Pressure sensor fault detection method, device, equipment and medium

Abstract

The invention provides a pressure sensor fault detection method and device, equipment and a medium, and the method comprises the steps: taking the maximum value of a plurality of first energy accumulator pressures outputted by a pressure sensor as an energy accumulator peak pressure in a preset time window; the preset time window comprises a period of time from a first moment to a second moment, the hydraulic pump is started at the first moment, the hydraulic pump is closed at a third moment, and the third moment is located between the first moment and the second moment; in the oil drainage process of the energy accumulator, second energy accumulator pressure output by the pressure sensor is obtained; and whether the pressure difference between the second energy accumulator pressure and the energy accumulator peak pressure is smaller than a preset pressure difference or not is judged, and if yes, it is determined that the pressure sensor breaks down. In the action consumption process of the actuator, the pressure of the energy accumulator continues to rise, so that a certain moment after the hydraulic pump is closed can be used as the end moment of the time window, and the accuracy of fault detection of the pressure sensor is improved.

Description

Technical Field

[0001] The present application relates to the automotive field, and in particular to a pressure sensor fault detection method, device, equipment and medium. Background Art

[0002] In hydraulic systems, accumulators are often used to store the pressure energy of oil. When the oil consumption of the hydraulic system is not large, the excess hydraulic oil output by the hydraulic pump is stored in the accumulator. When the hydraulic pump stops working, the accumulator can supply the stored hydraulic oil to the system to compensate for system leakage and actuator motion consumption, thereby realizing the periodic operation of the hydraulic pump, reducing power consumption and heat generation. In addition, the accumulator can absorb the pressure shock caused by the opening and closing of the system hydraulic components and the pressure pulsation when the hydraulic pump is working, reducing system pressure fluctuations and ensuring stable system pressure.

[0003] The time when the hydraulic pump fills the accumulator with oil and the time when the hydraulic pump is shut down are generally determined by the pressure in the accumulator, and the accumulator pressure is measured by the pressure sensor installed in the system. In the control software, only the corresponding electrical diagnosis is performed for the sensor open circuit, short circuit to ground and short circuit to power supply failure modes. According to the functional safety requirements, in order to achieve a high level of sensor diagnostic coverage, it is necessary to add rational diagnosis on the basis of the electrical diagnostic mechanism. Therefore, providing a pressure sensor fault detection method has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] In view of this, the purpose of this application is to provide a pressure sensor fault detection method, device, equipment and medium, which can detect whether the pressure sensor is faulty and improve the accuracy of pressure sensor fault detection. The specific scheme is as follows:

[0005] In one aspect, the present application provides a pressure sensor fault detection method, comprising:

[0006] In a preset time window, a maximum value of a plurality of first accumulator pressures output by the pressure sensor is used as an accumulator peak pressure; the preset time window includes a period from a first moment to a second moment, a hydraulic pump is turned on at the first moment, the hydraulic pump is used to provide hydraulic oil to the accumulator, and the hydraulic pump is turned off at a third moment, the third moment is between the first moment and the second moment;

[0007] During the oil draining process of the accumulator, obtaining a second accumulator pressure output by the pressure sensor;

[0008] It is determined whether a pressure difference between the second accumulator pressure and the accumulator peak pressure is less than a preset pressure difference, and if so, it is determined that the pressure sensor fails.

[0009] Specifically, the time difference between the third moment and the second moment is greater than or equal to a preset time difference, and the preset time difference is the time required from the end of the actuator hydraulic oil consumption process to the balance of the air pressure and the hydraulic pressure in the accumulator.

[0010] Specifically, during the oil drain process of the accumulator, obtaining the second accumulator pressure output by the pressure sensor includes:

[0011] During the oil draining process of the accumulator, obtaining a plurality of second accumulator pressures output by the pressure sensor at different times;

[0012] The determining whether the pressure difference between the second accumulator pressure and the accumulator peak pressure is less than a preset pressure difference, and if so, determining that the pressure sensor fails, comprises:

[0013] If the pressure difference between the second accumulator pressure and the accumulator peak pressure is less than the preset pressure difference, the count value of the fault counter is increased by one; the initial count value of the fault counter is 0;

[0014] When the count value of the fault counter is greater than a preset threshold, it is determined that the pressure sensor fails.

[0015] Specifically, the time differences corresponding to the pressures of two adjacent second accumulators are equal.

[0016] Specifically, before taking the maximum value of a plurality of first accumulator pressures output by the pressure sensor as the accumulator peak pressure within the preset time window, the method further comprises:

[0017] After the engine is started, determining whether the power supply of the pressure sensor is normal and whether the hydraulic pump is working normally;

[0018] If the power supply of the pressure sensor is normal and the hydraulic pump operates normally, the step of taking the maximum value of the plurality of first accumulator pressures output by the pressure sensor as the accumulator peak pressure within the preset time window is performed.

[0019] On the other hand, the embodiment of the present application further provides a pressure sensor fault detection device, comprising:

[0020] a determination unit, configured to use, within a preset time window, a maximum value of a plurality of first accumulator pressures output by the pressure sensor as an accumulator peak pressure; the preset time window includes a period of time from a first moment to a second moment, a hydraulic pump is turned on at the first moment, the hydraulic pump is used to provide hydraulic oil to the accumulator, and the hydraulic pump is turned off at a third moment, the third moment being between the first moment and the second moment;

[0021] An acquisition unit, used for acquiring a second accumulator pressure output by the pressure sensor during an oil drain process of the accumulator;

[0022] The judging unit is used to judge whether the pressure difference between the second accumulator pressure and the accumulator peak pressure is less than a preset pressure difference, and if so, determine that the pressure sensor fails.

[0023] Specifically, the time difference between the third moment and the second moment is greater than or equal to a preset time difference, and the preset time difference is the time required from the end of the actuator hydraulic oil consumption process to the balance of the air pressure and the hydraulic pressure in the accumulator.

[0024] Specifically, the acquisition unit is used for:

[0025] During the oil draining process of the accumulator, obtaining a plurality of second accumulator pressures output by the pressure sensor at different times;

[0026] The judging unit is used for:

[0027] If the pressure difference between the second accumulator pressure and the accumulator peak pressure is less than the preset pressure difference, the count value of the fault counter is increased by one; the initial count value of the fault counter is 0;

[0028] When the count value of the fault counter is greater than a preset threshold, it is determined that the pressure sensor fails.

[0029] In another aspect, an embodiment of the present application provides a computer device, the computer device comprising a processor and a memory:

[0030] The memory is used to store program code and transmit the program code to the processor;

[0031] The processor is configured to execute the method described above according to the instructions in the program code.

[0032] On the other hand, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method described in the above aspects.

[0033] The embodiment of the present application provides a method, device, equipment and medium for detecting a fault of a pressure sensor. Within a preset time window, the maximum value of multiple first accumulator pressures output by the pressure sensor is used as the accumulator peak pressure; the preset time window includes a period of time from the first moment to the second moment, the hydraulic pump is turned on at the first moment, the hydraulic pump is used to provide hydraulic oil to the accumulator, and the hydraulic pump is turned off at the third moment, the third moment is between the first moment and the second moment; during the oil discharge process of the accumulator, the second accumulator pressure output by the pressure sensor is obtained; it is determined whether the pressure difference between the second accumulator pressure and the accumulator peak pressure is less than the preset pressure difference, if so, it is determined that the pressure sensor is faulty. Due to the action consumption process of the actuator, the pressure of the accumulator will continue to rise, therefore, a certain moment after the hydraulic pump is turned off can be used as the end moment of the time window, so as to determine the true accumulator peak pressure, improve the accuracy of the accumulator peak pressure, if the pressure difference between the second accumulator pressure and the peak pressure is less than the preset pressure difference, and in fact, due to the oil discharge process, the pressure will become smaller, it means that the pressure sensor has not correctly detected the pressure change degree, indicating that the pressure sensor is faulty, and improves the accuracy of the pressure sensor fault detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 A schematic diagram of a flow chart of a pressure sensor fault detection method provided in an embodiment of the present application is shown;

[0036] Figure 2 A schematic diagram showing the installation positions of an accumulator and a pressure sensor provided in an embodiment of the present application is shown;

[0037] Figure 3 A schematic diagram of accumulator pressure change provided by an embodiment of the present application is shown;

[0038] Figure 4 Another schematic diagram of accumulator pressure change provided by an embodiment of the present application is shown;

[0039] Figure 5 A schematic diagram showing a flow chart of another pressure sensor fault detection method provided by the present application is shown;

[0040] Figure 6 A structural block diagram of a pressure sensor fault detection device provided in an embodiment of the present application;

[0041] Figure 7 A structural diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below with reference to the accompanying drawings.

[0043] In the following description, many specific details are set forth to facilitate a full understanding of the present application, but the present application may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0044] Secondly, the present application is described in detail with reference to the schematic diagram. When describing the embodiments of the present application in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present application. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0045] For ease of understanding, a pressure sensor fault detection method, device, equipment and medium provided in an embodiment of the present application are described in detail below with reference to the accompanying drawings.

[0046] refer to Figure 1 As shown, it is a flow chart of a pressure sensor fault detection method provided in an embodiment of the present application. The method may include the following steps.

[0047] S101, within a preset time window, taking the maximum value of multiple first accumulator pressures output by the pressure sensor as the accumulator peak pressure; the preset time window includes a period of time from a first moment to a second moment, at the first moment, the hydraulic pump is turned on, the hydraulic pump is used to provide hydraulic oil to the accumulator, and at the third moment, the hydraulic pump is turned off, and the third moment is between the first moment and the second moment.

[0048] In the embodiment of the present application, the process of filling and draining the accumulator can be first introduced, referring to Figure 2 The figure shows the installation position diagram of an accumulator and a pressure sensor provided in an embodiment of the present application, wherein a certain volume of gas is pre-charged in the accumulator to provide a pre-charge pressure P0. The total volume of the accumulator refers to the sum of the liquid volume and the gas volume. When the accumulator is not initially charged with oil, the total volume of the accumulator is equal to the gas volume V0. When the hydraulic oil overcomes the pre-charge pressure to charge the accumulator and release the pressure, the relationship between the gas pressure and volume in the accumulator satisfies the ideal gas state equation:

[0049] P×V k =n×R×T

[0050] Among them, P is the gas pressure in the accumulator at a certain moment, V is the gas volume in the corresponding accumulator, k is the gas adiabatic index, n is the molar amount of gas in the accumulator, R is the gas constant, and T is the current oil temperature.

[0051] In an accumulator oil filling and draining cycle, the oil temperature change can be ignored. According to the gas state equation, the relationship between the pressure and gas volume of the gas in the accumulator at time n and time n+1 is as follows:

[0052] P n ×V n k =P n+1 ×V n+1 k

[0053] When the accumulator pressure (i.e. the oil pressure detected by the pressure sensor) reaches the preset value P OFF When , the hydraulic pump stops working. At this time, due to the static leakage in the system and the action consumption of the actuator, the volume of oil in the accumulator will decrease and the corresponding gas volume will increase. According to the above formula, compared with the previous moment n, the gas pressure of the accumulator at moment n+1 will decrease.

[0054] In an embodiment of the present application, a preset time window can be set in advance, and the output value of the pressure sensor can be monitored within the preset time window to find the maximum pressure. That is, within the preset time window, the pressure sensor can output multiple first accumulator pressures, and the maximum value can be used as the accumulator peak pressure.

[0055] Specifically, the start and end times of the preset time window can be set. The preset time window includes a period of time from a first moment to a second moment. The hydraulic pump is turned on at the first moment, and the hydraulic pump is used to provide hydraulic oil to the accumulator. The hydraulic pump is turned off at a third moment, and the third moment is between the first moment and the second moment.

[0056] That is to say, when it is detected that the hydraulic pump starts to work and fills the accumulator with oil, the timing starts, which is recorded as the first moment. After a period of filling, when the condition for stopping filling is met, the hydraulic pump can be turned off, and the moment of turning off the hydraulic pump is recorded as the third moment. The condition for stopping filling can be that the filling time meets the minimum filling time requirement, or that the accumulator pressure reaches the preset P OFF wait.

[0057] In an embodiment of the present application, the time interval between the first moment and the third moment may be greater than a preset time interval, and the preset time interval may be set according to user needs. That is to say, the working time of the hydraulic pump needs to meet the minimum time threshold. This is because if the working time of the hydraulic pump is short, and the actuator also acts synchronously to consume the oil in the accumulator during the working of the hydraulic pump, the hydraulic pump has limited ability to replenish the oil in the accumulator at this time, and the accumulator pressure change is not obvious, which leads to inaccurate accumulator peak pressure.

[0058] In the embodiment of the present application, since the gas pressure and liquid pressure in the accumulator are balanced in a stable state, when the oil is consumed due to the action of the actuator, the oil pressure in the accumulator drops rapidly, but the rate of drop of the gas pressure lags behind the oil pressure. Subsequently, the gas in the accumulator will slowly squeeze the oil downward, causing the oil pressure to slowly rise after the drop, and finally the gas pressure and the oil will reach a balanced state again. This indicates that the accumulator pressure will rise due to the oil consumption caused by the action of the actuator, and the accumulator pressure may continue to increase. If the third moment when the hydraulic pump is turned off is used as the end moment of the time window, the subsequent accumulator pressure is likely to continue to increase, and the true accumulator peak pressure cannot be collected, and the accuracy of the accumulator peak pressure is low.

[0059] That is to say, the accumulator oil pressure measured by the sensor will continue to rise for a period of time after the hydraulic pump stops working. If the time window is closed after the hydraulic pump stops working, the peak pressure obtained under the above working conditions will not be the highest pressure point. Continuing to perform sensor fault detection based on this peak pressure may result in an erroneous report of a rationality fault of the sensor.

[0060] Therefore, in order to improve the accuracy of the accumulator peak pressure, it is necessary to consider the time of the accumulator pressure rise caused by the oil consumption caused by the actuator action. The stop time of the time window can be extended for a period of time, and the second moment after the third moment can be used as the stop time of the time window, so as to ensure that the maximum accumulator peak pressure is obtained.

[0061] In actual application, in order to ensure that the obtained peak pressure is indeed the highest pressure point in the current oil filling and oil leakage cycle, the time window for finding the peak pressure needs to meet the following conditions: the hydraulic pump is working, the accumulator is in the oil filling stage, and the time window is opened; the working time of the hydraulic pump must meet the minimum time threshold requirement; the hydraulic pump is turned off, and the oil leakage time meets the threshold, and the time window is closed.

[0062] In the embodiment of the present application, the time difference between the third moment and the second moment may be greater than or equal to the preset time difference, and the preset time difference is the time required from the end of the actuator hydraulic oil consumption process to the time when the air pressure and the hydraulic pressure in the accumulator reach a balance. That is, from the moment when the actuator hydraulic oil consumption process ends to the time when the air pressure and the hydraulic pressure in the accumulator reach a balanced state, the preset time difference can be set according to the actual working conditions, for example, it can be set to 3s or 5s.

[0063] refer to Figure 3 As shown, it is a schematic diagram of accumulator pressure change provided in an embodiment of the present application, which respectively represents the hydraulic pump speed, actuator oil consumption and the corresponding pressure change. The start and end moments of the hydraulic pump speed curve are the first moment and the third moment respectively. If the third moment is used as the end moment of the time window, the frozen peak pressure is not the maximum value, and the subsequent sensor pressure continues to rise, and the peak pressure is not accurate.

[0064] In an embodiment of the present application, before S101, after the engine is started, it can be determined whether the power supply of the pressure sensor is normal and whether the hydraulic pump is working normally; if the power supply of the pressure sensor is normal and the hydraulic pump is working normally, the step of taking the maximum value of multiple first accumulator pressures output by the pressure sensor as the accumulator peak pressure within the preset time window is executed.

[0065] Specifically, when the accumulator is used in a vehicle, the power supply of the vehicle may be unstable at the beginning, or the voltage of the vehicle may be abnormal due to the operation of the starter motor when the engine is started. Therefore, the diagnosis of the pressure sensor is generally enabled after the engine is started, thereby improving the accuracy of the pressure sensor fault detection. After the engine is started, if the power supply of the pressure sensor is normal and the hydraulic pump is working normally, it means that the working environment is normal, and the time window can be opened to judge the pressure sensor fault, thereby avoiding inaccurate fault detection of the pressure sensor.

[0066] S102, during the oil draining process of the accumulator, obtaining a second accumulator pressure output by a pressure sensor.

[0067] In the embodiment of the present application, after the accumulator is filled with oil, the accumulator will enter the oil leakage process due to the consumption of the actuator action. At this time, the second accumulator pressure output by the pressure sensor can be obtained. The second accumulator pressure is the pressure of the accumulator during the oil leakage process, and the second accumulator pressure can be one value or multiple values.

[0068] refer to Figure 4 As shown in FIG. 1 , another schematic diagram of accumulator pressure change provided in an embodiment of the present application is shown. The horizontal axis represents time, and the vertical axis represents accumulator pressure. The first process is the process of the hydraulic pump filling the accumulator with oil. After the accumulator pressure reaches P0, the oil continues to be filled until it reaches POFF , turn off the hydraulic pump, and then the accumulator pressure continues to rise to the peak pressure, and then the accumulator enters the oil discharge process, and the accumulator pressure gradually decreases until it decreases to P ON When the hydraulic pump is turned on again, the accumulator pressure starts to rise again. The second accumulator pressure can be any point among points 1, 2, and 3 in the figure, or any point during the descending process.

[0069] S103, determining whether the pressure difference between the second accumulator pressure and the accumulator peak pressure is less than a preset pressure difference, and if so, determining that the pressure sensor is faulty.

[0070] In the embodiment of the present application, the pressure difference between the second accumulator pressure and the accumulator peak pressure can be calculated, and the pressure difference can be compared with the preset pressure difference. Since the accumulator is in the oil leakage process, the accumulator pressure actually decreases gradually. If the pressure difference is less than the preset pressure difference, it means that the pressure difference detected by the pressure sensor is relatively small. In fact, due to the oil leakage process, the pressure difference should be relatively large, which means that the pressure sensor has not correctly detected the degree of pressure change, indicating that the pressure sensor has a fault, thereby avoiding safety problems.

[0071] In a possible implementation, in order to more accurately determine whether the pressure sensor fails, multiple second accumulator pressure values ​​may be selected to obtain multiple pressure differences, and each pressure difference may be compared with a preset pressure difference to determine whether the pressure sensor fails.

[0072] Specifically, during the oil discharge process of the accumulator, multiple second accumulator pressures output by the pressure sensor at different times may be obtained, such as P1, P2, P3, ..., P n , where the time difference corresponding to the pressure of two adjacent second accumulators can be equal, for example, both can be Δt1, then the time difference between P1 and the peak pressure is Δt1, the time difference between P2 and the peak pressure is 2Δt1, P n The time difference from the peak pressure is nΔt1. In other words, the pressure differences between the pressure at Δt1, 2Δt1, ..., nΔt1 after the sensor pressure reaches the peak and the peak pressure are ΔP1, ΔP2, ..., ΔP n , n can be 5 to 10, where ΔP n is a positive value, ΔP n =P peak -P n Of course, the time difference corresponding to the pressures of two adjacent second accumulators may also be unequal, for example, the later the time difference, the greater the time difference.

[0073] Next, determine whether the pressure difference is less than the preset pressure difference. If the pressure difference is less than the preset pressure difference, the count value of the fault counter can be increased by one, and the initial count value of the fault counter is 0. When the count value of the fault counter is greater than the preset threshold, it means that after multiple tests, the result output by the pressure sensor is inaccurate, and it is determined that the pressure sensor is faulty.

[0074] Specifically, if ΔP is detected n If the pressure difference is greater than the preset value, it indicates that the oil pressure drop during the oil leakage phase meets expectations, then the sampling counter of the fault detection is increased by 1, and the fault counter remains unchanged; if ΔP is detected n Less than or equal to the preset pressure difference, indicating that the oil pressure in the oil leakage stage did not drop as expected according to the system working principle, or the drop speed was much lower than the system leakage speed, which violates the characteristics of the hydraulic system with accumulator. At this time, the above situation may only occur due to the error of the accumulator oil pressure value fed back by the sensor. Therefore, the sampling counter of the sensor rationality fault detection is increased by 1, and the fault counter is also increased by 1 synchronously.

[0075] Specifically, when it is detected that the sampling counter reaches a predetermined number of detection times, it is determined whether the fault counter exceeds a preset threshold. If it is greater than the preset threshold, it is determined that a rationality fault has occurred in the pressure sensor. If it is less than or equal to the threshold, it is determined that the rationality test of the pressure sensor has passed and there is no fault at present. Then the diagnostic process jumps back to the initial stage. Figure 5 , which is a flow chart of another pressure sensor fault detection method provided by the present application.

[0076] The embodiment of the present application provides a method for detecting a fault of a pressure sensor. Within a preset time window, the maximum value of multiple first accumulator pressures output by the pressure sensor is used as the accumulator peak pressure; the preset time window includes a period of time from the first moment to the second moment, the hydraulic pump is turned on at the first moment, the hydraulic pump is used to provide hydraulic oil to the accumulator, and the hydraulic pump is turned off at the third moment, the third moment is between the first moment and the second moment; during the oil discharge process of the accumulator, the second accumulator pressure output by the pressure sensor is obtained; it is determined whether the pressure difference between the second accumulator pressure and the accumulator peak pressure is less than the preset pressure difference, if so, it is determined that the pressure sensor is faulty. Due to the action consumption process of the actuator, the pressure of the accumulator will continue to rise, therefore, a certain moment after the hydraulic pump is turned off can be used as the end moment of the time window, so as to determine the true accumulator peak pressure, improve the accuracy of the accumulator peak pressure, if the pressure difference between the second accumulator pressure and the peak pressure is less than the preset pressure difference, and in fact, due to the oil discharge process, the pressure will become smaller, it means that the pressure sensor has not correctly detected the pressure change degree, indicating that the pressure sensor is faulty, and improves the accuracy of the pressure sensor fault detection.

[0077] Based on the above pressure sensor fault detection method, the present application embodiment also provides a pressure sensor fault detection device, referring to Figure 6 FIG. 1 is a structural block diagram of a pressure sensor fault detection device provided in an embodiment of the present application, and the device may include:

[0078] a determination unit 201, configured to use, within a preset time window, a maximum value of a plurality of first accumulator pressures output by a pressure sensor as an accumulator peak pressure; the preset time window includes a period of time from a first moment to a second moment, a hydraulic pump is turned on at the first moment, the hydraulic pump is used to provide hydraulic oil to the accumulator, and the hydraulic pump is turned off at a third moment, the third moment being between the first moment and the second moment;

[0079] An acquisition unit 202 is used to acquire the second accumulator pressure output by the pressure sensor during the oil drain process of the accumulator;

[0080] The judgment unit 203 is used to judge whether the pressure difference between the second accumulator pressure and the accumulator peak pressure is less than a preset pressure difference, and if so, determine that the pressure sensor fails.

[0081] Specifically, the time difference between the third moment and the second moment is greater than or equal to a preset time difference, and the preset time difference is the time required from the end of the actuator hydraulic oil consumption process to the balance of the air pressure and the hydraulic pressure in the accumulator.

[0082] Specifically, the acquisition unit is used for:

[0083] During the oil draining process of the accumulator, obtaining a plurality of second accumulator pressures output by the pressure sensor at different times;

[0084] The judging unit is used for:

[0085] If the pressure difference between the second accumulator pressure and the accumulator peak pressure is less than the preset pressure difference, the count value of the fault counter is increased by one; the initial count value of the fault counter is 0;

[0086] When the count value of the fault counter is greater than a preset threshold, it is determined that the pressure sensor fails.

[0087] Specifically, the time differences corresponding to the pressures of two adjacent second accumulators are equal.

[0088] Specifically, the device also includes:

[0089] A first judgment unit is used to judge whether the power supply of the pressure sensor is normal and whether the hydraulic pump is working normally after the engine is started;

[0090] The execution unit is used to execute the step of taking the maximum value of multiple first accumulator pressures output by the pressure sensor as the accumulator peak pressure within a preset time window if the power supply of the pressure sensor is normal and the hydraulic pump is working normally.

[0091] An embodiment of the present application provides a pressure sensor fault detection device, including a determination unit, for taking the maximum value of multiple first accumulator pressures output by the pressure sensor as the accumulator peak pressure within a preset time window; the preset time window includes a period of time from a first moment to a second moment, a hydraulic pump is turned on at the first moment, the hydraulic pump is used to provide hydraulic oil to the accumulator, and the hydraulic pump is turned off at a third moment, and the third moment is between the first moment and the second moment; an acquisition unit, for acquiring the second accumulator pressure output by the pressure sensor during the oil discharge process of the accumulator; and a judgment unit, for judging whether the pressure difference between the second accumulator pressure and the accumulator peak pressure is less than the preset pressure difference, and if so, determining that the pressure sensor has a fault. Due to the action consumption process of the actuator, the pressure of the accumulator will continue to rise. Therefore, a certain moment after the hydraulic pump is turned off can be used as the end moment of the time window to determine the true accumulator peak pressure and improve the accuracy of the accumulator peak pressure. If the pressure difference between the second accumulator pressure and the peak pressure is less than the preset pressure difference, in fact, the pressure will decrease due to the oil leakage process, which means that the pressure sensor has not correctly detected the degree of pressure change, indicating that the pressure sensor is faulty, thereby improving the accuracy of pressure sensor fault detection.

[0092] In another aspect, the present application provides a computer device, referring to Figure 7 , which is a structural diagram of a computer device provided in an embodiment of the present application, wherein the computer device includes a processor 310 and a memory 320:

[0093] The memory 320 is used to store program codes and transmit the program codes to the processor 310;

[0094] The processor 310 is used to execute the method provided in the above embodiment according to the instructions in the program code.

[0095] The computer device may include a terminal device or a server, and the aforementioned apparatus may be configured in the computer device.

[0096] On the other hand, an embodiment of the present application further provides a storage medium, wherein the storage medium is used to store a computer program, and the computer program is used to execute the method provided by the above embodiment.

[0097] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by program instruction hardware, and the above program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the above storage medium can be at least one of the following media: read-only memory (English: Read-only Memory, abbreviated: ROM), RAM, magnetic disk or optical disk, etc., various media that can store program codes.

[0098] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0099] The above is only a preferred implementation of the present application. Although the present application has been disclosed as a preferred embodiment, it is not intended to limit the present application. Any technician familiar with the art can use the above disclosed methods and technical contents to make many possible changes and modifications to the technical solution of the present application without departing from the scope of the technical solution of the present application, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application still falls within the scope of protection of the technical solution of the present application.

Claims

1. A pressure sensor fault detection method, characterized in that: include: In a preset time window, taking the maximum value of a plurality of first accumulator pressures output by the pressure sensor as the accumulator peak pressure; The preset time window includes a period of time from a first moment to a second moment, a hydraulic pump is turned on at the first moment, the hydraulic pump is used to provide hydraulic oil to the accumulator, and the hydraulic pump is turned off at a third moment, the third moment is between the first moment and the second moment; During the oil draining process of the accumulator, obtaining a second accumulator pressure output by the pressure sensor; It is determined whether a pressure difference between the second accumulator pressure and the accumulator peak pressure is less than a preset pressure difference, and if so, it is determined that the pressure sensor fails.

2. The method according to claim 1, characterized in that The time difference between the third moment and the second moment is greater than or equal to a preset time difference, and the preset time difference is the time required from the end of the actuator hydraulic oil consumption process to the balance of the air pressure and the hydraulic pressure in the accumulator.

3. The method according to claim 1, characterized in that The step of obtaining the second accumulator pressure output by the pressure sensor during the oil leakage process of the accumulator comprises: During the oil draining process of the accumulator, obtaining a plurality of second accumulator pressures output by the pressure sensor at different times; The determining whether the pressure difference between the second accumulator pressure and the accumulator peak pressure is less than a preset pressure difference, and if so, determining that the pressure sensor fails, comprises: If the pressure difference between the second accumulator pressure and the accumulator peak pressure is less than the preset pressure difference, the count value of the fault counter is increased by one; the initial count value of the fault counter is 0; When the count value of the fault counter is greater than a preset threshold, it is determined that the pressure sensor fails.

4. The method according to claim 3, characterized in that The time differences corresponding to the pressures of two adjacent second accumulators are equal.

5. The method according to claim 1, characterized in that Before taking the maximum value of the plurality of first accumulator pressures output by the pressure sensor as the accumulator peak pressure within the preset time window, the method further comprises: After the engine is started, determining whether the power supply of the pressure sensor is normal and whether the hydraulic pump is working normally; If the power supply of the pressure sensor is normal and the hydraulic pump operates normally, the step of taking the maximum value of the plurality of first accumulator pressures output by the pressure sensor as the accumulator peak pressure within the preset time window is performed.

6. A pressure sensor fault detection device, characterized in that: include: a determination unit, configured to use, within a preset time window, a maximum value of a plurality of first accumulator pressures output by the pressure sensor as an accumulator peak pressure; The preset time window includes a period of time from a first moment to a second moment, a hydraulic pump is turned on at the first moment, the hydraulic pump is used to provide hydraulic oil to the accumulator, and the hydraulic pump is turned off at a third moment, the third moment is between the first moment and the second moment; An acquisition unit, used for acquiring a second accumulator pressure output by the pressure sensor during an oil drain process of the accumulator; The judging unit is used to judge whether the pressure difference between the second accumulator pressure and the accumulator peak pressure is less than a preset pressure difference, and if so, determine that the pressure sensor fails.

7. The device according to claim 6, characterized in that The time difference between the third moment and the second moment is greater than or equal to a preset time difference, and the preset time difference is the time required from the end of the actuator hydraulic oil consumption process to the balance of the air pressure and the hydraulic pressure in the accumulator.

8. The device according to claim 6, characterized in that The acquisition unit is used for: During the oil draining process of the accumulator, obtaining a plurality of second accumulator pressures output by the pressure sensor at different times; The judging unit is used for: If the pressure difference between the second accumulator pressure and the accumulator peak pressure is less than the preset pressure difference, the count value of the fault counter is increased by one; The initial value of the fault counter is 0; When the count value of the fault counter is greater than a preset threshold, it is determined that the pressure sensor fails.

9. A computer device, characterized in that: The computer device comprises a processor and a memory: The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the pressure sensor fault detection method according to any one of claims 1 to 5 according to the instructions in the program code.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, and the computer program is used to execute the pressure sensor fault detection method according to any one of claims 1 to 5.

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