Relay state detection method and corresponding device
By obtaining the amplitude signal of the relay when performing the operation, the problem of difficulty in accurately judging the relay status in the prior art is solved, and more accurate state judgment and risk reduction are achieved.
Patent Information
- Application Number
- CN202411417630.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-09
- Publication Date
- 2025-04-04
AI Technical Summary
In the prior art, when detecting the adhesion fault of the relay, it is difficult to accurately judge the state of the relay, especially the semi-adhesion state, which leads to false alarms or missed detection, increasing the risk of leakage and arcing.
The state of the relay is determined based on these signals by acquiring the amplitude signal, including a vibration amplitude signal or a sound amplitude signal, when the relay is performed. The specific method includes obtaining the corresponding amplitude signal during the suction and release actions, and determining whether the relay is in a fully adhesion, semi-adhesion or normal state based on the preset threshold.
It improves the accuracy of the relay status and can more accurately determine whether the relay has an adhesion fault, thereby reducing the risk of the relay and improving the safety of relevant operators.
Smart Images
Figure CN119758050A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of electronic technology, and in particular, to a relay state detection method and a corresponding device. Background Art
[0002] Electric vehicles are vehicles that use electricity as a power source. However, after an electric vehicle has been running for a long time, its relay may have a sticking fault. In the related art, the method of sampling the relay voltage by AD (Analog to Digital, a circuit that converts analog signals into digital signals) or the method of detecting the relay sound is used to determine whether the relay has a sticking fault. However, when using the methods in the related art to determine, the determination result may be inaccurate. Summary of the invention
[0003] The purpose of the present disclosure is to provide a relay state detection method and a corresponding device to solve the technical problems existing in the related art.
[0004] In order to achieve the above objectives, in a first aspect, the present disclosure provides a relay state detection method, comprising: Acquire an amplitude signal of the relay when performing an action, wherein the amplitude signal includes a vibration amplitude signal or a sound amplitude signal of the relay; Based at least on the amplitude signal, a state of the relay is determined.
[0005] Optionally, obtaining an amplitude signal of the relay when performing an action includes: Acquire a first amplitude signal when the relay performs a pull-in action, and a second amplitude signal when the relay performs a release action; The step of determining the state of the relay at least according to the amplitude signal comprises: The state of the relay is determined according to the first amplitude signal and the second amplitude signal.
[0006] Optionally, determining the state of the relay according to the first amplitude signal and the second amplitude signal includes: When the amplitude value of the first amplitude signal is less than a first preset amplitude value, and the amplitude value of the second amplitude signal is greater than a second preset amplitude value, it is determined that the state of the relay is a full adhesion state, wherein the first preset amplitude value is obtained when the relay performs a pull-in action, and the second preset amplitude value is obtained when the relay performs a release action.
[0007] Optionally, determining the state of the relay according to the first amplitude signal and the second amplitude signal includes: When the amplitude value of the first amplitude signal is less than a first preset amplitude value, and the amplitude value of the second amplitude signal is less than a second preset amplitude value, it is determined that the state of the relay is a semi-adhesion state, wherein the first preset amplitude value is obtained when the relay performs a pull-in action, and the second preset amplitude value is obtained when the relay performs a release action, or, When the amplitude value of the first amplitude signal is greater than the first preset amplitude value, and the amplitude value of the second amplitude signal is less than the second preset amplitude value, it is determined that the state of the relay is a semi-adhesion state.
[0008] Optionally, determining the state of the relay according to the first amplitude signal and the second amplitude signal includes: When the amplitude value of the first amplitude signal is greater than a first preset amplitude value, and the amplitude value of the second amplitude signal is greater than a second preset amplitude value, it is determined that the state of the relay is a normal state, wherein the first preset amplitude value is obtained when the relay performs a pull-in action, and the second preset amplitude value is obtained when the relay performs a release action.
[0009] Optionally, the method further comprises: Acquiring a voltage signal across the relay when the relay performs a release action; The step of obtaining the amplitude signal of the relay when performing an action includes: Acquiring a third amplitude signal when the relay performs the release action; The step of determining the state of the relay at least according to the amplitude signal comprises: The state of the relay is determined according to the voltage signal and the third amplitude signal.
[0010] Optionally, determining the state of the relay according to the voltage signal and the third amplitude signal includes: When the voltage value corresponding to the voltage signal is not equal to the preset voltage value, and the amplitude value corresponding to the third amplitude signal is less than the second preset amplitude value, the state of the relay is determined to be a semi-adhesion state, wherein the preset voltage value is the total voltage of the battery pack connected to the relay.
[0011] When the voltage value corresponding to the voltage signal is not equal to the preset voltage value, and the amplitude value corresponding to the third amplitude signal is greater than the second preset amplitude value, it is determined that the state of the relay is a normal state.
[0012] Optionally, determining the state of the relay according to the voltage signal and the third amplitude signal includes: When the voltage value corresponding to the voltage signal is equal to the preset voltage value, and the amplitude value corresponding to the third amplitude signal is greater than the second preset amplitude value, the state of the relay is determined to be a full adhesion state, wherein the preset voltage value is the total voltage of the battery pack connected to the relay.
[0013] Optionally, the method further comprises: Acquire the second minimum amplitude signal when the relay is released in a fully adhered state, the third minimum amplitude signal when the relay is released in a normal state, and the second maximum amplitude signal when the relay is released in a semi-adhesive state; An average amplitude value corresponding to the second minimum amplitude signal, the third minimum amplitude signal, and the second maximum amplitude signal is determined as the second preset amplitude value.
[0014] Optionally, the method further comprises: Obtaining a first maximum amplitude signal when the relay is in a fully adhered state and a first minimum amplitude signal when the relay is in a normal state, and determining an average amplitude value corresponding to the first maximum amplitude signal and the first minimum amplitude signal as the first preset amplitude value; and / or Obtain the second minimum amplitude signal when the relay is released in a fully adhered state, the third minimum amplitude signal when the relay is released in a normal state, and the second maximum amplitude signal when the relay is released in a semi-adhesive state, and determine the average amplitude value corresponding to the second minimum amplitude signal, the third minimum amplitude signal, and the second maximum amplitude signal as the second preset amplitude value.
[0015] In a second aspect, the present disclosure provides a relay state detection device, including a data acquisition module and an analysis and processing module; The data acquisition module is used to obtain an amplitude signal of the relay when performing an action, and transmit the amplitude signal to the analysis and processing module, wherein the amplitude signal includes a vibration amplitude signal or a sound amplitude signal of the relay; The analysis and processing module is used to determine the state of the relay at least according to the amplitude signal.
[0016] Optionally, it further comprises a sensor module arranged on the relay housing, wherein the sensor module comprises a sound sensor or a vibration sensor; The data acquisition module is used to obtain the amplitude signal of the relay when performing an action through the sensor module.
[0017] In a third aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any one of the methods provided in the first aspect of the present disclosure.
[0018] In a fourth aspect, the present disclosure provides a controller, comprising: a memory having a computer program stored thereon; A processor is used to execute the computer program in the memory to implement the steps of any one of the methods provided in the first aspect of the present disclosure.
[0019] In a fifth aspect, the present disclosure provides a vehicle, comprising the controller provided in the fourth aspect of the present disclosure.
[0020] In a sixth aspect, the present disclosure provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of any one of the methods provided in the first aspect of the present disclosure.
[0021] Through the above technical solution, the state of the relay is determined at least according to the amplitude signal when the relay performs an action, and the amplitude signal includes the vibration amplitude signal or the sound amplitude signal of the relay. At least determining the state of the relay according to the amplitude signal when the relay performs an action can improve the accuracy of the relay state, and at the same time, it can be determined whether the relay has a sticking fault according to the relay state, thereby reducing the risk of the relay and improving the safety of related operators.
[0022] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings: Figure 1 is a schematic diagram showing a relay state detection method according to an exemplary embodiment of the present disclosure.
[0024] Figure 2 is a schematic structural diagram showing a relay according to an exemplary embodiment of the present disclosure.
[0025] Figure 3 The figure is a schematic diagram showing the amplitude variation of a relay performing a pull-in action in different states according to an exemplary embodiment of the present disclosure.
[0026] Figure 4 The figure is a schematic diagram showing the amplitude variation of a relay performing a release action in different states according to an exemplary embodiment of the present disclosure.
[0027] Figure 5 The present invention is a flowchart showing how to judge the state of a relay when performing a pull-in action and a release action according to an exemplary embodiment of the present invention.
[0028] Figure 6 is a flow chart showing how to determine a relay state when performing a release action according to an exemplary embodiment of the present disclosure.
[0029] Figure 7 is a schematic diagram showing a relay detection device according to an exemplary embodiment of the present disclosure.
[0030] Figure 8 The figure is a circuit connection diagram showing a relay detection device according to an exemplary embodiment of the present disclosure.
[0031] Fig. 9 is a schematic diagram showing a relay state detection device according to an exemplary embodiment of the present disclosure.
[0032] Fig.10 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION
[0033] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.
[0034] At present, the market share of electric vehicles is increasing year by year, and the battery packs on electric vehicles are constantly developing in the direction of large capacity and high voltage. In the actual operation process, after the electric vehicle has been working for a period of time, the relay may have adhesion failure due to long-term operation, abnormal upper and lower high voltage, and abnormal fluctuations in voltage and current. When the relay has adhesion failure, it is easy to cause a short circuit outside the electric vehicle battery, which in turn causes the electric vehicle to spontaneously combust. Therefore, when the electric vehicle is running, it is necessary to detect whether the relay has adhesion failure in real time.
[0035] In the first related technology, the relay voltage is collected by AD to detect whether the relay has a sticking fault. In the second related technology, the state of the relay is detected by monitoring the sound of the relay and the vibration or sound of the electric equipment such as the motor at the rear end of the relay.
[0036] However, the inventors found that when the first related technology is used to detect whether the relay has an adhesion fault, it is impossible to detect a semi-adhesion fault of the relay, which leads to missed detection, false alarm or no fault alarm, and increases the risk of leakage and arcing.
[0037] When the second related technology is used to detect whether the relay has a sticking fault, the sticking of the relay is mainly determined by detecting the presence or absence of sound and the time from issuing a command to detecting the sound, thereby achieving complete isolation of the high and low voltage systems and effectively detecting the sticking fault of the relay. However, when this method is used to detect mainstream direct-acting high-voltage DC relays, when the relay is in a sticking state, it will also make a sound, and the state of the relay cannot be accurately determined.
[0038] In view of this, the present disclosure provides a relay state detection method and a corresponding device to solve the technical problems existing in the above-mentioned related technologies.
[0039] like Figure 1 As shown, Figure 1 is a schematic diagram showing a relay state detection method according to an exemplary embodiment of the present disclosure, referring to Figure 1 ,include: S101: Acquire an amplitude signal of a relay when performing an action, wherein the amplitude signal includes a vibration amplitude signal or a sound amplitude signal of the relay; S102: Determine the state of the relay at least according to the amplitude signal.
[0040] Through the above technical solution, the state of the relay is determined at least according to the amplitude signal when the relay performs an action, and the amplitude signal includes the vibration amplitude signal or the sound amplitude signal of the relay. Determining the state of the relay according to the amplitude signal when the relay performs an action can improve the accuracy of the relay state, and at the same time, it can be determined whether the relay has a sticking fault according to the relay state, thereby reducing the risk of the relay and improving the safety of related operators.
[0041] In order to enable those skilled in the art to better understand the method for determining the welding state provided by the present disclosure, the above steps are described in detail with examples below.
[0042] For example, the relay may be a direct-acting double-contact relay, which is not specifically limited in the embodiments of the present disclosure. Figure 2 As shown, in the classic direct-acting double-contact relay, a moving part is included, and the moving part includes a moving contact plate 1, a core shaft 2 and an iron core 3, wherein the iron core 3 is hard-connected to the core shaft 2. When the relay performs a pull-in action and a release action, its action sequence and process are as follows.
[0043] When the direct-acting high-voltage DC relay receives the closing command, it starts to perform the pull-in action. The direct-acting high-voltage DC relay is energized at a low voltage, and the iron core 3 and the core shaft 2 begin to compress the release spring 4 and move the moving contact plate 1 upward. When the moving contact plate 1 hits the static contact 5, it emits an obvious impact sound and vibration. At this time, the moving contact plate 1 stops moving upward, while the iron core 3 and the core shaft 2 continue to move upward and compress the buffer spring 6 until the iron core 3 hits the limit column 7 and emits an obvious impact sound and vibration again. At this time, the pull-in action performed by the direct-acting high-voltage DC relay is completed. When the direct-acting high-voltage DC relay performs a normal pull-in action, the duration of the pull-in process is less than 30 milliseconds, and two obvious signals can be received.
[0044] If the direct-acting high-voltage DC relay is in a fully adhered state before issuing a closing command, the iron core 3 and the core shaft 2 together compress the buffer spring 6 and the release spring 4 to move upward until the iron core 3 collides with the limit column 7, emitting an obvious impact sound and vibration, and the pull-in action in the fully adhered state is completed. In this process, only one obvious signal can be received, wherein the fully adhered state can be that the relay cannot be disconnected when performing the release action.
[0045] If the direct-acting high-voltage DC relay is in a semi-adhesive state before issuing a closing command, the iron core 3 and the core shaft 2 together compress the release spring 4 and move the disconnected end of the moving contact plate 1 upward. When the disconnected end of the moving contact plate 1 hits the static contact 5, it emits obvious sound and vibration, but due to the obstruction of the vibration by the undisconnected end, the intensity of the sound and vibration is obviously weaker than the signal during the normal suction action. After that, the iron core 3 and the core shaft 2 compress the release spring 4 and the buffer spring 6 to continue to move upward until the iron core 3 hits the limit column 7, emitting obvious impact sound and vibration, and the suction action in the semi-adhesive state is completed. In this process, two obvious signals can be received, but the first signal received is obviously weaker than the signal received under the normal suction action. Among them, the semi-adhesive state can be that when the relay performs the release action, only one of the contacts can be disconnected, while the other contact is still adhered.
[0046] When the direct-acting high-voltage DC relay receives the release command, it starts to execute the release action, the direct-acting high-voltage DC relay is powered off at low voltage, and under the action of the release spring 4 and the buffer spring 6, the iron core 3 and the core shaft 2 start to move downward, and when the top of the core shaft 2 hits the moving touch plate 1, an obvious impact sound and vibration are emitted, and then the iron core 3 and the core shaft 2 move downward with the moving touch plate 1, and when the iron core 3 hits the bottom of the sleeve 8, an obvious impact sound and vibration are emitted again, at this time the iron core 3 and the core shaft 2 stop moving, and the moving touch plate 1 continues to compress the overtravel spring downward and perform simple harmonic vibration, at this time the release action performed by the direct-acting high-voltage DC relay is completed. When the direct-acting high-voltage DC relay performs a normal release action, the release action lasts less than 30 milliseconds, and at least two obvious signals are received.
[0047] If the direct-acting high-voltage DC relay is in a fully adhered state before issuing a release command, the iron core 3 and the core shaft 2 move downward together under the action of the buffer spring 6 and the release spring 4. When the core shaft 2 hits the moving contact plate 1, an obvious impact sound and vibration are emitted. Since the moving contact plate 1 and the static contact 5 cannot be disconnected, the iron core 3 and the core shaft 2 cannot continue to move downward. At this time, the release action in the fully adhered state is completed. In this process, only one obvious signal can be received.
[0048] If the direct-acting high-voltage DC relay is in a semi-adhesive state before issuing a release command, the iron core 3 and the core shaft 2 move downward together under the action of the buffer spring 6 and the release spring 4, and the core shaft 2 hits the moving contact plate 1, and an obvious impact sound and vibration are emitted, but due to the obstruction of the vibration by the unbroken end, the intensity of the sound and vibration is obviously weaker than the signal received during the normal release action, and the iron core 3 stops before moving to the bottom of the sleeve 8. Therefore, in this process, only one obvious signal can be received, but the signal is obviously weaker than the signal received during the normal release action.
[0049] Thus, the state of the relay can be determined according to the amplitude signal generated by the relay when the specified action is performed, wherein the amplitude signal can be a vibration amplitude signal generated by the relay when the action is performed, or a sound amplitude signal emitted. In this embodiment, when the amplitude signal of the relay when performing the action is determined, the state of the relay can be determined according to the amplitude signal, and this is not specifically limited in the embodiments of the present disclosure.
[0050] Determining the state of the relay based on the amplitude signal when the relay is performing an action can improve the accuracy of the relay state. At the same time, it can be determined whether the relay has a adhesion failure based on the relay state, thereby reducing the relay risk and improving the safety of related operating personnel, thereby reducing the risk of electric vehicles.
[0051] In a possible manner, the step of obtaining an amplitude signal of the relay when performing an action includes: Acquire a first amplitude signal when the relay performs a pull-in action, and a second amplitude signal when the relay performs a release action; The step of determining the state of the relay at least according to the amplitude signal comprises: The state of the relay is determined according to the first amplitude signal and the second amplitude signal.
[0052] It should be understood that the pull-in action may be an action of closing the relay. When the relay performs the pull-in action, a first amplitude signal may be generated. The release action may be an action of disconnecting the relay. In this embodiment, the release action may be a release after the relay performs the pull-in action. When the relay performs the release action, a second amplitude signal may be generated. In this embodiment, after determining the first amplitude signal and the second amplitude signal, the state of the relay may be determined according to the first amplitude signal and the second amplitude signal.
[0053] The state of the relay is determined according to the first amplitude signal of the relay in the pull-in action and the second amplitude signal of the relay in the release action, so as to improve the accuracy of the relay state.
[0054] In a possible manner, determining the state of the relay according to the first amplitude signal and the second amplitude signal includes: When the amplitude value of the first amplitude signal is less than a first preset amplitude value, and the amplitude value of the second amplitude signal is greater than a second preset amplitude value, it is determined that the state of the relay is a full adhesion state, wherein the first preset amplitude value is obtained when the relay performs a pull-in action, and the second preset amplitude value is obtained when the relay performs a release action.
[0055] It should be understood that when determining the state of the relay based on the first amplitude signal and the second amplitude signal, the amplitude value of the first amplitude signal can be compared with the first preset amplitude value, and the amplitude value of the second amplitude signal can be compared with the second preset amplitude value, and the state of the relay can be determined by the results of the two comparisons. For example, when the amplitude value of the first amplitude signal is less than the first preset threshold value, it can represent that the relay is in a full adhesion state or a semi-adhesion state at this time, and then the relay continues to perform the release action, and when the amplitude value of the generated second amplitude signal is greater than the second preset amplitude value, it can represent that the state of the relay at this time is a full adhesion state. Among them, the first preset amplitude value can be obtained through the amplitude range corresponding to the relay performing the pull-in action, and the second preset amplitude value can be obtained through the amplitude range corresponding to the relay performing the release action.
[0056] By comparing the amplitude value of the first amplitude signal with the first preset amplitude value and combining the comparison result of the amplitude value of the second amplitude signal with the second preset amplitude value to determine whether the relay is in a full adhesion state, the accuracy of judging the full adhesion state of the relay can be improved.
[0057] In a possible embodiment, the method further comprises: Obtaining a first maximum amplitude signal when the relay is in a fully adhered state and a first minimum amplitude signal when the relay is in a normal state, and determining an average amplitude value corresponding to the first maximum amplitude signal and the first minimum amplitude signal as the first preset amplitude value; and / or Obtain the second minimum amplitude signal when the relay is released in a fully adhered state, the third minimum amplitude signal when the relay is released in a normal state, and the second maximum amplitude signal when the relay is released in a semi-adhesive state, and determine the average amplitude value corresponding to the second minimum amplitude signal, the third minimum amplitude signal, and the second maximum amplitude signal as the second preset amplitude value.
[0058] It should be understood that when the relay performs the pull-in action and the release action in different states, the impact of the operating parts will cause the amplitude of the sound and vibration to change significantly. Figure 2 In the relay shown, the iron core collides with the sleeve and the limit column, the moving contact plate collides with the static contact, and the core shaft collides with the moving contact plate.
[0059] like Figure 3 and Figure 4 As shown, the ordinate can be the amplitude value, and the abscissa represents the relay being in a full adhesion state, a semi-adhesion state, and a normal state. Figure 3 In the figure, 25%~75% can be expressed as the range of amplitude values corresponding to the 25%~75% amplitude signal when the relay is in different states and performs actions. The range within 1.5IQR (Interquartile Range) can be a statistic that measures the degree of data dispersion in statistics. The median line can be the middle data of the amplitude value corresponding to the amplitude signal in the state of the relay. The white hollow circles can be expressed as the average amplitude value of the amplitude signal generated by the relay in the state. The black circles can be the abnormal amplitude value of the amplitude signal generated by the relay in the state.
[0060] according to Figure 3It can be known that the amplitude range generated by the pull-in action when the relay is in a full adhesion state is smaller than the amplitude range generated by the pull-in action when the relay is in a semi-adhesion state, and the amplitude range generated by the pull-in action when the relay is in a semi-adhesion state is smaller than the amplitude range generated by the pull-in action when the relay is in a normal state. And the minimum value of the amplitude value generated by the pull-in action when the relay is in a normal state is greater than the maximum value of the amplitude value generated by the pull-in action when the relay is in a full adhesion state. Thus, the average amplitude value between the amplitude value of the first minimum amplitude signal of the pull-in action when the relay is in a normal state and the amplitude value of the first maximum amplitude signal of the pull-in action when the relay is in a full adhesion state can be calculated, and the average amplitude value is used as the first preset amplitude value. Thus, when the amplitude value of the first amplitude signal is greater than the first preset amplitude value, it can represent that the relay is in a normal state or a semi-adhesion state, and when the amplitude value of the first amplitude signal is less than the first preset amplitude value, it can represent that the relay is in a full adhesion state or a semi-adhesion state.
[0061] according to Figure 4 It can be known that the amplitude range generated by the release action when the relay is in a full adhesion state and the amplitude range generated by the release action when the relay is in a semi-adhesion state are both smaller than the amplitude range generated by the release action when the relay is in a normal state. And the minimum value of the amplitude value generated by the release action when the relay is in a normal state and the minimum value of the amplitude value generated by the release action when the relay is in a full adhesion state are both greater than the maximum value of the amplitude value generated by the release action when the relay is in a semi-adhesion state. Thus, the average amplitude value corresponding to the second minimum amplitude signal when the relay releases the action in the full adhesion state, the third minimum amplitude signal when the relay releases the action in the normal state, and the second maximum amplitude signal when the relay releases the action in the semi-adhesion state can be determined as the second preset amplitude value. Thus, when only the second amplitude signal is compared with the second preset amplitude value, when the amplitude value of the second amplitude signal is greater than the second preset amplitude value, it can represent that the relay is in a full adhesion state or a normal state, and when the amplitude value of the second amplitude signal is less than the second preset amplitude value, it can represent that the relay is in a semi-adhesion state.
[0062] In a possible manner, determining the state of the relay according to the first amplitude signal and the second amplitude signal includes: When the amplitude value of the first amplitude signal is less than a first preset amplitude value, and the amplitude value of the second amplitude signal is less than a second preset amplitude value, it is determined that the state of the relay is a semi-adhesion state, wherein the first preset amplitude value is obtained when the relay performs a pull-in action, and the second preset amplitude value is obtained when the relay performs a release action, or, When the amplitude value of the first amplitude signal is greater than the first preset amplitude value, and the amplitude value of the second amplitude signal is less than the second preset amplitude value, it is determined that the state of the relay is a semi-adhesion state.
[0063] It should be understood that it is also possible to determine whether the relay is in a semi-adhesion state based on the first amplitude signal and the second amplitude signal. For example, when the amplitude value of the first amplitude signal is less than the first preset amplitude value, it can represent that the relay is in a full adhesion state or a semi-adhesion state, and the release action continues to be performed after the pull-in action, and when the amplitude value of the second amplitude signal obtained by the release action is less than the second preset amplitude value, it can represent that the relay is in a semi-adhesion state at this time. Alternatively, when the amplitude value of the first amplitude signal is greater than the first preset amplitude value, it can represent that the relay is in a normal state or a semi-adhesion state during the pull-in action, and the release action is performed after the pull-in action, and when the amplitude value of the second amplitude signal obtained by the release action is less than the second preset amplitude value, it can represent that the relay is in a semi-adhesion state at this time.
[0064] By judging whether the relay is in a semi-sticky state according to the first amplitude signal, the first preset amplitude value, the second amplitude signal and the second preset amplitude value, the accuracy of the semi-sticky state of the relay can be improved. Compared with the judgment method of sampling the relay voltage by AD in the related art, the missed detection of the semi-sticky state can be reduced, and the risk of the relay can be reduced, thereby reducing the spontaneous combustion incidents caused by external short circuit of the battery in electric vehicles.
[0065] In a possible manner, the determining the state of the relay according to the first amplitude signal and the second amplitude signal includes: When the amplitude value of the first amplitude signal is greater than a first preset amplitude value, and the amplitude value of the second amplitude signal is greater than a second preset amplitude value, it is determined that the state of the relay is a normal state, wherein the first preset amplitude value is obtained when the relay performs a pull-in action, and the second preset amplitude value is obtained when the relay performs a release action.
[0066] It should be understood that when the amplitude value of the first amplitude signal is greater than the first preset amplitude value, it may represent that the relay is in a normal state or a semi-adhesion state during the attraction action, and a release action is performed after the attraction action. When the amplitude value of the second amplitude signal obtained by the release action is greater than the second preset amplitude value, it may represent that the relay is in a normal state at this time.
[0067] By judging whether the relay is in a normal state based on the first amplitude signal, the first preset amplitude value, the second amplitude signal and the second preset amplitude value, the accuracy of the normal state of the relay can be improved. Compared with the judgment method of sampling the relay voltage by AD in the related art, the accuracy of the normal state can be improved, thereby ensuring the safety of the electric vehicle during operation.
[0068] In a possible embodiment, the method further comprises: Acquiring a voltage signal across the relay when the relay performs a release action; The step of obtaining the amplitude signal of the relay when performing an action includes: Acquiring a third amplitude signal when the relay performs the release action; The step of determining the state of the relay at least according to the amplitude signal comprises: The state of the relay is determined according to the voltage signal and the third amplitude signal.
[0069] It should be understood that when the relay is performing a release action, if the relay is in a fully adhered state, the relay cannot be released, which causes the voltage signal of the relay to continue to exist. When the relay is in a semi-adhesive state or a normal state, the voltage signal does not exist. Therefore, when the relay is performing a release action, the state of the relay can be determined based on the voltage signal at both ends of the relay when the relay is in the release action and the third amplitude signal.
[0070] By determining the state of the relay by the voltage signal and the third amplitude signal when the relay performs an action, the accuracy of the relay state can be improved compared to the method of determining the relay state by identifying the relay sound signal in the related art.
[0071] In a possible manner, determining the state of the relay according to the voltage signal and the third amplitude signal includes: When the voltage value corresponding to the voltage signal is not equal to the preset voltage value, and the amplitude value corresponding to the third amplitude signal is less than the second preset amplitude value, the state of the relay is determined to be a semi-adhesion state, wherein the preset voltage value is the total voltage of the battery pack connected to the relay.
[0072] When the voltage value corresponding to the voltage signal is not equal to the preset voltage value, and the amplitude value corresponding to the third amplitude signal is greater than the second preset amplitude value, it is determined that the state of the relay is a normal state.
[0073] It should be understood that when the voltage signal of the relay is not equal to the preset voltage value when the relay is performing the release action, it can be judged that the relay is in a semi-adhesion state or a normal state, and then the third amplitude signal generated by the relay when performing the release action can be compared with the second preset amplitude value. When the third amplitude signal is less than the second preset amplitude value, it can be judged that the relay is in a semi-adhesion state. Among them, the preset voltage value can be the total voltage of the battery pack connected to the relay. When the voltage signal is equal to the preset voltage value, it can represent that the relay is in a conducting state, and when the voltage signal is not equal to the preset voltage value, it can represent that the relay is in a power-off state.
[0074] Judging that the relay is in a normal state based on the voltage signal of the relay under the release action and the third amplitude signal can improve the accuracy of the normal state of the relay, thereby reducing the risk of the relay and ensuring the safety of the electric vehicle.
[0075] In a possible manner, determining the state of the relay according to the voltage signal and the third amplitude signal includes: When the voltage value corresponding to the voltage signal is equal to the preset voltage value, and the amplitude value corresponding to the third amplitude signal is greater than the second preset amplitude value, the state of the relay is determined to be a full adhesion state, wherein the preset voltage value is the total voltage of the battery pack connected to the relay.
[0076] It should be understood that when the voltage signal of the relay is equal to the preset voltage value when the relay is performing the release action, it can be judged that the relay is in a full adhesion state. Then, the third amplitude signal generated by the relay when performing the release action can be compared with the second preset amplitude value. When the third amplitude signal is greater than the second preset amplitude value, it can be further determined that the relay is in a full adhesion state.
[0077] By judging whether the relay is in a full-adhesion state through the voltage signal of the relay under the release action and the third amplitude signal, the full-adhesion state of the relay can be improved, thereby reducing the risk of the relay and ensuring the safety of the electric vehicle.
[0078] In a possible embodiment, the method further comprises: Acquire the second minimum amplitude signal when the relay is released in a fully adhered state, the third minimum amplitude signal when the relay is released in a normal state, and the second maximum amplitude signal when the relay is released in a semi-adhesive state; An average amplitude value corresponding to the second minimum amplitude signal, the third minimum amplitude signal, and the second maximum amplitude signal is determined as the second preset amplitude value.
[0079] It should be understood that when the relay performs the pull-in action and the release action in different states, the impact of the operating parts will cause the amplitude of the sound and vibration to change significantly. Figure 2 In the relay shown in the figure, the iron core collides with the sleeve and the limit column, the moving contact plate collides with the static contact, and the core shaft collides with the moving contact plate. Figure 4 As shown, the amplitude range generated when the relay is in a full adhesion state and the amplitude range generated when the relay is in a half adhesion state are both smaller than the amplitude range generated when the relay is in a normal state. And the minimum value of the amplitude value generated when the relay is in a normal state and the minimum value of the amplitude value generated when the relay is in a full adhesion state are both greater than the maximum value of the amplitude value generated when the relay is in a half adhesion state. Thus, the average amplitude value corresponding to the second minimum amplitude signal when the relay is in a full adhesion state, the third minimum amplitude signal when the relay is in a normal state, and the second maximum amplitude signal when the relay is in a half adhesion state can be determined as the second preset amplitude value.
[0080] In a possible way, after determining that the relay is in a full sticking state or a half sticking state, it can represent that the relay has a sticking fault at this time, and then an alarm signal can be generated according to the full sticking state and the half sticking state, and the alarm signal can be transmitted to the terminal corresponding to the relevant personnel to remind the relevant personnel that the relay has a sticking fault and the relay needs to be processed immediately.
[0081] Reference Figure 5 , Figure 5 FIG. 1 is a flow chart showing a method for determining the state of a relay when performing a pull-in action and a release action according to an exemplary embodiment of the present disclosure. Figure 5 As shown, the process of the relay state detection method includes the following steps.
[0082] When the relay state detection method is applied to an electric vehicle, when the relay performs a pull-in action, a sound amplitude signal or a vibration amplitude signal under the pull-in action is obtained. When the amplitude value of the sound amplitude signal or the vibration amplitude signal is greater than V1, it can represent that the relay is in a normal state or a semi-adhesion state, which can enable the vehicle to operate normally. Among them, the sound amplitude signal or the vibration amplitude signal can be a first amplitude signal, and V1 can be a first preset amplitude signal.
[0083] When the amplitude value of the sound amplitude signal or the vibration amplitude signal is less than V1, it can represent that the relay is in a full adhesion state or a semi-adhesion state, and an alarm instruction and a re-inspection instruction can be issued to relevant personnel so that the relevant personnel can control the vehicle to stop running, thereby causing the relay to perform a release action. Continue to obtain the sound amplitude signal and the vibration amplitude signal under the release action. When the amplitude value of the sound amplitude signal and the vibration amplitude signal under the release action is greater than V2, the relay is in a full adhesion state. When the amplitude value of the sound amplitude signal and the vibration amplitude signal under the release action is less than V2, the relay is in a semi-adhesion state. Among them, V2 can be the second preset amplitude value.
[0084] Reference Figure 6 , Figure 6 FIG. 1 is a flow chart showing a method for determining a relay state when performing a release action according to an exemplary embodiment of the present disclosure. Figure 6 As shown, the process of the relay state detection method includes the following steps.
[0085] When the relay value performs a release action, the sound amplitude signal, vibration amplitude signal and voltage signal of the release action can be obtained. When the voltage signal is equal to the preset voltage value, and / or the amplitude value of the sound amplitude signal and the vibration amplitude signal of the release action is greater than V2, the relay is in a full adhesion state. When the voltage signal is not equal to the preset voltage value, and the amplitude value of the sound amplitude signal and the vibration amplitude signal of the release action is greater than V2, the relay is in a normal state. When the voltage signal is not equal to the preset voltage value, and the amplitude value of the sound amplitude signal and the vibration amplitude signal of the release action is less than V2, and / or the amplitude value of the sound amplitude signal and the vibration amplitude signal of the release action is less than V2, the relay is in a semi-adhesion state. When the relay is in a normal state, it can be powered off normally after the release action is performed. When the relay is in a full adhesion state or a semi-adhesion state, an alarm signal is issued, and the power is normally turned off after the alarm signal is issued.
[0086] Through the above technical solution, when the relay performs a release action after performing a pull-in action, it can be determined whether the relay is in a sticky state based on the first amplitude signal obtained by the pull-in action and the second amplitude signal obtained by the release action, or when the relay performs a release action, it can be determined whether the relay is in a sticky state based on the third amplitude signal and the voltage signal of the release action. Compared with the method of sampling the relay voltage by AD or the method of collecting the relay sound for comparison in the related art, the accuracy of the relay state can be improved, and the comprehensive detection and identification of the relay state can be achieved, thereby reducing the risk of relay occurrence, and at the same time, the safety of the power vehicle can be improved. And the relay state detection method can be applied to charging piles, and this is not specifically limited in the embodiments of the present disclosure.
[0087] Based on the same concept, this embodiment also discloses a relay state detection device, referring to Figure 7 and Figure 8 , Figure 7 is a schematic diagram showing a relay detection device according to an exemplary embodiment of the present disclosure, Figure 8 FIG. 1 is a circuit connection diagram of a relay detection device according to an exemplary embodiment of the present disclosure. Figure 7 and Figure 8 As shown, it includes a data acquisition module and an analysis and processing module; The data acquisition module is used to obtain an amplitude signal of the relay when performing an action, and transmit the amplitude signal to the analysis and processing module, wherein the amplitude signal includes a vibration amplitude signal or a sound amplitude signal of the relay; The analysis and processing module is used to determine the state of the relay at least according to the amplitude signal.
[0088] For example, the data acquisition module can obtain the amplitude signal of the relay when executing the action, and the amplitude signal of the execution action includes the amplitude signal of the pull-in action and the amplitude signal of the release action. Among them, the data acquisition unit can be a HVSU (High Voltage System Unit) unit, and the analysis and processing module can be a BMU (Battery Management Unit). In this regard, the embodiments of the present disclosure do not make specific limitations.
[0089] In a possible manner, in addition to collecting the amplitude signal, the data acquisition module can also collect the voltage signal at both ends of the relay, and input the voltage signal into the analysis and processing module. After receiving the voltage signal, the analysis and processing module can judge the state of the relay based on the amplitude signal and voltage signal corresponding to the release action when the relay performs a release action.
[0090] In a possible manner, it further includes a sensor module disposed on the relay housing, wherein the sensor module includes a sound sensor or a vibration sensor; The data acquisition module is used to obtain the amplitude signal of the relay when performing an action through the sensor module.
[0091] It should be understood that when the sensor module is set on the housing of the relay, if the sensor module is a vibration sensor, the vibration amplitude signal of the relay during the pull-in action and the release action can be collected by the vibration sensor. If the sensor module is a sound sensor, the sound amplitude signal of the relay during the pull-in action and the release action can be collected by the sound sensor.
[0092] In a possible manner, the relay state detection device also includes an alarm module, which is connected to the analysis and processing module. After the analysis and processing module determines the state of the relay, the state of the relay is transmitted to the alarm module. The alarm module receives the relay state and makes a judgment. When the state of the relay is judged to be a full adhesion state or a semi-adhesion state, a corresponding alarm signal is generated and an alarm is issued. When the relay is judged to be in a normal state, no processing is performed. Among them, the alarm module can be an alarm module included in the vehicle end, and the embodiments of the present disclosure do not make specific limitations on this.
[0093] Through the above technical solution, the state of the relay is determined at least according to the amplitude signal when the relay performs an action, and the amplitude signal includes the vibration amplitude signal or the sound amplitude signal of the relay. Determining the state of the relay according to the amplitude signal when the relay performs an action can improve the accuracy of the relay state, and at the same time, it can be determined whether the relay has a sticking fault according to the relay state, thereby reducing the risk of the relay and improving the safety of related operators.
[0094] Based on the same concept, the present disclosure also discloses a relay state detection device, referring to Fig. 9 , Fig. 9 is a schematic diagram showing a relay state detection device 900 according to an exemplary embodiment of the present disclosure, such as Fig. 9 As shown, it includes a first signal acquisition module 901 and a first determination module 902; The first signal acquisition module 901 is used to acquire an amplitude signal of the relay when performing an action, wherein the amplitude signal includes a vibration amplitude signal or a sound amplitude signal of the relay; The first determination module 902 is used to determine the state of the relay at least according to the amplitude signal.
[0095] Optionally, the first signal acquisition module 901 is used to: Acquire a first amplitude signal when the relay performs a pull-in action, and a second amplitude signal when the relay performs a release action; The first determining module 902 is used for: The state of the relay is determined according to the first amplitude signal and the second amplitude signal.
[0096] Optionally, the first determining module 902 is used to: When the amplitude value of the first amplitude signal is less than a first preset amplitude value, and the amplitude value of the second amplitude signal is greater than a second preset amplitude value, it is determined that the state of the relay is a full adhesion state, wherein the first preset amplitude value is obtained when the relay performs a pull-in action, and the second preset amplitude value is obtained when the relay performs a release action.
[0097] Optionally, the first determining module 902 is used to: When the amplitude value of the first amplitude signal is less than a first preset amplitude value, and the amplitude value of the second amplitude signal is less than a second preset amplitude value, it is determined that the state of the relay is a semi-adhesion state, wherein the first preset amplitude value is obtained when the relay performs a pull-in action, and the second preset amplitude value is obtained when the relay performs a release action, or, When the amplitude value of the first amplitude signal is greater than the first preset amplitude value, and the amplitude value of the second amplitude signal is less than the second preset amplitude value, it is determined that the state of the relay is a semi-adhesion state.
[0098] Optionally, the first determining module 902 is used to: When the amplitude value of the first amplitude signal is greater than a first preset amplitude value, and the amplitude value of the second amplitude signal is greater than a second preset amplitude value, it is determined that the state of the relay is a normal state, wherein the first preset amplitude value is obtained when the relay performs a pull-in action, and the second preset amplitude value is obtained when the relay performs a release action.
[0099] Optionally, the relay state detection device 900 further includes: A second signal acquisition module, used to acquire a voltage signal across the relay when the relay performs a release action; The first signal acquisition module 901 is used for: Acquiring a third amplitude signal when the relay performs the release action; The first determining module 902 is used for: The state of the relay is determined according to the voltage signal and the third amplitude signal.
[0100] Optionally, the first determining module 902 is used to: When the voltage value corresponding to the voltage signal is not equal to the preset voltage value, and the amplitude value corresponding to the third amplitude signal is less than the second preset amplitude value, the state of the relay is determined to be a semi-adhesion state, wherein the preset voltage value is the total voltage of the battery pack connected to the relay.
[0101] When the voltage value corresponding to the voltage signal is not equal to the preset voltage value, and the amplitude value corresponding to the third amplitude signal is greater than the second preset amplitude value, it is determined that the state of the relay is a normal state.
[0102] Optionally, the first determining module 902 is used to: When the voltage value corresponding to the voltage signal is equal to the preset voltage value, and the amplitude value corresponding to the third amplitude signal is greater than the second preset amplitude value, the state of the relay is determined to be a full adhesion state, wherein the preset voltage value is the total voltage of the battery pack connected to the relay.
[0103] Optionally, the first determining module 902 is used to: Acquire the second minimum amplitude signal when the relay is released in a fully adhered state, the third minimum amplitude signal when the relay is released in a normal state, and the second maximum amplitude signal when the relay is released in a semi-adhesive state; An average amplitude value corresponding to the second minimum amplitude signal, the third minimum amplitude signal, and the second maximum amplitude signal is determined as the second preset amplitude value.
[0104] Optionally, the relay state detection device 900 further includes: a second determination module, for obtaining a first maximum amplitude signal when the relay is in a fully adhered state and a first minimum amplitude signal when the relay is in a normal state, and determining an average amplitude value corresponding to the first maximum amplitude signal and the first minimum amplitude signal as the first preset amplitude value; and / or The third determination module is used to obtain the second minimum amplitude signal when the relay is released in a fully adhered state, the third minimum amplitude signal when the relay is released in a normal state, and the second maximum amplitude signal when the relay is released in a semi-adhesion state, and determine the average amplitude value corresponding to the second minimum amplitude signal, the third minimum amplitude signal and the second maximum amplitude signal as the second preset amplitude value.
[0105] Based on the same concept, this embodiment also discloses a controller, including: a memory having a computer program stored thereon; The processor is used to execute the computer program in the memory to implement the steps of the relay state detection method disclosed in this embodiment.
[0106] Based on the same concept, this embodiment also discloses a vehicle, including the controller disclosed in this embodiment.
[0107] Fig.101 is a block diagram of a vehicle 1000 according to an exemplary embodiment. For example, the vehicle 1000 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 1000 may be an autonomous vehicle or a semi-autonomous vehicle.
[0108] Reference Fig.10 , the vehicle 1000 may include various subsystems, for example, an infotainment system 1010, a perception system 1020, a decision control system 1030, a drive system 1040, and a computing platform 1050. The vehicle 1000 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 1000 may be interconnected by wire or wireless means.
[0109] In some embodiments, the infotainment system 1010 may include a communication system, an entertainment system, and a navigation system.
[0110] The perception system 1020 may include several sensors for sensing information about the environment around the vehicle 1000. For example, the perception system 1020 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.
[0111] The decision control system 1030 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.
[0112] The drive system 1040 may include components that provide power movement for the vehicle 1000. In one embodiment, the drive system 1040 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine can convert energy provided by the energy source into mechanical energy.
[0113] Some or all functions of the vehicle 1000 are controlled by a computing platform 1050. The computing platform 1050 may include at least one processor 1051 and a memory 1052, and the processor 1051 may execute instructions 1053 stored in the memory 1052.
[0114] The processor 1051 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.
[0115] The memory 1052 may be implemented by any type of volatile or nonvolatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.
[0116] In addition to instructions 1053 , memory 1052 may also store data, such as road maps, route information, and data such as the location, direction, and speed of the vehicle. The data stored in memory 1052 may be used by computing platform 1050 .
[0117] In the embodiment of the present disclosure, the processor 1051 can execute instruction 1053 to complete all or part of the steps of the above-mentioned vehicle control method.
[0118] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and the program instructions implement the steps of the above-mentioned relay state detection method when executed by a processor. For example, the computer-readable storage medium can be the above-mentioned memory 1052 including program instructions, and the above-mentioned program instructions can be executed by the processor 1051 of the vehicle 1000 to complete the above-mentioned relay state detection method. In another exemplary embodiment, a computer program product is also provided, which includes a computer program that can be executed by a programmable device, and the computer program has a code portion for executing the above-mentioned relay state detection method when executed by the programmable device.
[0119] Based on the same concept, this embodiment also provides a computer program product, including a computer program, which implements the steps of the relay state detection method provided in this embodiment when executed by a processor. The computer program product includes a computer program that can be executed by a programmable device, and the computer program has a code portion for executing the above-mentioned relay state detection method when executed by the programmable device.
[0120] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.
[0121] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.
[0122] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.
Claims
1. A relay state detection method, characterized in that: include: Acquire an amplitude signal of the relay when performing an action, wherein the amplitude signal includes a vibration amplitude signal or a sound amplitude signal of the relay; Based at least on the amplitude signal, a state of the relay is determined.
2. The relay state detection method according to claim 1, characterized in that: The step of obtaining the amplitude signal of the relay when performing an action includes: Acquire a first amplitude signal when the relay performs a pull-in action, and a second amplitude signal when the relay performs a release action; The step of determining the state of the relay at least according to the amplitude signal comprises: The state of the relay is determined according to the first amplitude signal and the second amplitude signal.
3. The relay state detection method according to claim 2, characterized in that: The step of determining the state of the relay according to the first amplitude signal and the second amplitude signal includes: When the amplitude value of the first amplitude signal is less than a first preset amplitude value, and the amplitude value of the second amplitude signal is greater than a second preset amplitude value, it is determined that the state of the relay is a full adhesion state, wherein the first preset amplitude value is obtained when the relay performs a pull-in action, and the second preset amplitude value is obtained when the relay performs a release action.
4. The relay state detection method according to claim 2, characterized in that: The step of determining the state of the relay according to the first amplitude signal and the second amplitude signal includes: When the amplitude value of the first amplitude signal is less than a first preset amplitude value, and the amplitude value of the second amplitude signal is less than a second preset amplitude value, it is determined that the state of the relay is a semi-adhesion state, wherein the first preset amplitude value is obtained when the relay performs a pull-in action, and the second preset amplitude value is obtained when the relay performs a release action, or, When the amplitude value of the first amplitude signal is greater than the first preset amplitude value, and the amplitude value of the second amplitude signal is less than the second preset amplitude value, it is determined that the state of the relay is a semi-adhesion state.
5. The relay state detection method according to claim 2, characterized in that: Determining the state of the relay according to the first amplitude signal and the second amplitude signal includes: When the amplitude value of the first amplitude signal is greater than a first preset amplitude value, and the amplitude value of the second amplitude signal is greater than a second preset amplitude value, it is determined that the state of the relay is a normal state, wherein the first preset amplitude value is obtained when the relay performs a pull-in action, and the second preset amplitude value is obtained when the relay performs a release action.
6. The relay state detection method according to claim 1, characterized in that: The method further comprises: Acquiring a voltage signal across the relay when the relay performs a release action; The step of obtaining the amplitude signal of the relay when performing an action includes: Acquiring a third amplitude signal when the relay performs the release action; The step of determining the state of the relay at least according to the amplitude signal comprises: The state of the relay is determined according to the voltage signal and the third amplitude signal.
7. The relay state detection method according to claim 6, characterized in that: The step of determining the state of the relay according to the voltage signal and the third amplitude signal comprises: When the voltage value corresponding to the voltage signal is not equal to the preset voltage value, and the amplitude value corresponding to the third amplitude signal is less than the second preset amplitude value, the state of the relay is determined to be a semi-adhesion state, wherein the preset voltage value is the total voltage of the battery pack connected to the relay. When the voltage value corresponding to the voltage signal is not equal to the preset voltage value, and the amplitude value corresponding to the third amplitude signal is greater than the second preset amplitude value, it is determined that the state of the relay is a normal state.
8. The relay state detection method according to claim 6, characterized in that: Determining the state of the relay according to the voltage signal and the third amplitude signal includes: When the voltage value corresponding to the voltage signal is equal to the preset voltage value, and the amplitude value corresponding to the third amplitude signal is greater than the second preset amplitude value, the state of the relay is determined to be a full adhesion state, wherein the preset voltage value is the total voltage of the battery pack connected to the relay.
9. The relay state detection method according to claim 7 or 8, characterized in that: The method further comprises: Acquire the second minimum amplitude signal when the relay is released in a fully adhered state, the third minimum amplitude signal when the relay is released in a normal state, and the second maximum amplitude signal when the relay is released in a semi-adhesive state; An average amplitude value corresponding to the second minimum amplitude signal, the third minimum amplitude signal, and the second maximum amplitude signal is determined as the second preset amplitude value.
10. The relay state detection method according to any one of claims 2 to 5, characterized in that: The method further comprises: Obtaining a first maximum amplitude signal when the relay is in a fully adhered state and a first minimum amplitude signal when the relay is in a normal state, and determining an average amplitude value corresponding to the first maximum amplitude signal and the first minimum amplitude signal as the first preset amplitude value; and / or Obtain the second minimum amplitude signal when the relay is released in a fully adhered state, the third minimum amplitude signal when the relay is released in a normal state, and the second maximum amplitude signal when the relay is released in a semi-adhesive state, and determine the average amplitude value corresponding to the second minimum amplitude signal, the third minimum amplitude signal, and the second maximum amplitude signal as the second preset amplitude value.
11. A relay state detection device, characterized in that: It includes data acquisition module and analysis and processing module; The data acquisition module is used to obtain an amplitude signal of the relay when performing an action, and transmit the amplitude signal to the analysis and processing module, wherein the amplitude signal includes a vibration amplitude signal or a sound amplitude signal of the relay; The analysis and processing module is used to determine the state of the relay at least according to the amplitude signal.
12. The relay state detection device according to claim 11, characterized in that: Also included is a sensor module disposed on the relay housing, the sensor module including a sound sensor or a vibration sensor; The data acquisition module is used to obtain the amplitude signal of the relay when performing an action through the sensor module.
13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 10 are implemented.
14. A controller, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 10.
15. A vehicle, characterized in that: Comprising the controller as claimed in claim 14.
16. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 10.