Intelligent fault diagnosis method for industrial vehicle controller

Abstract

The invention discloses an intelligent fault diagnosis method for an industrial vehicle controller. The method comprises the following steps: S1, a diagnosed monitoring module, a state diagnosis acquisition module and a state information uploading module are arranged in the industrial vehicle controller; s2, after the controller is powered on, a state diagnosis acquisition module acquires a diagnosis point voltage value set by each circuit in the diagnosed monitoring module; s3, comparing the voltage values by the state diagnosis acquisition module, and judging whether the electrical components are abnormal or not; s4, when the state is judged to be in an abnormal state, a state uploading information module generates a diagnosis message containing a fault component identifier; and S5, the state information uploading module sends the diagnosis message to a display terminal through a communication bus. According to the invention, rapid identification and information uploading of internal fault points of the industrial vehicle controller are realized, and remote diagnosis and maintenance are facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial vehicle electronic control, and in particular to an intelligent fault diagnosis method for an industrial vehicle controller. Background Art

[0002] Existing industrial vehicles widely utilize electronic control systems to manage various operational logic within the vehicle. These control systems typically utilize a multifunctional controller as their core component. To ensure long-term, stable operation in complex environments, industrial vehicle manufacturers typically employ a highly sealed housing structure to isolate the controller's internal circuitry from the external environment, preventing damage from moisture, dust, and corrosive gases. While this sealed structure improves the controller's protection level, it also creates a practical problem: if an internal electrical fault occurs in the controller, it can be difficult to accurately locate the faulty component.

[0003] In industrial vehicle control systems, power distribution and signal control often rely on a large number of fuse circuits and relay circuits. To ensure the safe operation of high-current, high-power load devices within the vehicle's electrical system, the controller typically integrates multiple sets of fuses and relays, each responsible for overcurrent protection and conduction control for different circuits. Most of these circuits have a fixed structure, non-programmable components, and are not equipped with a status monitoring module. During vehicle operation, if an overcurrent problem occurs due to an abnormal external load or a wiring harness fault, it is very likely to cause the fuse inside the controller to melt or the relay contacts to burn out. In this case, the entire vehicle will exhibit a loss of function or control failure, but it is difficult to directly determine which fuse or relay is damaged at the vehicle level.

[0004] Under existing technical conditions, troubleshooting mainly relies on manual disassembly and measurement of each item. Maintenance personnel need to remove the controller from the vehicle, open the sealed housing, and check the on and off status of the fuses or relays in sequence according to the circuit diagram. Due to the compact structure, numerous pins, and limited testing space of the controller, this process is not only time-consuming and labor-intensive, but also prone to poor contact of components, damaged seals, or human damage. At the same time, some controllers do not provide voltage sampling interfaces for internal fuses or relays after leaving the factory, making measurement more difficult. For on-site service engineers, in harsh working environments and with limited tool conditions, it is very easy to cause misjudgment and repair delays, increasing the operation and maintenance costs of the entire vehicle.

[0005] Furthermore, existing controllers typically only have bus communication capabilities and lack a closed-loop diagnostic structure from fault sensing and status assessment to message upload, making it impossible to report and visualize fault information in real time. This results in the vehicle fault alarm system being unable to accurately indicate the fault location and assist maintenance personnel in quickly locating and repairing the fault.

[0006] In summary, existing industrial vehicle controllers generally have problems such as lack of internal state perception, inability to diagnose and judge key protection components, low maintenance efficiency, and reliance on manual experience, which limits their intelligent operation capabilities in high-reliability scenarios.

[0007] Therefore, how to provide an intelligent fault diagnosis method for industrial vehicle controllers is an urgent problem that needs to be solved by those skilled in the art. Summary of the Invention

[0008] One purpose of the present invention is to propose an intelligent fault diagnosis method for industrial vehicle controllers. Based on the combined structure of a diagnosed monitoring module, a status diagnosis acquisition module and a status upload information module, the present invention designs a complete process of voltage acquisition at the diagnosis point, voltage comparison, anomaly judgment and fault message generation and upload, and describes in detail the technical solution for realizing real-time status diagnosis of components such as fuses and relays inside the controller. It has the advantages of no need for disassembly, accurate positioning and timely response.

[0009] An intelligent fault diagnosis method for an industrial vehicle controller according to an embodiment of the present invention includes the following steps:

[0010] S1. Setting a diagnosed monitoring module, a status diagnosis acquisition module and a status information upload module inside the industrial vehicle controller;

[0011] S2. After the industrial vehicle controller is powered on, the status diagnosis acquisition module collects the voltage values ​​of the diagnosis points set in each circuit of the diagnosis monitoring module;

[0012] S3. The status diagnosis acquisition module compares the collected voltage values ​​to determine whether the electrical components in the corresponding circuit are in an abnormal state;

[0013] S4. When it is determined to be an abnormal state, the state upload information module generates a diagnostic message including the fault component identification;

[0014] S5. The status upload information module sends the diagnostic message to the display terminal via the communication bus.

[0015] Optionally, the diagnosed monitoring module includes at least one fuse circuit or relay circuit, and each circuit is provided with no less than two diagnostic points for outputting a voltage signal reflecting the status of the electrical component.

[0016] Optionally, the status diagnosis acquisition module includes a voltage acquisition circuit and a voltage comparison unit connected to each diagnosis point.

[0017] Optionally, the voltage comparison unit determines the state of the target electrical component based on a voltage comparison result between each diagnostic point in the fuse circuit or the relay circuit.

[0018] Optionally, the status upload information module includes a diagnostic message generation unit and a communication interface unit.

[0019] Optionally, the diagnostic message generation unit is used to generate a diagnostic message carrying location information of the abnormal electrical component, and the communication interface unit sends the diagnostic message to the display terminal.

[0020] Optionally, the S2 specifically includes:

[0021] S21. After the industrial vehicle controller is powered on, the status diagnosis acquisition module is sequentially connected to each diagnosis point in the diagnosed monitoring module;

[0022] S22, the status diagnosis acquisition module samples the voltage at each diagnosis point and converts the sampled signal into a digital voltage value;

[0023] S23. Set the total number of diagnostic points to n, and collect the voltage values ​​of the diagnostic points to form a voltage set:

[0024] V={V1,V2,…,V n};

[0025] Where V is the voltage set of the diagnostic points, V i is the voltage value of the i-th diagnostic point, i is a positive integer, and n is the total number of diagnostic points;

[0026] S24. The status diagnosis and acquisition module outputs the voltage set for performing abnormal status judgment.

[0027] Optionally, the S3 specifically includes:

[0028] S31. The status diagnosis acquisition module samples the voltage of all diagnosis points connected to each group of circuits in the diagnosed monitoring module to form a set of voltage values ​​of corresponding diagnosis points:

[0029] V i ={V i1 ,V i2 ,…,V im};

[0030] Among them, V i is the voltage set of the diagnostic points of the i-th group of circuits, V ij is the voltage value of the jth diagnostic point in the i-th group of circuits, i is the circuit number, j is the diagnostic point number, m is the number of diagnostic points, and i, j, and m are positive integers;

[0031] S32. The status diagnosis acquisition module calculates the voltage difference for each pair of diagnosis point voltage values ​​in the voltage set:

[0032] ΔV ijk =|V ij -Vik |;

[0033] Where, ΔV ijk is the voltage difference between the jth and kth diagnostic points in the i-th group of circuits, j is not equal to k, V ij is the voltage value of the jth diagnostic point in the i-th group of circuits, V ik is the voltage value of the kth diagnostic point in the i-th group of circuits;

[0034] S33, preset voltage difference threshold ε, when any voltage difference meets the condition ΔV ijk >ε, the status diagnosis acquisition module determines that the i-th group of circuits is in an abnormal state.

[0035] Optionally, the S4 specifically includes:

[0036] S41, the status diagnosis acquisition module outputs circuit abnormal status information to the status upload information module;

[0037] S42. The status upload information module calls a preset coding rule and combines the module type, diagnostic point number, and voltage difference value corresponding to the abnormal circuit to generate a diagnostic identification code:

[0038] M i =(T i ,P i ,ΔV i );

[0039] Among them, M i is the diagnostic identification code of the i-th group of abnormal circuits, T i Encodes the module type, P i is the diagnosis point number combination, ΔV i is the voltage difference calculation result;

[0040] S43, the status upload information module constructs the message content including the diagnosis identification code:

[0041] D=Header+M i +Tail;

[0042] Among them, D is the diagnostic message, Header is the message header information, Tail is the message tail information, M i It is the diagnosis identification code generated in step S42.

[0043] Optionally, the S5 specifically includes:

[0044] S51, the status upload information module loads the generated diagnostic message into the communication buffer;

[0045] S52, the status upload information module sends a diagnostic message to the display terminal via the communication bus set inside the controller;

[0046] S53, after receiving the diagnostic message uploaded by the communication bus, the display terminal calls the parsing program to extract the fields and determines the corresponding module type code, diagnostic point number combination and voltage difference value according to the field content;

[0047] S54 , the display terminal maps the content contained in the field to a corresponding area in a preset display interface, and presents the module type, diagnosis position, and diagnosis value in text or graphic form.

[0048] The beneficial effects of the present invention are:

[0049] By integrating a diagnostic monitoring module, a status diagnostic acquisition module, and a status upload information module within an industrial vehicle controller, this invention creates a clearly structured and highly responsive fault self-diagnosis system. When the industrial vehicle controller is powered on, the status diagnostic acquisition module samples the voltage status of multiple diagnostic points in real time and, through voltage comparison and difference analysis, determines whether an anomaly exists in the fuse circuit or relay circuit. Once an anomaly is identified, the status upload information module immediately generates a diagnostic message containing the module type, diagnostic point number, and voltage difference information. This message is then transmitted to the vehicle display terminal via a communication bus, visually displaying the fault location and status.

[0050] Compared to existing methods that rely on manual disassembly and measurement to locate faults, this invention effectively avoids problems such as controller seal damage, low detection efficiency, and large diagnostic errors. By introducing multi-point voltage acquisition and logical judgment mechanisms, this invention enables continuous monitoring of the status of fuses and relays within the controller, reducing maintenance workload and improving fault response speed. It is suitable for intelligent fault management scenarios in a variety of industrial vehicle electronic control systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0052] Figure 1 This is an overall flow chart of an intelligent fault diagnosis method for industrial vehicle controllers proposed by the present invention;

[0053] Figure 2 This is a system structure diagram of an intelligent fault diagnosis method for industrial vehicle controllers proposed by the present invention;

[0054] Figure 3 A schematic diagram of single-fuse circuit fault judgment for an intelligent fault diagnosis method for an industrial vehicle controller proposed by the present invention;

[0055] Figure 4This is a schematic diagram of fault judgment of a fuse and relay composite circuit in an intelligent fault diagnosis method for an industrial vehicle controller proposed by the present invention. DETAILED DESCRIPTION

[0056] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0057] refer to Figure 1-4 , an intelligent fault diagnosis method for industrial vehicle controllers, comprising the following steps:

[0058] S1. Setting a diagnosed monitoring module, a status diagnosis acquisition module and a status information upload module inside the industrial vehicle controller;

[0059] S2. After the industrial vehicle controller is powered on, the status diagnosis acquisition module collects the voltage values ​​of the diagnosis points set in each circuit of the diagnosis monitoring module;

[0060] S3. The status diagnosis acquisition module compares the collected voltage values ​​to determine whether the electrical components in the corresponding circuit are in an abnormal state;

[0061] S4. When it is determined to be an abnormal state, the state upload information module generates a diagnostic message including the fault component identification;

[0062] S5. The status upload information module sends the diagnostic message to the display terminal via the communication bus.

[0063] The present invention constructs a complete circuit status monitoring and information transmission system by setting up a diagnosed monitoring module, a status diagnosis acquisition module and a status upload information module inside the industrial vehicle controller. It can realize automatic collection, intelligent judgment and real-time upload of the status of components such as fuses and relays, reduce manual intervention and improve fault detection efficiency.

[0064] In this embodiment, the diagnosed monitoring module includes at least one fuse circuit or relay circuit, and each circuit is provided with no less than two diagnostic points for outputting a voltage signal reflecting the status of the electrical component.

[0065] The present invention achieves voltage state sampling of key components by setting no less than two diagnostic points in each fuse circuit or relay circuit, ensuring the observability of circuit operation status and providing a basic condition for accurately identifying the on and off status of electrical components.

[0066] In this embodiment, the status diagnosis acquisition module includes a voltage acquisition circuit and a voltage comparison unit connected to each diagnosis point.

[0067] The present invention constructs the status diagnosis acquisition module into a structure including a voltage acquisition circuit and a voltage comparison unit, thereby achieving high-precision acquisition and comparison of the voltage value of the diagnosis point, providing support for automatic judgment of the circuit status, and improving the diagnosis accuracy and response speed.

[0068] In this embodiment, the voltage comparison unit determines the state of the target electrical component based on the voltage comparison result between the diagnosis points in the fuse circuit or the relay circuit.

[0069] The present invention compares the voltages between various diagnostic points in a fuse circuit or a relay circuit through a voltage comparison unit to form an abnormality identification mechanism, so that fault judgment inside the controller can be automatically completed without disassembling the structure, avoiding the traditional manual testing process.

[0070] In this embodiment, the status upload information module includes a diagnostic message generation unit and a communication interface unit.

[0071] The present invention divides the status upload information module into a diagnostic message generation unit and a communication interface unit, so that the diagnostic information has structured processing and communication forwarding functions, forming a closed loop from circuit perception to fault upload, and improving the adaptability of system integration and remote communication.

[0072] In this embodiment, the diagnostic message generation unit is used to generate a diagnostic message carrying the location information of the abnormal electrical component, and the communication interface unit sends the diagnostic message to the display terminal.

[0073] The present invention generates a message containing the location information of abnormal electrical components through a diagnostic message generation unit, and uploads it to a display terminal through a communication interface unit, thereby realizing standardized expression of fault data and visual presentation of information, making it easier for maintenance personnel to quickly locate the fault location.

[0074] In this embodiment, S2 specifically includes:

[0075] S21. After the industrial vehicle controller is powered on, the status diagnosis acquisition module is sequentially connected to each diagnosis point in the diagnosed monitoring module;

[0076] S22, the status diagnosis acquisition module samples the voltage at each diagnosis point and converts the sampled signal into a digital voltage value;

[0077] S23. Set the total number of diagnostic points to n, and collect the voltage values ​​of the diagnostic points to form a voltage set:

[0078] V={V1,V2,…,V n};

[0079] Where V is the voltage set of the diagnostic points, V iis the voltage value of the i-th diagnostic point, i is a positive integer, and n is the total number of diagnostic points;

[0080] S24. The status diagnosis and acquisition module outputs the voltage set for performing abnormal status judgment.

[0081] The present invention collects the voltage values ​​of each diagnostic point in sequence after the controller is powered on and constructs a unified voltage set, so that multi-channel voltage sampling has timing consistency and data integrity, laying a reliable foundation for subsequent batch judgment and unified processing.

[0082] In this embodiment, S3 specifically includes:

[0083] S31. The status diagnosis acquisition module samples the voltage of all diagnosis points connected to each group of circuits in the diagnosed monitoring module to form a set of voltage values ​​of corresponding diagnosis points:

[0084] V i ={V i1 ,V i2 ,…,V im};

[0085] Among them, V i is the voltage set of the diagnostic points of the i-th group of circuits, V ij is the voltage value of the jth diagnostic point in the i-th group of circuits, i is the circuit number, j is the diagnostic point number, m is the number of diagnostic points, and i, j, and m are positive integers;

[0086] S32. The status diagnosis acquisition module calculates the voltage difference for each pair of diagnosis point voltage values ​​in the voltage set:

[0087] ΔV ijk =|V ij -V ik |;

[0088] Where, ΔV ijk is the voltage difference between the jth and kth diagnostic points in the i-th group of circuits, j is not equal to k, V ij is the voltage value of the jth diagnostic point in the i-th group of circuits, V ik is the voltage value of the kth diagnostic point in the i-th group of circuits;

[0089] S33, preset voltage difference threshold ε, when any voltage difference meets the condition ΔV ijk >ε, the status diagnosis acquisition module determines that the i-th group of circuits is in an abnormal state.

[0090] The present invention determines whether there is an abnormality in the circuit by calculating the voltage difference between any two points in the diagnostic point voltage set and comparing it with a preset threshold. This realizes the automatic diagnosis function for complex circuit structures and improves the stability in multi-point judgment scenarios.

[0091] In this embodiment, the S4 specifically includes:

[0092] S41, the status diagnosis acquisition module outputs circuit abnormal status information to the status upload information module;

[0093] S42. The status upload information module calls a preset coding rule and combines the module type, diagnostic point number, and voltage difference value corresponding to the abnormal circuit to generate a diagnostic identification code:

[0094] M i =(T i ,P i ,ΔV i );

[0095] Among them, M i is the diagnostic identification code of the i-th group of abnormal circuits, T i Encodes the module type, P i is the diagnosis point number combination, ΔV i is the voltage difference calculation result;

[0096] S43, the status upload information module constructs the message content including the diagnosis identification code:

[0097] D=Header+M i +Tail;

[0098] Among them, D is the diagnostic message, Header is the message header information, Tail is the message tail information, M i It is the diagnosis identification code generated in step S42.

[0099] The present invention generates a diagnostic identification code by encoding module type, diagnostic point number and voltage difference, and constructs a standard message structure, thereby improving the transmission efficiency and system compatibility of fault information and facilitating collaborative processing with other control units in the vehicle network.

[0100] In this embodiment, the S5 specifically includes:

[0101] S51, the status upload information module loads the generated diagnostic message into the communication buffer;

[0102] S52, the status upload information module sends a diagnostic message to the display terminal via the communication bus set inside the controller;

[0103] S53, after receiving the diagnostic message uploaded by the communication bus, the display terminal calls the parsing program to extract the fields and determines the corresponding module type code, diagnostic point number combination and voltage difference value according to the field content;

[0104] S54 , the display terminal maps the content contained in the field to a corresponding area in a preset display interface, and presents the module type, diagnosis position, and diagnosis value in text or graphic form.

[0105] The present invention realizes a closed-loop transmission path from collection to presentation of diagnostic results by loading the diagnostic message into a communication buffer and transmitting it to the display terminal via a bus, and then the display terminal performs field parsing and interface mapping, so as to facilitate users to obtain fault information in a timely manner.

[0106] Example 1:

[0107] To verify the feasibility of this invention, it was applied to a complete vehicle control system for a class of industrial vehicles. The controller of this control system integrates multiple fuse circuits and relay circuits, which are used to provide current protection and control the conduction of various high-power electrical devices. During vehicle operation, if a fuse blows or a relay contact is damaged, critical functions may fail. Existing controllers often use a closed housing structure and lack the ability to self-diagnose internal faults. Troubleshooting often requires disassembling the housing for manual measurement, a complex and inefficient process.

[0108] like Figure 2 As shown in the figure, the present invention provides an intelligent fault diagnosis method for industrial vehicle controllers. The system architecture consists of a diagnosed monitoring module, a status diagnostic acquisition module, and a status upload information module. The diagnosed monitoring module includes multiple fuse circuits and relay circuits, each with several diagnostic points to reflect the voltage status of electrical components. The status diagnostic acquisition module is connected to each diagnostic point and performs voltage acquisition and comparison operations. The status upload information module is responsible for generating diagnostic messages and sending them to a display terminal via a communication bus.

[0109] For single-channel fuse circuits in controllers, such as Figure 3 As shown in the figure, diagnostic points A and B are set at both ends of the fuse. The status diagnostic acquisition module samples the voltage values ​​of the two diagnostic points. When the voltage values ​​at diagnostic points A and B are equal, the fuse is determined to be normal; when the voltage values ​​are unequal, the fuse is determined to be damaged. Based on this, the status upload information module generates a diagnostic message carrying the module type, diagnostic point number, and voltage difference, and transmits it to the display terminal via the controller communication bus.

[0110] For composite circuits in controllers, such as Figure 4As shown, the fuse and relay are arranged in series, with diagnostic points X, Y, W, and Z defined. The status diagnostic acquisition module first collects the voltage values ​​at diagnostic points X and Y. If the voltages match, the fuse is considered normal; if they don't, the fuse is considered abnormal and a message is uploaded. If the fuse is normal, the voltage values ​​at diagnostic points W and Z are compared. If the voltages match, the relay is considered normal; if they don't, the relay is considered abnormal, triggering the status upload module to upload the corresponding fault message.

[0111] After receiving the diagnostic message from the status upload module, the display terminal calls a preset parser to extract the diagnostic field. Based on the module type, diagnostic point number, and voltage difference in the field, it displays the fault location and status information on the interface. This information can help maintenance personnel quickly identify and resolve the fault.

[0112] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. An intelligent fault diagnosis method for industrial vehicle controllers, characterized in that: The steps include: S1. Setting a diagnosed monitoring module, a status diagnosis acquisition module and a status information upload module inside the industrial vehicle controller; S2. After the industrial vehicle controller is powered on, the status diagnosis acquisition module collects the voltage values ​​of the diagnosis points set in each circuit of the diagnosis monitoring module; S3. The status diagnosis acquisition module compares the collected voltage values ​​to determine whether the electrical components in the corresponding circuit are in an abnormal state; S4. When it is determined to be an abnormal state, the state upload information module generates a diagnostic message including the fault component identification; S5. The status upload information module sends the diagnostic message to the display terminal via the communication bus.

2. The intelligent fault diagnosis method for industrial vehicle controller according to claim 1, characterized in that: The diagnosed monitoring module includes at least one fuse circuit or relay circuit, and each circuit is provided with no less than two diagnostic points for outputting a voltage signal reflecting the status of the electrical component.

3. The intelligent fault diagnosis method for industrial vehicle controller according to claim 1, characterized in that: The state diagnosis acquisition module includes a voltage acquisition circuit and a voltage comparison unit connected to each diagnosis point.

4. The intelligent fault diagnosis method for industrial vehicle controller according to claim 3, characterized in that: The voltage comparison unit determines the state of the target electrical component based on the voltage comparison result between the diagnosis points in the fuse circuit or the relay circuit.

5. The intelligent fault diagnosis method for industrial vehicle controller according to claim 1, characterized in that: The status upload information module includes a diagnostic message generation unit and a communication interface unit.

6. The intelligent fault diagnosis method for industrial vehicle controller according to claim 5, characterized in that: The diagnostic message generation unit is used to generate a diagnostic message carrying the location information of the abnormal electrical component, and the communication interface unit sends the diagnostic message to the display terminal.

7. The intelligent fault diagnosis method for industrial vehicle controller according to claim 1, characterized in that: The S2 specifically includes: S21. After the industrial vehicle controller is powered on, the status diagnosis acquisition module is sequentially connected to each diagnosis point in the diagnosed monitoring module; S22, the status diagnosis acquisition module samples the voltage at each diagnosis point and converts the sampled signal into a digital voltage value; S23. Set the total number of diagnostic points to n, and collect the voltage values ​​of the diagnostic points to form a voltage set: V={V1,V2,…,V n }; Where V is the voltage set of the diagnostic points, V i is the voltage value of the i-th diagnostic point, i is a positive integer, and n is the total number of diagnostic points; S24. The status diagnosis and acquisition module outputs the voltage set for performing abnormal status judgment.

8. The intelligent fault diagnosis method for industrial vehicle controller according to claim 1, characterized in that: The S3 specifically includes: S31. The status diagnosis acquisition module samples the voltage of all diagnosis points connected to each group of circuits in the diagnosed monitoring module to form a set of voltage values ​​of corresponding diagnosis points: V i ={V i1 ,V i2 ,…,V im }; Among them, V i is the voltage set of the diagnostic points of the i-th group of circuits, V ij is the voltage value of the jth diagnostic point in the i-th group of circuits, i is the circuit number, j is the diagnostic point number, m is the number of diagnostic points, and i, j, and m are positive integers; S32. The status diagnosis acquisition module calculates the voltage difference for each pair of diagnosis point voltage values ​​in the voltage set: ΔV ijk =|V ij -V ik |; Where, ΔV ijk is the voltage difference between the jth and kth diagnostic points in the i-th group of circuits, j is not equal to k, V ij is the voltage value of the jth diagnostic point in the i-th group of circuits, V ik is the voltage value of the kth diagnostic point in the i-th group of circuits; S33, preset voltage difference threshold ε, when any voltage difference meets the condition ΔV ijk >ε, the status diagnosis acquisition module determines that the i-th group of circuits is in an abnormal state.

9. The intelligent fault diagnosis method for industrial vehicle controller according to claim 1, characterized in that: The S4 specifically includes: S41, the status diagnosis acquisition module outputs circuit abnormal status information to the status upload information module; S42. The status upload information module calls a preset coding rule and combines the module type, diagnostic point number, and voltage difference value corresponding to the abnormal circuit to generate a diagnostic identification code: M i =(T i ,P i ,ΔV i ); Among them, M i is the diagnostic identification code of the i-th group of abnormal circuits, T i Encodes the module type, P i is the diagnosis point number combination, ΔV i is the voltage difference calculation result; S43, the status upload information module constructs the message content including the diagnosis identification code: D=Header+M i +Tail; Among them, D is the diagnostic message, Header is the message header information, Tail is the message tail information, M i It is the diagnosis identification code generated in step S42.

10. The intelligent fault diagnosis method for industrial vehicle controller according to claim 1, characterized in that: The S5 specifically includes: S51, the status upload information module loads the generated diagnostic message into the communication buffer; S52, the status upload information module sends a diagnostic message to the display terminal via the communication bus set inside the controller; S53, after receiving the diagnostic message uploaded by the communication bus, the display terminal calls the parsing program to extract the fields and determines the corresponding module type code, diagnostic point number combination and voltage difference value according to the field content; S54 , the display terminal maps the content contained in the field to a corresponding area in a preset display interface, and presents the module type, diagnosis position, and diagnosis value in text or graphic form.

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