A pressure sensor fault diagnosis system, diagnosis method and crane

Abstract

The application discloses a kind of pressure sensor fault diagnosis system, diagnostic method and crane including the pressure sensor of being arranged at the key pressure detection position of whole machine truck, vehicle-mounted controller and vehicle-mounted display, wherein pressure sensor is connected with vehicle-mounted controller and vehicle-mounted display respectively by CanOpen bus, vehicle-mounted controller is used to diagnose pressure sensor and output diagnostic result, and vehicle-mounted display is used to start pressure sensor brand specificity confirmation diagnosis, sensor parameter setting and fault code display.The application solves crane pressure anomaly difficult and timely determine whether sensor failure or whole machine pressure anomaly, cannot quickly and accurately locate fault cause etc.Problems, while the pressure sensor of key detection point can be avoided to be replaced arbitrarily, ensure the safety and reliability of whole machine system.

Description

Technical Field

[0001] This invention relates to the field of sensor monitoring technology, and in particular to a pressure sensor fault diagnosis system, diagnosis method, and crane. Background Technology

[0002] Pressure monitoring of cranes is crucial for the safe and reliable operation of the entire machine, and abnormal pressure values ​​require serious attention. Existing technologies generally rely on hardware systems based on sensors to monitor abnormal pressure sensor readings, lacking diagnostic capabilities for communication anomalies and internal sensor malfunctions. For example, existing technology (CN112212908B) discloses an intelligent sensor and its intelligent method. This intelligent sensor includes: a sensor module, a circuit switch module, a signal conditioning module, and a processor. The sensor module is connected to or disconnected from the signal conditioning module via the circuit switch module, and the processor is connected to both the signal conditioning module and the circuit switch module. The sensor module collects the measured data; the signal conditioning module receives, processes, and sends the collected data to the processor; the processor processes the data processed by the signal conditioning module and sends control commands to the circuit switch module; the circuit switch module receives the control commands from the processor and connects or disconnects the sensor module and the signal conditioning module. Existing diagnostic technologies have low coverage, mainly focusing on hardware and signal diagnostics, but failing to cover software and communication diagnostics. Diagnostics of the sensors themselves rely entirely on the hardware system, which requires significant investment in technologies such as compatibility, anti-interference, and power supply between hardware systems, resulting in long development cycles and high costs.

[0003] Therefore, it is urgent to solve the above problems. Summary of the Invention

[0004] Purpose of the invention: The first purpose of this invention is to provide a pressure sensor fault diagnosis system to solve the problems of difficulty in timely determining whether abnormal pressure in a crane is due to sensor failure or abnormal pressure of the whole machine, and the inability to quickly and accurately locate the cause of the fault. At the same time, it can prevent the pressure sensors at key detection points from being arbitrarily replaced, thus ensuring the safety and reliability of the whole machine system.

[0005] The second objective of this invention is to provide a method for diagnosing pressure sensor faults, which solves the problems of difficulty in timely determining whether abnormal pressure in a crane is due to sensor failure or overall machine pressure abnormality, and the inability to quickly and accurately locate the cause of the fault. At the same time, it can prevent the pressure sensors at key detection points from being arbitrarily replaced, ensuring the safety and reliability of the entire system.

[0006] A third objective of this invention is to provide a crane.

[0007] Technical Solution: To achieve the above objectives, this invention discloses a pressure sensor fault diagnosis system, including a pressure sensor, an on-board controller, and an on-board display arranged at a key pressure detection location on the vehicle. The pressure sensor is connected to the on-board controller and the on-board display via a CanOpen bus. The on-board controller is used to diagnose the pressure sensor and output the diagnostic results, while the on-board display is used to initiate the pressure sensor brand proprietary confirmation diagnosis, sensor parameter settings, and fault code display.

[0008] The pressure sensor also includes a CAN signal receiving and transmitting device for receiving and converting external pressure signals, outputting processed pressure signals, and outputting diagnostic data. The CAN signal receiving and transmitting device includes a signal acquisition module, a main chip module, a communication driver module, a signal decoupling module, a signal connection module, and a power processing module connected in sequence.

[0009] This invention discloses a method for diagnosing pressure sensor faults, comprising the following steps:

[0010] (1) Set the IP address of the pressure sensor to 700H+N, where N is the number of the pressure sensor, and the value is 1 to 99;

[0011] (2) After the machine is powered on, check whether all pressure sensors are connected to the CAN network;

[0012] (3) Proprietary verification of all pressure sensors on the whole machine, including brand information verification, software version information verification and sensor model information verification;

[0013] (4) After the proprietary verification is passed, the whole machine starts working, the pressure sensor enters the working state, the pressure sensor alarms abnormally, the vehicle controller identifies and diagnoses and sends a fault code to the vehicle display, the vehicle display displays the fault code and fault details; the specific steps are as follows: the vehicle display sends a message to command the pressure sensor to start PDO data transmission, the pressure sensor receives the command and sends a message containing the pressure value, the pressure sensor sends a corresponding message to the vehicle controller in real time during PDO data transmission if there is a fault, the vehicle controller reads the message to obtain the error code, and sends a message containing the pressure sensor IP address and fault code to the vehicle display, the vehicle display obtains the fault content through the error code and pressure sensor IP address, and alarms and displays the fault code and error information; among them, the pressure sensor faults include address conflict, abnormal pressure sensor signal output, no sensor signal output, abnormal time synchronization, abnormal CAN signal transmission and data cannot be sent.

[0014] The specific steps in step (2) are as follows: the whole machine is powered on, the pressure sensors send their respective IP addresses to the vehicle display. If the vehicle display receives the IP address of the pressure sensor, it proceeds to the next step. If it does not receive the IP address of the pressure sensor, the vehicle display will show that the pressure sensor at the corresponding location is not connected.

[0015] Preferably, the specific steps in step (3) are as follows:

[0016] (3.1) The vehicle display sends a start brand confirmation message, the pressure sensor responds to the start brand confirmation message, and the pressure sensor sends a message containing brand information to the vehicle controller. The vehicle controller confirms whether the content of the message containing brand information is consistent with the set message content. If they are inconsistent, the vehicle controller sends a brand confirmation failure message to the display. The vehicle display displays the corresponding error code, issues an alarm and displays the corresponding prompt information. If they are consistent, the vehicle controller sends a brand confirmation success message to the vehicle display. The vehicle display determines whether it receives the brand confirmation success message within a certain period of time. If it receives it, it proceeds to the next step (3.2). If it does not receive it, the vehicle display displays the corresponding error code, issues an alarm and displays the corresponding prompt information.

[0017] (3.2) The vehicle display sends a startup software version confirmation message, the pressure sensor responds to the startup software version confirmation message, and the pressure sensor sends a message containing software version information to the vehicle controller. The vehicle controller confirms whether the content of the message containing software version information is consistent with the set message content. If they are inconsistent, the vehicle controller sends a software version conflict message to the display. The vehicle display displays the corresponding error code, issues an alarm and displays the corresponding prompt information. If they are consistent, the vehicle controller sends a software version confirmation success message to the vehicle display. The vehicle display determines whether it receives the software version confirmation success message within a certain period of time. If it receives it, it proceeds to the next step (3.3). If it does not receive it, the vehicle display displays the corresponding error code, issues an alarm and displays the corresponding prompt information.

[0018] (3.3) The vehicle display sends a start model confirmation message, the pressure sensor responds to the start model confirmation message, and the pressure sensor sends a message containing model information to the vehicle controller. The vehicle controller confirms whether the content of the message containing model information is consistent with the set message content. If they are inconsistent, the vehicle controller sends a model abnormality message to the display. The vehicle display displays the corresponding error code, issues an alarm and displays the corresponding prompt information. If they are consistent, the vehicle controller sends a model confirmation success message to the vehicle display. The vehicle display determines whether it receives the model confirmation success message within a certain time. If it receives it, it proceeds to the next step (4). If it does not receive it, the vehicle display displays the corresponding error code, issues an alarm and displays the corresponding prompt information.

[0019] Furthermore, the method for diagnosing address conflicts in step (4) is as follows:

[0020] The pressure sensor PDO transmits a set of data A. Within the transmission period t, the pressure sensor queries the network and receives data B with the same ID. If A = B, it means that there is no address conflict of the pressure sensor. If A ≠ B, it means that there is an address conflict of the pressure sensor.

[0021] Furthermore, the diagnostic method for abnormal pressure sensor signal output in step (4) is as follows:

[0022] The signal from the pressure sensor is acquired by the signal acquisition module. The value of the acquired signal is calculated by the main chip module and is outside [-5 bar, 400 bar]. The pressure sensor continuously acquires m cycles. If each cycle is outside [-5 bar, 400 bar], the corresponding alarm is triggered. Specifically, if the value is continuously below -5 bar, the data[4]_0 of the message sent to the vehicle controller is set to 1. If the value is continuously above 400 bar, the data[4]_1 of the message sent to the controller is set to 1. The acquisition cycle m is usually set to 5 cycles. It can be adjusted according to the importance level of the detection location. The adjustment range of m is [3, 10].

[0023] Preferably, the diagnostic method for the pressure sensor having no signal output in step (4) is as follows: if the data length collected by the signal acquisition module is abnormal within two consecutive cycles, then the pressure sensor is abnormally collected and has no output signal. The data[4]_2 of the message sent to the vehicle controller is set to 1.

[0024] Furthermore, the diagnostic method for time synchronization anomaly diagnosis in step (4) is as follows: in each sampling period, query the time synchronization status in the main chip module. When the status is abnormal, output message data[4]_3 is set to 1 in the same sampling period;

[0025] The diagnostic method for CAN signal transmission abnormality is as follows: In each sampling period, query the CAN overflow status in the main chip module. When the status is abnormal, output message data[4]_5 is set to 1 in the same sampling period;

[0026] The diagnostic method for data not being able to be sent is as follows: In each sampling period, query the status of the buffer in the main chip. If the status is abnormal, output the message data[4]_4 set to 1 in the same sampling period.

[0027] This invention discloses a crane, characterized in that it includes a pressure sensor fault diagnosis system, wherein the key pressure detection positions on the upper part of the crane include the main valve MP1 port, the main valve MP2 port, the pressure detection point of the large cavity of the telescopic cylinder, and the pressure detection point of the main winch balance valve.

[0028] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: By setting a fault diagnosis strategy and generating corresponding fault codes, the present invention can solve the problems of difficulty in timely determining whether abnormal pressure in a crane is due to sensor failure or abnormal pressure of the whole machine, and the inability to quickly and accurately locate the cause of the fault; The present invention performs proprietary verification of all pressure sensors on the whole machine, and sequentially verifies the brand information, software version information and sensor model information, to prevent the pressure sensors at key detection points from being arbitrarily replaced after the product enters the market, thus ensuring the safety and reliability of the whole machine system. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the CAN signal receiving and transmitting device in this invention;

[0030] Figure 2 This is a schematic diagram of the CanOpen pressure sensor intelligent diagnostic network in this invention;

[0031] Figure 3 This is a flowchart illustrating the diagnostic method of the present invention;

[0032] Figure 4 This is a schematic diagram of the power-on self-test process of the whole machine in this invention;

[0033] Figure 5 This is a schematic diagram of the brand information confirmation process in this invention;

[0034] Figure 6 This is a schematic diagram of the software version information confirmation process in this invention;

[0035] Figure 7 This is a schematic diagram of the process for confirming the pressure sensor model information in this invention;

[0036] Figure 8 This is a schematic diagram of the fault diagnosis process of the pressure sensor in the working state of the present invention;

[0037] Figure 9 This is a schematic diagram of the address conflict determination process in this invention. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0039] It should be understood that the invention can be embodied in various forms and should not be construed as being limited to the embodiments set forth herein. Rather, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, for clarity, the dimensions and relative dimensions of the parts may be exaggerated. The same reference numerals denote the same parts throughout.

[0040] This invention discloses a pressure sensor fault diagnosis system, including a pressure sensor, an on-board controller, and an on-board display arranged at a key pressure detection location on the vehicle. The pressure sensor is connected to the on-board controller and the on-board display via a CanOpen bus. The on-board controller is used to diagnose the pressure sensor and output the diagnostic results, while the on-board display is used to initiate the pressure sensor brand proprietary confirmation diagnosis, sensor parameter settings, and fault code display.

[0041] The pressure sensor also includes a CAN signal receiving and transmitting device for receiving and converting external pressure signals, outputting processed pressure signals, and outputting diagnostic data. The CAN signal receiving and transmitting device comprises a signal acquisition module, a main chip module, a communication driver module, a signal decoupling module, a signal connection module, and a power processing module connected in sequence. The CAN signal transceiver is the hardware foundation of this invention, enabling the receiving and conversion of external pressure signals, the output of processed pressure signals, and the output of intelligent diagnostic data. The power processing module primarily provides 5V DC power, with requirements of low power ripple, low power consumption, low heat generation, and strong anti-interference capability. The signal acquisition module mainly processes the electrical signal converted from the system oil pressure by the sensitive element, focusing on reducing electrical signal interference. The main chip module includes the main chip and its external auxiliary circuit 1. The main chip performs signal processing, intelligent diagnosis, communication signal reception, and output; the external auxiliary circuit 1 is a collection of hardware circuits for power anti-interference processing, reset processing, and reference circuit processing. The communication driver module includes a communication driver chip and its external auxiliary circuit 2. The communication driver chip mainly drives the reception and transmission of bus signals; the external auxiliary circuit 2 is a collection of hardware circuits for power supply anti-interference processing, reset processing, etc. The signal decoupling module is a circuit for decoupling and anti-interference of communication signal input and output, such as... Figure 1 As shown.

[0042] The diagnostics involved in this invention mainly include proprietary verification and fault diagnosis, and the diagnostic details are shown in Table 1.

[0043] Table 1 Diagnostic Details

[0044]

[0045]

[0046] In this invention, pressure sensors are placed at key pressure detection locations on the crane's upper structure, primarily at the main valve MP1 port (number 01), main valve MP2 port (number 02), the pressure detection point in the large chamber of the telescopic cylinder (number 03), and the pressure detection point in the hoist's main balance valve (number 04). Additional pressure sensors can be added to large-tonnage and extra-large-tonnage cranes as needed. The address of the pressure sensors is uniformly set to 700H+N, where N is the sensor number, ranging from 1 to 99. The crane's CanOpen network mainly utilizes the onboard controller and onboard display, forming an intelligent diagnostic network with the sensors, such as... Figure 2 As shown.

[0047] Intelligent diagnostics utilizes a large amount of message information, which is transmitted via SDO and PDO in the CanOpen network to transmit diagnostic information and pressure sensor values. A diagnostic communication protocol must be defined to guide overall CAN communication, pressure sensor communication, and fault diagnosis.

[0048] During normal data transmission by the pressure sensor, the sensor transmits fault codes via EMCY. The message ID is 80H + the address of the faulty sensor (700H + N). The first two bytes of the message content are the fault code, with the high byte following. For example, when the vehicle controller receives a message with the address of the faulty sensor (700H + N) of 80H, it will identify which sensor at which location transmitted which fault information. The specific content of the diagnostic CANOpen communication protocol is shown in Table 2 below.

[0049] Table 2. Diagnostic CanOpen Communication Protocol Description

[0050]

[0051]

[0052] According to the corresponding communication protocol, 10 types of faults are formed into 10 types of CAN messages and matched with the fault codes of the whole machine. When a fault occurs, the pressure sensor transmits the fault information to the controller. After the controller judges, it will perform fault alarm and information display. The specific content is shown in Table 3 below. Among them, XXX in XXX pressure sensor displayed on the display is the specific location of the fault on the crane.

[0053] Table 3. Diagnostic Fault Codes and Correspondence with CAN Messages

[0054]

[0055]

[0056] like Figure 3 As shown, the present invention provides a method for diagnosing pressure sensor faults, comprising the following steps:

[0057] (1) Set the IP address of the pressure sensor to 700H+N, where N is the number of the pressure sensor, and the value is 1 to 99;

[0058] (2) After the machine is powered on, perform a self-check to see if all pressure sensors are connected to the CAN network; if so... Figure 4 As shown, the specific steps are as follows: Power on the whole machine, and the pressure sensors send their respective IP addresses to the vehicle display. Specifically, the vehicle display determines whether each pressure sensor's 700H+N has sent 1 byte of 05 data. If the vehicle display receives the pressure sensor's IP address, it proceeds to the next step. If it does not receive the pressure sensor's IP address, the vehicle display will show that the pressure sensor at the corresponding location is not connected.

[0059] (3) Proprietary verification of all pressure sensors on the whole machine, including brand information verification, software version information verification and sensor model information verification;

[0060] The proprietary design of this invention is to intelligently calibrate the brand of the pressure sensor matched to the crane's electrical system, preventing it from being arbitrarily replaced by sensors of other brands, thus ensuring the stability, reliability, and safety of the entire system. In this invention, the pressure sensor is connected to the bus network. Upon power-on and wake-up, it enters a proprietary judgment mechanism, which mainly includes: brand information confirmation, software version information confirmation, and sensor model information confirmation. The vehicle-mounted display sequentially confirms the brand information, software version information, and sensor model information with the sensor via SDO. Any problem in any confirmation is considered a proprietary information error, and an error is reported to the bus network and displayed on the vehicle-mounted display. Specific details are as follows, where node_id_n is the address of the current pressure sensor, and n is the pressure sensor number, with a value from 1 to 99.

[0061] The specific steps are as follows:

[0062] (3.1) The vehicle display sends a start brand confirmation message, the pressure sensor responds to the start brand confirmation message, and the pressure sensor sends a message containing brand information to the vehicle controller. The vehicle controller confirms whether the content of the message containing brand information is consistent with the set message content. If they are inconsistent, the vehicle controller sends a brand confirmation failure message to the display. The vehicle display displays the corresponding error code, issues an alarm and displays "Brand confirmation failed, please use the specified pressure sensor"; if they are consistent, the vehicle controller sends a brand confirmation success message to the vehicle display. The vehicle display determines whether it receives the brand confirmation success message within a certain period of time. If it receives it, it proceeds to the next step (3.2). If it does not receive it, the vehicle display displays the corresponding error code, issues an alarm and displays "Brand confirmation failed, please use the specified pressure sensor!";

[0063] like Figure 5 As shown, specifically: Upon entering brand information confirmation, the vehicle display sends SDO content, message ID: 600h+node_id_n, message content: 230A200402110611, 8 bytes; Pressure sensor n replies with SDO content, message ID: 580h+node_id_n, message content: 600A200400000000, 8 bytes; Pressure sensor n replies with proprietary confirmation result to the vehicle controller, message ID: 80h+node_id_n. The vehicle controller checks the received message content: 0180810000000000. If not, the vehicle controller sends the message content to the vehicle display: sensor address + 018 0. The vehicle display shows an error code and alarm, and displays: "Brand confirmation failed. Please use a specified pressure sensor and then proceed to the proprietary confirmation of n+1 pressure sensors." If yes, the vehicle controller sends a message to the vehicle display: sensor address + 1111. The vehicle display checks the message received within 1 second: sensor address + 1111. If no, the vehicle controller sends a message to the vehicle display: sensor address + 0180. The vehicle display shows an error code and alarm, and displays: "Brand confirmation failed. Please use a specified pressure sensor and then proceed to the proprietary confirmation of n+1 pressure sensors." If yes, proceed to software version information confirmation.

[0064] (3.2) The vehicle display sends a startup software version confirmation message, the pressure sensor responds to the startup software version confirmation message, and the pressure sensor sends a message containing software version information to the vehicle controller. The vehicle controller confirms whether the content of the message containing software version information is consistent with the set message content. If they are inconsistent, the vehicle controller sends a software version conflict message to the display. The vehicle display displays the corresponding error code, issues an alarm and displays "Software version conflict, please update the software version". If they are consistent, the vehicle controller sends a software version confirmation success message to the vehicle display. The vehicle display determines whether it receives the software version confirmation success message within a certain period of time. If it receives it, it proceeds to the next step (3.3). If it does not receive it, the vehicle display displays the corresponding error code, issues an alarm and displays "Software version conflict, please update the software version".

[0065] like Figure 6 As shown, specifically: Upon entering software version confirmation, the vehicle display sends SDO content, message ID: 600h+node_id_n, message content: 230A20030100CDAB; pressure sensor n replies with SDO content, message ID: 580h+node_id_n, message content: 600A200300000000, 8 bytes; pressure sensor n replies to the vehicle controller with the software version judgment result, message ID: 80h+node_id_n. The vehicle controller checks the received message content: 0161810000000000. If not, the vehicle controller sends the message content: sensor address + 0 to the vehicle display. 161. The vehicle display shows an error code and alarm, and displays: "Software version conflict, please update the software version, then proceed to the proprietary verification of n+1 pressure sensors." If the conflict is resolved, the vehicle controller sends a message to the vehicle display containing: sensor address + 1110. The vehicle display checks the received message content within 1 second: sensor address + 1110. If not, the vehicle controller sends a message to the vehicle display containing: sensor address + 0180. The vehicle display then shows an error code, alarm, and displays: "Software version conflict, please update the software version, then proceed to the proprietary verification of n+1 pressure sensors." If the conflict is resolved, proceed to sensor model verification.

[0066] (3.3) The vehicle display sends a start model confirmation message, the pressure sensor responds to the start model confirmation message, the pressure sensor sends a message containing model information to the vehicle controller, the vehicle controller confirms whether the content of the message containing model information is consistent with the set message content. If they are inconsistent, the vehicle controller sends a model abnormality message to the display, the vehicle display displays the corresponding error code, issues an alarm and displays "Sensor model abnormal, please update sensor model"; if they are consistent, the vehicle controller sends a model confirmation success message to the vehicle display, the vehicle display judges whether it receives the model confirmation success message within a certain period of time. If it receives it, it proceeds to the next step (4). If it does not receive it, the vehicle display displays the corresponding error code, issues an alarm and displays "Sensor model abnormal, please update sensor model";

[0067] like Figure 7 As shown, specifically: Upon entering sensor model confirmation, the vehicle display sends SDO content, message ID: 600h+node_id_n, message content: 230A200201009A78, 8 bytes; Pressure sensor n replies with SDO content, message ID: 580h+node_id_n, message content: 600A200200000000, 8 bytes; Pressure sensor n replies to the vehicle controller with sensor model result, message ID: 80h+node_id_n. The vehicle controller checks the received message content: 0280810000000000. If not, the vehicle controller sends the message content: sensor address + 0280 to the vehicle display. The vehicle display shows an error code and alarm, and displays the message: "Sensor model abnormal, please replace the pressure sensor," and then proceeds to the proprietary verification of n+1 pressure sensors. If the sensor model is abnormal, the vehicle controller sends a message to the vehicle display containing: sensor address + 1101. The vehicle display checks the received message content within 1 second: sensor address + 1101. If not, the vehicle controller sends a message to the vehicle display containing: sensor address + 0280. The vehicle display then displays an error code, alarm, and displays the message: "Sensor model abnormal, please replace the pressure sensor," and then proceeds to the proprietary verification of n+1 pressure sensors. If the sensor model is abnormal, proceeds to the proprietary verification of n+1 pressure sensors.

[0068] (4) After the proprietary verification is passed, the whole machine works, the pressure sensor enters the working state, the pressure sensor alarms abnormally, the vehicle controller recognizes it and sends a fault code to the vehicle display, and the vehicle display shows the fault code and fault details.

[0069] The specific steps are as follows: The vehicle display sends a command message to the pressure sensor to start PDO data transmission. The pressure sensor receives the command and sends a message containing the pressure value. During PDO data transmission, if the pressure sensor malfunctions, it sends a corresponding message to the vehicle controller in real time. The vehicle controller reads the message to obtain the error code and sends a message containing the pressure sensor IP address and fault code to the vehicle display. The vehicle display obtains the fault content through the error code and the pressure sensor IP address, and displays the fault code and error information. Among these faults, pressure sensor malfunctions include address conflict, abnormal pressure sensor signal output, no sensor signal output, time synchronization abnormality, CAN signal transmission abnormality, and inability to send data.

[0070] like Figure 8 As shown, specifically: the vehicle display sends a message with address 00h containing the command "0A00" to the pressure sensor to start PDO data transmission. The pressure sensor receives the command and sends the pressure value. The message address is 180h+node_id_n. During PDO transmission, if the pressure sensor malfunctions, it sends a message to the vehicle controller at any time. The message address is 80h+node_id_n. The vehicle controller reads the first two bytes to obtain the error code and sends a message to the vehicle display: sensor address + fault code. The vehicle display obtains the fault content through the error code and sensor ID, triggers an alarm, and displays the fault code and error message on the vehicle display.

[0071] like Figure 9 As shown, the method for diagnosing address conflicts is as follows:

[0072] The pressure sensor PDO data transmission sends out a set of data A. Within the transmission period t, the pressure sensor queries the network and receives data B with the same ID. If A = B, it means that there is no conflict in the pressure sensor address. If A ≠ B, it means that there is a conflict in the pressure sensor address.

[0073] The diagnostic method for abnormal pressure sensor signal output is as follows:

[0074] The signal from the pressure sensor is acquired by the signal acquisition module. The value of the acquired signal is calculated by the main chip module. If the value is outside [-5 bar, 400 bar], the pressure sensor continuously acquires the signal for m cycles. If each cycle is outside [-5 bar, 400 bar], an alarm is triggered accordingly. Specifically, if the value is continuously below -5 bar, the data[4]_0 of the message sent to the vehicle controller is set to 1; if the value is continuously above 400 bar, the data[4]_1 of the message sent to the controller is set to 1. The acquisition cycle m is usually set to 5 cycles, which can be adjusted according to the importance level of the detection location. The adjustment range of m is [3, 10].

[0075] The diagnostic method for a pressure sensor having no signal output is as follows:

[0076] If the data length collected by the signal acquisition module is abnormal within two consecutive cycles, it indicates that the pressure sensor is abnormal and there is no output signal. The data[4]_2 of the message sent to the vehicle controller is set to 1.

[0077] The diagnostic method for time synchronization anomalies is as follows:

[0078] In each sampling period, the time synchronization status in the main chip module is queried. If the status is abnormal, the message data[4]_3 is set to 1 in the same sampling period.

[0079] The diagnostic method for CAN signal transmission anomalies is as follows:

[0080] In each sampling period, the CAN overflow status in the main chip module is queried. If the status is abnormal, the output message data[4]_5 is set to 1 in the same sampling period.

[0081] The diagnostic method for data transmission failure is as follows:

[0082] In each sampling period, the status of the buffer in the main chip is queried. If the status is abnormal, the output message data[4]_4 is set to 1 in the same sampling period.

[0083] The present invention also discloses a crane, characterized in that it includes a pressure sensor fault diagnosis system, wherein the key pressure detection positions on the upper part of the crane include the main valve MP1 port, the main valve MP2 port, the pressure detection point of the large cavity of the telescopic cylinder, and the pressure detection point of the main winch balance valve.

Claims

1. A fault diagnosis method for a pressure sensor fault diagnosis system, characterized in that, The system includes a pressure sensor fault diagnosis system, comprising a pressure sensor located at a key pressure detection position on the vehicle, an on-board controller, an on-board display, and a CAN signal receiving and transmitting device for receiving, converting, and processing external pressure signals, outputting processed pressure signals, and outputting diagnostic data. The pressure sensor is connected to the on-board controller and the on-board display via a CANOpen bus. The on-board controller diagnoses the pressure sensor and outputs diagnostic results, while the on-board display initiates the pressure sensor brand-specific verification diagnosis, sets sensor parameters, and displays fault codes. The CAN signal receiving and transmitting device comprises a signal acquisition module, a main chip module, a communication driver module, a signal decoupling module, a signal connection module, and a power processing module connected in sequence. The method includes the following steps: (1) Set the IP address of the pressure sensor to 700H+N, where N is the number of the pressure sensor, and the value is 1~99; (2) After the machine is powered on, perform a self-check to see if all pressure sensors are connected to the CAN network; (3) Verification of the proprietary nature of all pressure sensors on the whole machine. Proprietary verification includes verification of brand information, software version information and sensor model information. (4) After the proprietary verification is passed, the whole machine works, the pressure sensor enters the working state, the pressure sensor has an abnormal alarm, the vehicle controller performs identification and diagnosis and sends a fault code to the vehicle display, the vehicle display displays the fault code and fault details; the specific steps are as follows: the vehicle display sends a message to command the pressure sensor to start PDO data transmission, the pressure sensor receives the command and sends a message containing the pressure value, the pressure sensor fault during PDO data transmission sends a corresponding message to the vehicle controller in real time, the vehicle controller reads the message to obtain the error code, and sends a message containing the pressure sensor IP address and fault code to the vehicle display, the vehicle display obtains the fault content through the error code and pressure sensor IP address, and alarms and displays the fault code and error information; Pressure sensor malfunctions include address conflicts, abnormal pressure sensor signal output, no sensor signal output, time synchronization malfunction, CAN signal transmission malfunction, and inability to send data.

2. The fault diagnosis method of the pressure sensor fault diagnosis system according to claim 1, characterized in that: The specific steps in step (2) are as follows: the whole machine is powered on, the pressure sensors send their respective IP addresses to the vehicle display. If the vehicle display receives the IP address of the pressure sensor, it proceeds to the next step. If it does not receive the IP address of the pressure sensor, the vehicle display will show that the pressure sensor at the corresponding location is not connected.

3. The fault diagnosis method of the pressure sensor fault diagnosis system according to claim 2, characterized in that: The specific steps in step (3) are as follows: (3.1) The vehicle display sends a start brand confirmation message, the pressure sensor responds to the start brand confirmation message, and the pressure sensor sends a message containing brand information to the vehicle controller. The vehicle controller confirms whether the message containing brand information is consistent with the set message content. If they are inconsistent, the vehicle controller sends a brand confirmation failure message to the display. The vehicle display displays the corresponding error code, issues an alarm and displays the corresponding prompt information. If they are consistent, the vehicle controller sends a brand confirmation success message to the vehicle display. The vehicle display determines whether it receives the brand confirmation success message within a certain time. If it receives it, it proceeds to the next step (3.2). If it does not receive it, the vehicle display displays the corresponding error code, issues an alarm and displays the corresponding prompt information. (3.2) The vehicle display sends a startup software version confirmation message, the pressure sensor responds to the startup software version confirmation message, and the pressure sensor sends a message containing software version information to the vehicle controller. The vehicle controller confirms whether the content of the message containing software version information is consistent with the set message content. If they are inconsistent, the vehicle controller sends a software version conflict message to the display. The vehicle display displays the corresponding error code, issues an alarm and displays the corresponding prompt information. If they are consistent, the vehicle controller sends a software version confirmation success message to the vehicle display. The vehicle display determines whether it receives the software version confirmation success message within a certain period of time. If it receives it, it proceeds to the next step (3.3). If it does not receive it, the vehicle display displays the corresponding error code, issues an alarm and displays the corresponding prompt information. (3.3) The vehicle display sends a start model confirmation message, the pressure sensor responds to the start model confirmation message, and the pressure sensor sends a message containing model information to the vehicle controller. The vehicle controller confirms whether the content of the message containing model information is consistent with the set message content. If they are inconsistent, the vehicle controller sends a model abnormality message to the display. The vehicle display displays the corresponding error code, issues an alarm and displays the corresponding prompt information. If they are consistent, the vehicle controller sends a model confirmation success message to the vehicle display. The vehicle display determines whether it receives the model confirmation success message within a certain time. If it receives it, it proceeds to the next step (4). If it does not receive it, the vehicle display displays the corresponding error code, issues an alarm and displays the corresponding prompt information.

4. The fault diagnosis method of the pressure sensor fault diagnosis system according to claim 3, characterized in that: The method for diagnosing address conflicts in step (4) is as follows: The pressure sensor PDO transmits a set of data A. Within the transmission period t, the pressure sensor queries the network and receives data B with the same ID. If A=B, it means that there is no address conflict of the pressure sensor. If A≠B, it means that there is an address conflict of the pressure sensor.

5. The fault diagnosis method of the pressure sensor fault diagnosis system according to claim 4, characterized in that: The diagnostic method for abnormal pressure sensor signal output in step (4) is as follows: The signal from the pressure sensor is acquired by the signal acquisition module. The value of the acquired signal is calculated by the main chip module and is outside [-5 bar, 400 bar]. The pressure sensor continuously acquires m cycles. If each cycle is outside [-5 bar, 400 bar], the corresponding alarm is triggered. Specifically, if the value is continuously below -5 bar, the data[4]_0 of the message sent to the vehicle controller is set to 1. If the value is continuously above 400 bar, the data[4]_1 of the message sent to the controller is set to 1. The acquisition cycle m is usually set to 5 cycles. It can be adjusted according to the importance level of the detection location. The adjustment range of m is [3, 10].

6. The fault diagnosis method of the pressure sensor fault diagnosis system according to claim 4, characterized in that: The diagnostic method for the pressure sensor having no signal output in step (4) is as follows: if the data length collected by the signal acquisition module is abnormal within two consecutive cycles, then the pressure sensor is abnormally collected and there is no output signal. The data[4]_2 of the message sent to the vehicle controller is set to 1.

7. The fault diagnosis method of the pressure sensor fault diagnosis system according to claim 4, characterized in that: The diagnostic method for time synchronization anomaly diagnosis in step (4) is as follows: In each sampling period, query the time synchronization status in the main chip module. If the status is abnormal, output message data[4]_3 set to 1 in the same sampling period. The diagnostic method for CAN signal transmission abnormality is as follows: In each sampling period, query the CAN overflow status in the main chip module. When the status is abnormal, output message data[4]_5 is set to 1 in the same sampling period; The diagnostic method for data not being able to be sent is as follows: In each sampling period, query the status of the buffer in the main chip. If the status is abnormal, output the message data[4]_4 set to 1 in the same sampling period.

8. A crane, characterized in that, The fault diagnosis method for implementing the pressure sensor fault diagnosis system as described in claim 1, wherein the key pressure detection locations on the upper part of the crane include the main valve MP1 port, the main valve MP2 port, the pressure detection point of the large chamber of the telescopic cylinder, and the pressure detection point of the hoist main winch balance valve.

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