any displacement movement of the motor's valve core. If so, a displacement signal is generated and sent to the controller; otherwise, no displacement signal is sent to the controller, or a signal indicating that no displacement has occurred or a signal indicating that the displacement signal is zero is sent to the controller.

[0054] The displacement signal can correspond to the amount of displacement, or it can be a pre-set first preset signal sent if displacement occurs. Alternatively, a pre-set second preset signal can be sent to the controller if no displacement occurs. The first and second preset signals are not the same. For example, the second preset signal can indicate that the valve core is not displaced or that the valve core displacement is zero.

[0055] Specifically, the pressure signal is the pressure data detected by a pressure sensor installed on the machine. This pressure sensor is installed in the oil circuit between the solenoid valve and the valve core of the motor to detect whether there is pilot pressure in this area (the oil circuit between the solenoid valve and the valve core). If so, a pressure signal is generated and sent to the controller; otherwise, no pressure signal is sent to the controller.

[0056] This pressure signal can correspond to the magnitude of the pilot pressure, or it can be a preset third signal sent if pilot pressure is detected. Alternatively, a preset fourth signal can be sent to the controller if no pilot pressure is detected. The third and fourth preset signals are different.

[0057] Wherein, the valve core (or valve core) of the motor involved in this invention is the valve core of the first solenoid valve of the motor; the solenoid valve (or solenoid valve) of the motor involved in this invention is the second solenoid valve of the motor.

[0058] The first solenoid valve and the second solenoid valve are different solenoid valves installed on the same motor.

[0059] Specifically, the first solenoid valve is a solenoid valve in the four-solenoid valve group of the motor fault detection system, used to control the motor of the operating machinery to switch between high-speed and low-speed operation. This four-solenoid valve group is an existing component corresponding to the motor (existing technology), and will not be described in detail in this invention.

[0060] Specifically, the second solenoid valve is a solenoid valve connected to the variable displacement motor in the motor via a motor speed-changing plunger. This motor speed-changing plunger and variable displacement motor are existing components of the motor (existing technology), and will not be described in detail here.

[0061] The solenoid valves involved in this invention are all high- and low-speed solenoid valves for motors, that is, the first solenoid valve is a first high- and low-speed solenoid valve, and the second solenoid valve is a second high- and low-speed solenoid valve.

[0062] When the invention determines that the motor has not entered a high-speed operating state according to the motor control command, it automatically acquires pressure and displacement signals, providing an effective data basis for subsequent determination of the cause of motor failure.

[0063] Step 103: Based on the displacement signal, pressure signal, and pre-set motor fault determination logic, determine the corresponding fault cause of the motor.

[0064] In one specific embodiment, the specific implementation of determining the cause of motor failure based on displacement signal, pressure signal and pre-set motor failure judgment logic is as follows: determine whether valid displacement signal and pressure signal are obtained, and obtain the determination result; based on the determination result, determine the cause of failure.

[0065] Specifically, when the displacement signal corresponds to the displacement amount, the displacement signal is determined to be a valid displacement signal; or, when the displacement signal is a first preset signal, the displacement signal is determined to be a valid displacement signal. When the displacement signal is empty, it means that a motor control command has been received, but no displacement signal has been received within a first preset time period, and the displacement signal is determined to be an invalid displacement signal; or, when the displacement signal is a second preset signal, the displacement signal is determined to be an invalid displacement signal.

[0066] Specifically, when the pressure signal corresponds to the magnitude of the pilot pressure, the pressure signal is determined to be a valid pressure signal; or, when the pressure signal is a third preset signal, the pressure signal is determined to be a valid pressure signal. When the pressure signal is empty, it means that a motor control command has been received, but no pressure signal has been received within a first preset time period, and the pressure signal is determined to be an invalid pressure signal; or, when the pressure signal is a fourth preset signal, the pressure signal is determined to be an invalid pressure signal.

[0067] In one specific embodiment, determining the cause of the fault based on the determination result is specifically implemented as follows: obtaining the target fault identifier corresponding to the determination result; and obtaining the fault cause corresponding to the target fault identifier based on the pre-set correspondence between the fault identifier and the fault cause.

[0068] Different determination results correspond to different target fault identifiers. A mapping relationship between determination results and target fault identifiers is pre-set. Based on this mapping relationship, the target fault identifier corresponding to the determination result is obtained.

[0069] Different target fault identifiers correspond to different fault causes. The correspondence between target fault identifiers and fault causes is pre-set to obtain the fault causes corresponding to the target fault identifiers.

[0070] This invention, through pre-created mapping and correspondence relationships, can quickly and accurately determine the cause of motor failure at the current moment.

[0071] In one specific embodiment, if the pressure signal is determined to be invalid, the first fault identifier and the second fault identifier are used as target fault identifiers. Based on the correspondence, the cause of the fault corresponding to the first fault identifier is determined to be: abnormal continuity of the target wiring harness corresponding to the solenoid valve of the motor, wherein the target wiring harness is the communication wiring harness between the controller of the working machine and the solenoid valve. Based on the correspondence, the cause of the fault corresponding to the second fault identifier is determined to be: solenoid valve jamming.

[0072] In cases where the pressure signal is invalid, the corresponding displacement signal is also invalid.

[0073] Specifically, when the pressure signal is invalid and the motor is not operating at high speed, the possible causes of the fault are abnormal continuity of the target wiring harness corresponding to the motor's solenoid valve, or the solenoid valve being stuck. In this case, the present invention will provide the user with both possible causes of the fault, and the user only needs to check whether the target wiring harness is faulty and / or whether the solenoid valve is stuck.

[0074] This invention improves the efficiency of users in diagnosing motor faults and enhances the user experience.

[0075] In one specific embodiment, if the result shows that the pressure signal is valid but the displacement signal is invalid, the third fault identifier is used as the target fault identifier. Based on the correspondence, the cause of the fault corresponding to the third fault identifier is determined to be: valve core jamming in the motor.

[0076] Specifically, when the pressure signal is valid, the displacement signal is invalid, and the motor is not running at high speed, the present invention can directly determine that the cause of the motor failure at the current moment is that the motor valve core is stuck, thereby improving the efficiency of motor failure diagnosis and enhancing the user experience.

[0077] In one specific embodiment, if the pressure signal and displacement signal are both valid, the fourth fault identifier is used as the target fault identifier. Based on the correspondence, the cause of the fault corresponding to the fourth fault identifier is determined to be: abnormal motor transmission plunger of the motor.

[0078] Among them, abnormal motor speed change blockage includes: motor speed change blockage is damaged or stuck, which needs to be determined manually.

[0079] Specifically, when the pressure signal and displacement signal are both valid, but the motor is not in a high-speed operating state, the present invention can directly determine that the cause of the motor failure at the current moment is an abnormality of the motor speed-changing plunger, thereby improving the efficiency of motor failure diagnosis and enhancing the user experience.

[0080] The following example, using Table 1, illustrates the correspondence of the motor fault determination logic:

[0081]

[0082] Table 1. Example 1 of the correspondence in motor fault diagnosis logic.

[0083] In this context, pressure and displacement signals are represented by 1 when they are valid and by 0 when they are invalid.

[0084] Among them, 001 is the first fault identifier, 002 is the second fault identifier, 003 is the third fault identifier, and 004 is the fourth fault identifier.

[0085] Of course, the correspondence of the motor fault determination logic can also be illustrated by Table 2:

[0086]

[0087]

[0088] Table 2 Example 2 of the correspondence between motor fault judgment logic

[0089] In this context, pressure and displacement signals are represented by 1 when they are valid and by 0 when they are invalid.

[0090] In this table, 100 represents the first fault identifier and the second fault identifier (this is only to illustrate that when the pressure signal is invalid, no matter what state the displacement signal is, it can be indicated by a unique identifier, that is, the fault cause under the unique identifier can be obtained through this table, which can be understood as the first fault identifier and the second fault identifier being the same at this time), 200 represents the third fault identifier, and 300 represents the fourth fault identifier.

[0091] The following is a detailed explanation using an excavator as an example of the operating machinery:

[0092] Specifically, when the high / low speed control button (button) of the excavator is activated, if the high / low speed pilot pressure sensor (pilot pressure sensor) has no output signal, it can be determined that the target wiring harness of the high / low speed solenoid valve (solenoid valve) is abnormally open or closed, or that the high / low speed solenoid valve is stuck. When the motor high / low speed pilot pressure sensor has an output signal, but the motor high / low speed valve core displacement sensor (displacement sensor) has no signal output, and the excavator is not running at high speed, it can be determined that the motor valve core is stuck. When both the motor high / low speed pilot pressure sensor and the motor high / low speed valve core displacement sensor have output signals, and the excavator is not running at high speed, it can be determined that the motor transmission plunger is stuck or damaged.

[0093] This invention uses a pressure sensor to monitor pressure signals and a displacement sensor to monitor displacement signals. Based on the monitored signals, it outputs a target fault identifier to determine the cause of the fault, thereby reducing the troubleshooting time for maintenance personnel and improving the user experience.

[0094] The motor fault detection method provided by this invention acquires motor control commands, which instruct the motor of the working machinery to operate at high speed. When the motor is not detected to be operating at high speed, the method acquires the corresponding displacement and pressure signals. Thus, when the motor is detected not operating at high speed according to the motor control commands, this invention automatically acquires relevant motor information, namely displacement and pressure signals. Furthermore, based on the displacement and pressure signals and pre-set motor fault determination logic, the method determines the cause of the motor fault. The entire process is automated, requiring no human intervention, effectively saving labor costs, reducing the time required to determine the cause of the fault, and improving the efficiency and accuracy of fault cause determination.

[0095] The motor fault detection device provided by the present invention is described below. The motor fault detection device described below can be referred to in correspondence with the motor fault detection method described above. Repeated points will not be repeated. Figure 2 As shown, the device includes:

[0096] The first acquisition module 201 is used to acquire motor control commands, which are used to indicate that the motor of the working machine is in a high-speed operating state.

[0097] The second acquisition module 202 is used to execute motor control commands and acquire the displacement signal and pressure signal of the motor when the motor is not detected to be in a high-speed running state.

[0098] The determination module 203 is used to determine the cause of motor failure based on displacement signal, pressure signal and pre-set motor fault determination logic.

[0099] In one specific embodiment, the determining module 203 is specifically used to determine whether valid displacement and pressure signals have been acquired, and to obtain a determination result; based on the determination result, the cause of the fault is determined.

[0100] In one specific embodiment, the determining module 203 is specifically used to obtain the target fault identifier corresponding to the determining result; and to obtain the fault cause corresponding to the target fault identifier based on the pre-set correspondence between the fault identifier and the fault cause.

[0101] In one specific embodiment, the determining module 203 is specifically used to, when the determination result is that the pressure signal is invalid, take the first fault identifier and the second fault identifier as target fault identifiers; based on the correspondence, determine the fault cause corresponding to the first fault identifier as: abnormal connection or disconnection of the target wiring harness corresponding to the solenoid valve of the motor, wherein the target wiring harness is the communication wiring harness between the controller of the working machine and the solenoid valve; based on the correspondence, determine the fault cause corresponding to the second fault identifier as: solenoid valve jamming.

[0102] In one specific embodiment, the determining module 203 is specifically used to take the third fault identifier as the target fault identifier when the determination result is that the pressure signal is valid and the displacement signal is invalid; based on the correspondence, the fault cause corresponding to the third fault identifier is determined to be: the valve core of the motor is stuck.

[0103] In one specific embodiment, the determining module 203 is specifically used to take the fourth fault identifier as the target fault identifier when the determination result is that the pressure signal is valid and the displacement signal is valid; based on the correspondence, the fault cause corresponding to the fourth fault identifier is determined to be: abnormal motor transmission plunger of the motor.

[0104] This invention also provides a motor fault detection system. The motor fault detection system described below can be referred to in correspondence with the motor fault detection method described above. Repeated points will not be repeated. Figure 3 As shown, the system includes a controller 301, a pressure sensor 302, a displacement sensor 303, and a motor 304. The pressure sensor 302 detects the pressure signal corresponding to the motor and transmits the pressure signal to the controller 301. The displacement sensor 303 detects the displacement signal corresponding to the motor and transmits the displacement signal to the controller 301. The controller 301 receives the displacement signal and the pressure signal and executes the motor fault method described in any of the above embodiments.

[0105] The motor fault detection system provided by this invention has a simple circuit, utilizes motor fault detection method logic pre-stored in the controller, has low overall cost, and provides a good user experience.

[0106] Specifically, through Figure 4 A detailed description of the motor fault detection system is provided below:

[0107] A displacement sensor 303 is installed in the motor 304 to detect whether the valve core 401 of the motor 304 has moved; a pressure sensor 302 is installed in the oil circuit between the solenoid valve 402 of the motor and the valve core 401 of the motor 304 to detect whether there is pilot pressure in this section of the oil circuit.

[0108] The controller 301 includes two I / O interfaces as input interfaces. When the high and low speed control button (button) of the excavator is activated, if the pressure sensor 302 has no output signal, it can be determined that the target wiring harness of the solenoid valve 402 is abnormally open or closed, or the solenoid valve 402 is stuck. If the pressure sensor 302 has an output signal, the displacement sensor 303 has no signal output, and the excavator is not running at high speed, it can be determined that the valve core 401 is stuck. If both the pressure sensor 302 and the displacement sensor 303 have output signals, and the excavator is not running at high speed, it can be determined that the motor transmission plunger 403 is stuck or damaged.

[0109] Motor 304 also includes: brake plunger 404, variable motor 405, overflow valve 406, and balance valve 407.

[0110] Among them, the balance valve 407 is used to control the oil inlet and outlet of the motor 304; the overflow valve 406 is used to balance the pressure of the high and low pressure chambers when the motor 304 is braking; and the brake plunger 404 is used as the mechanical brake of the motor 304 when the motor 304 stops.

[0111] The motor fault detection system also includes a pilot pump 408, which provides pilot oil.

[0112] The motor fault detection system also includes a four-way solenoid valve assembly 409, which comprises a solenoid valve 402, a check valve 410, and three other solenoid valves. Since the other three solenoid valves are not covered in this invention, their functions and connections will not be specifically described. Figure 4 This is for illustrative purposes only.

[0113] The motor fault detection system also includes an intelligent device 411 for fault alarm.

[0114] This invention does not improve the motor 304 itself; all components included in the motor 304 are existing technologies.

[0115] This invention also provides a working machine for implementing the motor fault detection method of any of the above embodiments, or including the motor fault detection device or the motor fault detection system as described above.

[0116] The operating machinery includes: road rollers, pavers, milling machines, excavators, cranes, pump trucks, mixer trucks, drilling rigs, trenchless drilling rigs, rock and soil drilling rigs, down-the-hole drilling rigs, rotary drilling rigs, tunneling machines, etc.

[0117] Figure 5 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 5As shown, the electronic device may include a processor 501, a communication interface 502, a memory 503, and a communication bus 504. The processor 501, communication interface 502, and memory 503 communicate with each other via the communication bus 504. The processor 501 can call logic instructions in the memory 503 to execute a motor fault detection method. This method includes: acquiring a motor control instruction, which indicates that the motor of the working machinery is in a high-speed operating state; executing the motor control instruction, and, if no high-speed operating state is detected, acquiring the corresponding displacement signal and pressure signal of the motor; and determining the cause of the motor fault based on the displacement signal, pressure signal, and pre-set motor fault determination logic.

[0118] Furthermore, the logical instructions in the aforementioned memory 503 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0119] On the other hand, the present invention also provides a computer program product, the computer program product including a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, the computer can execute the motor fault detection method provided by the above methods, the method including: acquiring a motor control instruction, the motor control instruction being used to instruct the motor of the working machinery to be in a high-speed operating state; executing the motor control instruction, in the absence of detecting that the motor is in a high-speed operating state, acquiring the displacement signal and pressure signal corresponding to the motor; and determining the cause of the motor fault based on the displacement signal, pressure signal and a pre-set motor fault determination logic.

[0120] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the motor fault detection methods provided above. The method includes: acquiring a motor control command, the motor control command being used to instruct the motor of the working machinery to be in a high-speed operating state; executing the motor control command, and, in the absence of detecting that the motor is in a high-speed operating state, acquiring the displacement signal and pressure signal corresponding to the motor; and determining the cause of the motor fault based on the displacement signal, pressure signal, and a pre-set motor fault determination logic.

[0121] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0122] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for detecting motor faults, characterized in that, include: Obtain motor control commands, which are used to instruct the motor of the working machinery to be in a high-speed operating state; Execute the motor control command, and if the motor is not detected to be in the high-speed operating state, acquire the displacement signal and pressure signal corresponding to the motor; Based on the displacement signal, pressure signal, and pre-set motor fault determination logic, the cause of the motor fault is determined. The determination of the cause of motor failure based on the displacement signal, pressure signal, and pre-set motor fault determination logic includes: Determine whether valid displacement and pressure signals have been acquired, and obtain a determination result; Based on the determined results, the cause of the fault is determined; The determination of the cause of the fault based on the determination result includes: Obtain the target fault identifier corresponding to the determination result; Based on the pre-set correspondence between fault identifiers and fault causes, the fault cause corresponding to the target fault identifier is obtained; The determination of the cause of the fault based on the determination result includes: If the determination result is that the pressure signal is invalid, the first fault identifier and the second fault identifier will be used as the target fault identifier; The process of obtaining the fault cause corresponding to the target fault identifier based on a pre-set correspondence between fault identifiers and fault causes includes: Based on the correspondence, the cause of the fault corresponding to the first fault identifier is determined to be: the target wiring harness corresponding to the solenoid valve of the motor is abnormally open or closed, wherein the target wiring harness is the communication wiring harness between the controller of the working machine and the solenoid valve; Based on the correspondence, the cause of the fault corresponding to the second fault identifier is determined to be: the solenoid valve is stuck.

2. The motor fault detection method according to claim 1, characterized in that, The determination of the cause of the fault based on the determination result includes: If the determination result is that the pressure signal is valid and the displacement signal is invalid, the third fault identifier will be used as the target fault identifier. The process of obtaining the fault cause corresponding to the target fault identifier based on a pre-set correspondence between fault identifiers and fault causes includes: Based on the correspondence, the cause of the fault corresponding to the third fault identifier is determined to be: the valve core of the motor is stuck.

3. The motor fault detection method according to claim 1, characterized in that, The determination of the cause of the fault based on the determination result includes: If the determination result is that the pressure signal is valid and the displacement signal is valid, the fourth fault identifier will be used as the target fault identifier. The process of obtaining the fault cause corresponding to the target fault identifier based on a pre-set correspondence between fault identifiers and fault causes includes: Based on the correspondence, the cause of the fault corresponding to the fourth fault identifier is determined to be: the motor transmission plunger of the motor is abnormal.

4. A motor fault detection device based on the motor fault detection method according to any one of claims 1-3, characterized in that, include: The first acquisition module is used to acquire motor control commands, which are used to indicate that the motor of the working machinery is in a high-speed operating state. The second acquisition module is used to execute the motor control command and acquire the displacement signal and pressure signal corresponding to the motor when the motor is not detected to be in the high-speed operation state. The determination module is used to determine the cause of the motor failure based on the displacement signal, pressure signal, and pre-set motor failure determination logic.

5. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the motor fault detection method as described in any one of claims 1 to 3.

6. A motor fault detection system, characterized in that, include: The system includes a controller, a pressure sensor, a displacement sensor, and a motor. The pressure sensor detects a pressure signal corresponding to the motor and transmits the pressure signal to the controller. The displacement sensor detects a displacement signal corresponding to the motor and transmits the displacement signal to the controller. When the controller executes a program, it implements the motor fault detection method as described in any one of claims 1 to 3.

7. A type of operating machinery, characterized in that, Used to implement the motor fault detection method as described in any one of claims 1 to 3, or includes the motor fault detection device as described in claim 4, or includes the motor fault detection system as described in claim 6.

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