Method, device and equipment for preventing contactor adhesion detection failure and storage medium

Abstract

The invention discloses a contactor adhesion detection failure prevention method, device and equipment and a computer readable storage medium. According to the method, after a contactor is disconnected, the parameter change rate of a load is obtained according to the variable quantity of a first parameter of the load within a first duration, the type of the load is recognized, and the load is electric equipment controlled by the contactor in a vehicle electrical system; obtaining delay time according to the parameter change rate and the type of the load; and after the delay time, performing adhesion detection. Through the method, the delay time of different load types is dynamically adjusted, the adhesion detection efficiency is improved, the adhesion detection is ensured to be carried out only after the load is powered off, the misjudgment risk is reduced, and the reliability of the detection result is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle electrical control technology, and in particular to a method, device, equipment and computer-readable storage medium for preventing contactor adhesion detection failure. Background Art

[0002] As commercial vehicle electrical systems evolve toward integration and intelligence, large, all-in-one controllers play a central role in high-voltage power management. As a key component for controlling the on / off switching of high-voltage circuits, the reliability of contactors is directly linked to the safety and stability of the vehicle's electrical system.

[0003] In the prior art, when performing contactor sticking detection, the detection will be performed after the fixed delay time after the contactor is disconnected. For example, the set fixed delay time is 100ms. If it takes 150ms for the electrical equipment (i.e., load) controlled by the contactor in the vehicle electrical system to be powered off, the load will not be completely powered off when the sticking detection is performed, and the contactor contacts may still be in a energized state, which will be mistakenly judged as a sticking fault, resulting in the failure of the contactor sticking detection; or, it may only take 10ms to power off the load, but it is still necessary to wait 100ms before performing the sticking detection, which makes it impossible to reasonably utilize time resources and results in low detection efficiency. Summary of the Invention

[0004] The present application provides a method, device, equipment and computer-readable storage medium for preventing contactor sticking detection failure, which can solve the technical problem of low reliability of contactor sticking detection results in the prior art.

[0005] In a first aspect, an embodiment of the present application provides a method for preventing contactor adhesion detection failure, the method comprising: After the contactor is disconnected, obtaining a load parameter change rate and identifying a load type based on a change in a first parameter of the load within a first time period, wherein the load is an electrical device controlled by the contactor in a vehicle electrical system; Obtaining a delay time according to a parameter change rate and type of the load; The adhesion detection is performed after the delay time has elapsed.

[0006] In conjunction with the first aspect, in one embodiment, identifying the type of the load includes: The type of load is determined based on the changes in the values ​​of the electrical parameters of the load.

[0007] In conjunction with the first aspect, in one embodiment, obtaining the delay time according to the parameter change rate and type of the load includes: Obtaining a reference delay time and an adjustment coefficient corresponding to the load type; Substitute the reference delay time, the adjustment coefficient, and the load parameter change rate into the first formula to obtain the delay time, wherein the first formula is:

[0008] in, is the delay time, is the base delay time, is the adjustment coefficient, is the parameter change rate.

[0009] In conjunction with the first aspect, in one embodiment, performing adhesion detection includes: determining a second threshold; determining whether a value of a second parameter of the load is greater than a second threshold; If it is greater than the second threshold, the detection result is adhesion; If it is not greater than the second threshold, the detection result is normal.

[0010] In conjunction with the first aspect, in one implementation, determining the second threshold includes: Obtaining a change in a third parameter of the load within a second time period; Obtaining reference parameters and characteristic coefficients corresponding to the load type; Substitute the load's baseline parameter, characteristic coefficient, and change in the third parameter into the second formula to obtain a second threshold value, where the second formula is:

[0011] in, is the second threshold, is the reference parameter of the load, is the characteristic coefficient, is the change of the third parameter.

[0012] In conjunction with the first aspect, in one embodiment, the adhesion detection is performed M times, and the method further includes: If at least N detection results are adhesion, it is determined that a adhesion fault exists; If the detection result shows that the number of adhesions is less than N, it is determined that there is no adhesion fault.

[0013] In conjunction with the first aspect, in one embodiment, after obtaining the delay time, the method further includes: After the delay time, determining whether the value of the first parameter of the load is lower than a first threshold; If so, adhesion detection is performed; If not, continuously monitor whether the value of the first parameter of the load is lower than a first threshold.

[0014] In a second aspect, an embodiment of the present application provides a device for preventing contactor adhesion detection failure, the device for preventing contactor adhesion detection failure comprising: an identification module, configured to obtain a parameter change rate of the load and identify a type of the load based on a change in a first parameter of the load within a first time period after the contactor is disconnected, wherein the load is an electrical device controlled by the contactor in a vehicle electrical system; A calculation module, configured to obtain a delay time according to a parameter change rate and a type of the load; The execution module is used to perform adhesion detection after the delay time has passed.

[0015] In a third aspect, an embodiment of the present application provides a device for preventing contactor sticking detection failure, the device comprising a processor, a memory, and a program for preventing contactor sticking detection failure stored in the memory and executable by the processor, wherein when the program for preventing contactor sticking detection failure is executed by the processor, the steps of the method for preventing contactor sticking detection failure as described in the first aspect are implemented.

[0016] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which is stored a program for preventing contactor adhesion detection failure. When the program for preventing contactor adhesion detection failure is executed by a processor, the steps of the method for preventing contactor adhesion detection failure as described in the first aspect are implemented.

[0017] The beneficial effects of the technical solutions provided in the embodiments of the present application include: After the contactor is disconnected, the load parameter change rate is determined based on the change in a first parameter of the load within a first time period, and the load type is identified. The load is an electrical device controlled by the contactor in the vehicle electrical system; a delay time is determined based on the load parameter change rate and type; and adhesion detection is performed after the delay time has elapsed. This method dynamically adjusts the delay time for different load types, improving adhesion detection efficiency and ensuring that adhesion detection is performed only after the load has been powered off, thereby reducing the risk of misjudgment and improving the reliability of the detection results. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a flow chart of an embodiment of a method for preventing contactor adhesion detection failure of the present application; Figure 2 This is a detailed schematic diagram of the process of an embodiment of a method for preventing contactor adhesion detection failure of the present application; Figure 3 This is a functional module diagram of an embodiment of a device for preventing contactor adhesion detection failure of the present application; Figure 4 Schematic diagram of the hardware structure of the device for preventing contactor adhesion failure detection involved in the embodiment of the present application. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0020] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0021] In a first aspect, embodiments of the present application provide a method for preventing contactor adhesion detection failure.

[0022] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of an embodiment of the method for preventing contactor adhesion detection failure of this application. Figure 1 As shown in the figure, the methods to prevent contactor sticking detection failure include: Step S10, after the contactor is disconnected, obtaining a load parameter change rate and identifying a load type based on a change in a first parameter of the load within a first time period, wherein the load is an electrical device controlled by the contactor in a vehicle electrical system; Furthermore, the type of load identification includes: The type of load is determined based on the changes in the values ​​of the electrical parameters of the load.

[0023] In one embodiment, referring to Figure 2 , Figure 2 This is a detailed flow diagram of an embodiment of a method for preventing contactor adhesion detection failure of the present application, as shown in FIG. Figure 2 As shown in the figure, at time T0, the contactor is disconnected and the load controlled by the contactor begins to power off. Due to the different electrical parameter characteristics of the load, the power-off speed is also different. Take the three electrical parameters of the load, namely capacitive, inductive and resistive, as an example: Capacitive load: When power is off, the voltage drops slowly but the current increases suddenly.

[0024] Inductive load: The current drops slowly but the voltage changes suddenly. The capacitor needs to discharge through an external circuit, and the voltage decays exponentially. The back electromotive force generated by the inductor hinders the current change, and the current decays slowly.

[0025] Resistive load: Current and voltage drop faster.

[0026] In actual situations, the type of load is determined based on changes in the values ​​of the electrical parameters of the load.

[0027] In addition, after the contactor is disconnected, a period of time between T0 and T1 is taken as the first time length, wherein the first time length may start from T0 or after T0; while identifying the load type within the first time length, the current value and voltage value of the load are collected. Assuming that the load type is determined to be an inductive load, since the current in the inductive load decreases slowly, the delay time of the inductive load is mainly related to the current decrease speed. Therefore, the current is taken as the first parameter of the inductive load. At this time, the dynamic delay detection logic is started to monitor the current change of the inductive load; assuming that the first time length t is 3 minutes, and the current change of the inductive load during this 3-minute period is collected , calculate the parameter change rate of the inductive load , where p is the rate of change of the current in the inductive load within 3 minutes, is the change in current in the inductive load within 3 minutes, t is the first duration.

[0028] Step S20, obtaining a delay time according to the parameter change rate and type of the load; Furthermore, obtaining the delay time according to the parameter change rate and type of the load includes: Obtaining a reference delay time and an adjustment coefficient corresponding to the load type; Substitute the reference delay time, the adjustment coefficient, and the load parameter change rate into the first formula to obtain the delay time, wherein the first formula is:

[0029] in, is the delay time, is the base delay time, is the adjustment coefficient, is the parameter change rate.

[0030] In one embodiment, based on historical experience, the preset reference delay time of the inductive load is 1 minute, and the adjustment coefficient is 1.2. In step S10, the change rate p of the current in the inductive load within 3 minutes is obtained. Substituting this information into the first formula, the delay time is obtained. ,For example It is the T1-T2 period.

[0031] Step S30: performing adhesion detection after the delay time has elapsed.

[0032] Furthermore, after obtaining the delay time, the method further includes: After the delay time, determining whether the value of the first parameter of the load is lower than a first threshold; If so, adhesion detection is performed; If not, continuously monitor whether the value of the first parameter of the load is lower than a first threshold.

[0033] In one embodiment, Figure 2 For example, after the T1-T2 period, the current value of the inductive load is detected at time T2 to determine whether it is lower than the first threshold value. The first threshold value here is the current value that meets the requirements for performing adhesion detection, such as 0.2A. If the current value at this time is less than 0.2A, adhesion detection can be performed. If it is greater than or equal to 0.2A, the current value of the inductive load is continuously monitored until it is lower than the first threshold value.

[0034] Furthermore, performing adhesion detection includes: determining a second threshold; determining whether a value of a second parameter of the load is greater than a second threshold; If it is greater than the second threshold, the detection result is adhesion; If it is not greater than the second threshold, the detection result is normal.

[0035] Further, determining the second threshold includes: Obtaining a change in a third parameter of the load within a second time period; Obtaining reference parameters and characteristic coefficients corresponding to the load type; Substitute the load's baseline parameter, characteristic coefficient, and change in the third parameter into the second formula to obtain a second threshold value, where the second formula is:

[0036] in, is the second threshold, is the reference parameter of the load, is the characteristic coefficient, is the change of the third parameter.

[0037] In one embodiment, the value of the second parameter and the value of the third parameter of the load can be a current value or a voltage value. Taking the case where the value of the second parameter and the value of the third parameter of the load are both current values ​​as an example, the second threshold value is first determined: Figure 2 For example, adhesion detection starts at time T3, and a period of time is selected from T3 to T4 as the second time length, and the current change of the load during the second time length is detected. , preset a load benchmark parameter and characteristic coefficients , and The second threshold is calculated by substituting the determined reference parameter, characteristic coefficient, and change in the third parameter of the load into the second formula to detect and determine whether the current value of the load is greater than the second threshold. If the current value of the load is greater than the second threshold, the detection result is adhesion; if the current value of the load is not greater than the second threshold, the detection result is normal.

[0038] In this embodiment, after the contactor is disconnected, the parameter change rate of the load is obtained and the type of the load is identified based on the change in the first parameter of the load within a first time period, wherein the load is an electrical device controlled by the contactor in the vehicle electrical system; a delay time is obtained based on the parameter change rate and type of the load; and adhesion detection is performed after the delay time has elapsed. This not only improves the efficiency of adhesion detection, but also ensures that adhesion detection is performed after the load is powered off.

[0039] Additionally, in one embodiment, after the adhesion detection is performed, in order to improve the reliability of the detection result, a second solution may be implemented: The adhesion detection is performed M times, and the method further includes: If at least N detection results are adhesion, it is determined that a adhesion fault exists; If the detection result shows that the number of adhesions is less than N, it is determined that there is no adhesion fault.

[0040] In one embodiment, during the adhesion detection phase, multiple tests are performed to reduce the probability of false positives. During each test, the contactor contact status (adhesion or normal) is recorded. The majority of the multiple test results is used as the final judgment.

[0041] For example, if the number of tests is M = 5 and the test is performed every 10ms, N = 4, and if the test results are sticking 4 or more times, it is determined to be a sticking fault.

[0042] Furthermore, multiple results are verified to avoid misjudgments due to interference or noise. A tolerance threshold (R) is set to allow a certain percentage of inconsistent test results. If the proportion of inconsistent results exceeds the tolerance threshold, the test process is restarted.

[0043] Fault tolerance threshold: R=1 (allowing one inconsistent test result). If two of the five tests have inconsistent results, retest.

[0044] Additionally, when a sticking fault is detected, the fault protection mechanism is triggered, and system operation is restored after the fault is corrected. When a sticking fault is detected, the power is immediately cut off and an alarm signal is issued, triggering the controller's contactor disconnect command. A fault code and alarm signal are transmitted via the CAN bus or other communication interface. After the fault is corrected, system operation is restored through a software reset or manual reset. A software reset interface is provided, allowing users to reset the system through the host computer or controller interface. A manual reset button is provided for on-site operators to reset the system.

[0045] In this embodiment, by performing multiple adhesion tests and setting a fault tolerance mechanism, the risk of misjudgment is reduced and the reliability of the test results is improved.

[0046] In a second aspect, an embodiment of the present application further provides a device for preventing contactor adhesion detection failure.

[0047] In one embodiment, referring to Figure 3 , Figure 3 This is a functional module diagram of an embodiment of a device for preventing contactor adhesion detection failure of this application. Figure 3 As shown, the device for preventing contactor sticking and detecting failure includes: an identification module 10 for obtaining a load parameter change rate and identifying a type of the load based on a change in a first parameter of the load within a first time period after the contactor is disconnected, wherein the load is an electrical device controlled by the contactor in the vehicle electrical system; A calculation module 20 is configured to obtain a delay time according to a parameter change rate and a type of the load; The execution module 30 is configured to perform adhesion detection after the delay time has elapsed.

[0048] Furthermore, in one embodiment, the identification module 10 is configured to: The types of identified loads include: The type of load is determined based on the changes in the values ​​of the electrical parameters of the load.

[0049] Furthermore, in one embodiment, the calculation module 20 is configured to: Obtaining the delay time according to the parameter change rate and type of the load includes: Obtaining a reference delay time and an adjustment coefficient corresponding to the load type; Substitute the reference delay time, the adjustment coefficient, and the load parameter change rate into the first formula to obtain the delay time, wherein the first formula is:

[0050] in, is the delay time, is the base delay time, is the adjustment coefficient, is the parameter change rate.

[0051] Furthermore, in one embodiment, the device for preventing contactor adhesion failure detection further includes a detection module for: The performing of adhesion detection comprises: determining a second threshold; determining whether a value of a second parameter of the load is greater than a second threshold; If it is greater than the second threshold, the detection result is adhesion; If it is not greater than the second threshold, the detection result is normal.

[0052] Furthermore, in one embodiment, the device for preventing contactor adhesion detection failure further includes a determination module, configured to: Determining the second threshold comprises: Obtaining a change in a third parameter of the load within a second time period; Obtaining reference parameters and characteristic coefficients corresponding to the load type; Substitute the load's baseline parameter, characteristic coefficient, and change in the third parameter into the second formula to obtain a second threshold value, where the second formula is:

[0053] in, is the second threshold, is the reference parameter of the load, is the characteristic coefficient, is the change of the third parameter.

[0054] Furthermore, in one embodiment, the detection module is further configured to: The adhesion detection is performed M times, and the method further includes: If at least N detection results are adhesion, it is determined that a adhesion fault exists; If the detection result shows that the number of adhesions is less than N, it is determined that there is no adhesion fault.

[0055] Furthermore, in one embodiment, the execution module 30 is configured to: After getting the delay time, it also includes: After the delay time, determining whether the value of the first parameter of the load is lower than a first threshold; If so, adhesion detection is performed; If not, continuously monitor whether the value of the first parameter of the load is lower than a first threshold.

[0056] Among them, the functional implementation of each module in the above-mentioned device for preventing contactor adhesion detection failure corresponds to each step in the above-mentioned method embodiment, and its functions and implementation processes are no longer described here one by one.

[0057] In a third aspect, an embodiment of the present application provides a device for preventing contactor adhesion detection failure. The device for preventing contactor adhesion detection failure may be a device with data processing function, such as a personal computer (PC), a laptop computer, or a server.

[0058] Reference Figure 4 , Figure 4 Schematic diagram of the hardware structure of the device for preventing contactor sticking detection failure involved in the embodiment of the present application. In the embodiment of the present application, the device for preventing contactor sticking detection failure may include a processor, a memory, a communication interface, and a communication bus.

[0059] The communication bus may be of any type and is used to interconnect the processor, memory, and communication interface.

[0060] Communication interfaces include input / output (I / O), physical, and logical interfaces, which interconnect components within the contactor sticking failure prevention device and other devices (such as other computing devices or user devices). Physical interfaces can include Ethernet, fiber, or ATM interfaces; user devices can include displays and keyboards.

[0061] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0062] The processor may be a general-purpose processor that can invoke a program for preventing contactor sticking detection failure stored in a memory and execute the method for preventing contactor sticking detection failure provided in the embodiments of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the program for preventing contactor sticking detection failure is invoked can be referenced to the various embodiments of the method for preventing contactor sticking detection failure provided in the present application and will not be further described here.

[0063] Those skilled in the art will understand that Figure 4 The hardware structure shown in the figure does not constitute a limitation to the present application and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0064] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0065] The computer-readable storage medium of the present application stores a program for preventing contactor sticking detection failure, wherein when the program for preventing contactor sticking detection failure is executed by a processor, the steps of the method for preventing contactor sticking detection failure as described above are implemented.

[0066] The method implemented when the contactor sticking detection failure prevention program is executed can refer to the various embodiments of the contactor sticking detection failure prevention method of the present application, and will not be described in detail here.

[0067] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0068] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit the "first", "second" and "third" to different types.

[0069] In the description of the embodiments of this application, the words "exemplary," "for example," or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary," "for example," or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a concrete manner.

[0070] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0071] In some processes described in the embodiments of the present application, multiple operations or steps are included that appear in a specific order. However, it should be understood that these operations or steps may not be performed in the order in which they appear in the embodiments of the present application or may be performed in parallel. The sequence numbers of the operations are only used to distinguish between different operations, and the sequence numbers themselves do not represent any order of execution. In addition, these processes may include more or fewer operations, and these operations or steps may be performed in sequence or in parallel, and these operations or steps may be combined.

[0072] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, or the part that contributes to the existing technology, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above and includes a number of instructions for enabling a terminal device to execute the methods described in each embodiment of this application.

[0073] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for preventing contactor adhesion detection failure, characterized in that: The method for preventing contactor adhesion detection failure includes: After the contactor is disconnected, obtaining a load parameter change rate and identifying a load type based on a change in a first parameter of the load within a first time period, wherein the load is an electrical device controlled by the contactor in a vehicle electrical system; Obtaining a delay time according to a parameter change rate and type of the load; The adhesion detection is performed after the delay time has elapsed.

2. The method for preventing contactor adhesion detection failure according to claim 1, wherein: The types of identified loads include: The type of load is determined based on the changes in the values ​​of the electrical parameters of the load.

3. The method for preventing contactor adhesion detection failure according to claim 1, wherein: Obtaining the delay time according to the parameter change rate and type of the load includes: Obtaining a reference delay time and an adjustment coefficient corresponding to the load type; Substitute the reference delay time, the adjustment coefficient, and the load parameter change rate into the first formula to obtain the delay time, wherein the first formula is: in, is the delay time, is the base delay time, is the adjustment coefficient, is the parameter change rate.

4. The method for preventing contactor adhesion detection failure according to claim 1, wherein: The performing of adhesion detection comprises: determining a second threshold; determining whether a value of a second parameter of the load is greater than a second threshold; If it is greater than the second threshold, the detection result is adhesion; If it is not greater than the second threshold, the detection result is normal.

5. The method for preventing contactor adhesion detection failure according to claim 4, wherein: Determining the second threshold comprises: Obtaining a change in a third parameter of the load within a second time period; Obtaining reference parameters and characteristic coefficients corresponding to the load type; Substitute the load's baseline parameter, characteristic coefficient, and change in the third parameter into the second formula to obtain a second threshold value, where the second formula is: in, is the second threshold, is the reference parameter of the load, is the characteristic coefficient, is the change of the third parameter.

6. The method for preventing contactor adhesion detection failure according to claim 4, wherein: The adhesion detection is performed M times, and the method further includes: If at least N detection results are adhesion, it is determined that a adhesion fault exists; If the detection result shows that the number of adhesions is less than N, it is determined that there is no adhesion fault.

7. The method for preventing contactor adhesion detection failure according to claim 1, wherein: After getting the delay time, it also includes: After the delay time, determining whether the value of the first parameter of the load is lower than a first threshold; If so, adhesion detection is performed; If not, continuously monitor whether the value of the first parameter of the load is lower than a first threshold.

8. A device for preventing contactor adhesion and detecting failure, characterized in that: The contactor sticking prevention Failure detection devices include: an identification module, configured to obtain a parameter change rate of the load and identify a type of the load based on a change in a first parameter of the load within a first time period after the contactor is disconnected, wherein the load is an electrical device controlled by the contactor in a vehicle electrical system; A calculation module, configured to obtain a delay time according to a parameter change rate and a type of the load; The execution module is used to perform adhesion detection after the delay time has passed.

9. A device for preventing contactor adhesion and detecting failure, characterized in that: The device for preventing contactor sticking detection failure includes a processor, a memory, and a program for preventing contactor sticking detection failure stored in the memory and executable by the processor, wherein when the program for preventing contactor sticking detection failure is executed by the processor, the steps of the method for preventing contactor sticking detection failure according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a contactor sticking detection failure prevention program, wherein when the contactor sticking detection failure prevention program is executed by the processor, the steps of the contactor sticking detection failure prevention method according to any one of claims 1 to 7 are implemented.

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