Fault diagnosis method and device for vehicle speed reducer, electronic equipment and storage medium

Abstract

The invention provides a fault diagnosis method and device for a vehicle speed reducer, electronic equipment and a storage medium. The method comprises the steps that vibration acceleration data of the speed reducer in at least two vibration directions are obtained, and the at least two vibration directions intersect with each other; analyzing the vibration acceleration data in each vibration direction to obtain at least one piece of fault feature data; and determining a fault type according to the fault feature data and the vibration direction corresponding to the fault feature data. According to the fault diagnosis method of the vehicle speed reducer, fault diagnosis is carried out in combination with the fault features and the vibration directions corresponding to the fault features, fault types similar to the fault features can be distinguished through the vibration directions, misjudgment of the fault types is avoided, then fault parts of the speed reducer can be maintained in time, and the fault diagnosis efficiency is improved. And the driving experience and driving safety of the vehicle are ensured.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle technology, and in particular to a fault diagnosis method, device, electronic equipment and storage medium for a vehicle reducer. Background Technology

[0002] As a key component in the power transmission path of a vehicle, a malfunction in the reducer can cause the vehicle to lose power and become immobile, affecting the driving experience and even leading to safety accidents. Diagnosing and identifying different types of malfunctions in the early stages of reducer failure can not only prevent the vehicle from losing power but also reduce the difficulty and cost of reducer repair.

[0003] In related technologies, early fault diagnosis of automotive reducers involves collecting vibration signals from the reducer, extracting fault-related features from the vibration signals, and then identifying the fault type. However, reducers have a delicate structure and many components, and some different fault types have similar characteristics in vibration signals, which can easily lead to misjudgment of the fault type. This results in the inability to repair faulty components in a timely manner, thereby affecting the driving experience and driving safety. Summary of the Invention

[0004] To address the aforementioned technical problems, this disclosure provides a method, apparatus, electronic device, and storage medium for diagnosing faults in vehicle speed reducers.

[0005] This disclosure provides a fault diagnosis method for a vehicle reducer, comprising: acquiring vibration acceleration data of the reducer in at least two vibration directions, wherein the at least two vibration directions intersect each other; parsing the vibration acceleration data in each vibration direction to obtain at least one fault feature data; and determining the fault type based on the fault feature data and the vibration direction corresponding to the fault feature data.

[0006] Optionally, the at least two vibration directions include a first vibration direction and a second vibration direction, and the fault feature data includes a feature order; the step of parsing the vibration acceleration data in each direction to obtain at least one fault feature data includes: parsing the vibration acceleration data of the reducer in the first vibration direction and the second vibration direction to obtain first fault feature data including a first feature order; the step of determining the fault type based on the fault feature data and the vibration direction corresponding to the fault feature data includes: determining the fault type as a first fault type in response to the first fault feature data corresponding to the first vibration direction, or determining the fault type as a second fault type in response to the first fault feature data corresponding to the second vibration direction, wherein the first fault type and the second fault type are different.

[0007] Optionally, the at least two vibration directions include a first vibration direction and a second vibration direction, and the fault feature data includes a feature order and a feature amplitude; the step of parsing the vibration acceleration data in each direction to obtain at least one fault feature data includes: parsing the vibration acceleration data of the reducer in the first vibration direction to obtain a second fault feature data, and parsing the vibration acceleration data of the reducer in the second vibration direction to obtain a third fault feature data, wherein the second fault feature data and the third fault feature data have the same feature order; the step of determining the fault type based on the fault feature data and the vibration direction corresponding to the fault feature data includes: determining the fault type as a third fault type in response to the feature amplitude of the second fault feature data being greater than the feature amplitude of the third fault feature data, or determining the fault type as a fourth fault type in response to the feature amplitude of the second fault feature data being less than the feature amplitude of the third fault feature data, wherein the third fault type and the fourth fault type are different.

[0008] Optionally, the at least two vibration directions include a first vibration direction and a second vibration direction, and the fault feature data includes a feature order and a feature amplitude; the step of parsing the vibration acceleration data in each direction to obtain at least one fault feature data includes: parsing the vibration acceleration data of the reducer in the first vibration direction to obtain a fourth fault feature data, and parsing the vibration acceleration data of the reducer in the second vibration direction to obtain a fifth fault feature data, wherein the difference in feature order between the fourth fault feature data and the fifth fault feature data is less than a preset order difference; the step of determining the fault type based on the fault feature data and the vibration direction corresponding to the fault feature data includes: determining the fault type as a fifth fault type in response to the feature amplitude of the fourth fault feature data being greater than the feature amplitude of the fifth fault feature data, or determining the fault type as a sixth fault type in response to the feature amplitude of the fourth fault feature data being less than the feature amplitude of the fifth fault feature data, wherein the fifth fault type and the sixth fault type are different.

[0009] Optionally, the fault feature data includes a feature order; after parsing the vibration acceleration data in each vibration direction to obtain at least one fault feature data, the method further includes: obtaining the amplitude of the harmonic order of the feature order of the fault feature data; in response to the amplitude of the harmonic order being greater than or equal to a harmonic threshold, determining the fault type as a seventh fault type, or in response to the amplitude of the harmonic order being less than the harmonic threshold, determining the fault type as an eighth fault type, wherein the seventh fault type is different from the eighth fault type.

[0010] Optionally, the reducer includes a first gear and a first bearing in which the first gear is located; the seventh fault type includes a fault in the first gear, and the eighth fault type includes a fault in the first bearing.

[0011] Optionally, parsing the vibration acceleration data in a vibration direction to obtain the fault feature data includes: performing a frequency domain transformation on the vibration acceleration data to obtain amplitude-frequency data of the vibration acceleration data, wherein the amplitude-frequency data includes multiple frequency orders and the amplitude of each frequency order; in response to the amplitude of any frequency order exceeding an amplitude threshold, and the ratio of the amplitude of the frequency order to the amplitude of its adjacent frequency orders exceeding a preset ratio, obtaining the fault feature data, wherein the frequency order and its amplitude are the feature order and feature amplitude of the fault feature data.

[0012] Optionally, the vibration acceleration data is acquired by a sensor; before acquiring the vibration acceleration data of the reducer in at least two directions, the method further includes: acquiring the real-time rotational speed of the vehicle motor; in response to the real-time rotational speed being within a preset range, starting to acquire the vibration acceleration data of the reducer in at least two directions, wherein the preset range is determined based on the acquisition resolution of the sensor and the target order resolution.

[0013] Optionally, the preset interval is:

[0014] Spd>(df / dO)*n

[0015] Wherein, Spd is the real-time rotational speed, df is the sensor's acquisition resolution, dO is the target order resolution, and n is the unit conversion factor selected based on the units of Spd, df, and dO.

[0016] Optionally, the method further includes: issuing a fault alarm for the fault type in response to the number of times the same fault type occurs within a preset time being greater than a threshold number.

[0017] This disclosure also provides a fault diagnosis device for a vehicle reducer, comprising: a data acquisition module for acquiring vibration acceleration data of the reducer in at least two vibration directions, wherein the at least two vibration directions intersect each other; a data processing module for parsing the vibration acceleration data in each vibration direction to obtain at least one fault feature data; and a fault diagnosis module for determining the fault type based on the fault feature data and the vibration direction corresponding to the fault feature data.

[0018] This disclosure also provides an electronic device, including: a processor; a memory for storing executable instructions; wherein the processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the method described in any of the preceding claims.

[0019] This disclosure also provides a computer-readable storage medium having a computer program stored thereon, the storage medium storing the computer program such that, when the computer program is executed by a processor, the processor performs the method described in any of the preceding claims.

[0020] Compared with the prior art, the technical solution provided in this disclosure has the following advantages: The fault diagnosis method for vehicle reducers provided in this disclosure combines fault characteristics and the vibration direction corresponding to the fault characteristics to perform fault diagnosis. It can distinguish fault types with similar fault characteristics by vibration direction, avoid misjudging the fault type, and thus enable timely repair of faulty components of the reducer, ensuring the driving experience and driving safety of the vehicle. Attached Figure Description

[0021] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0022] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A flowchart illustrating a fault diagnosis method for a vehicle reducer provided in an embodiment of this disclosure;

[0024] Figure 2 This is a schematic diagram of the structure of a fault diagnosis device for a vehicle reducer provided in an embodiment of the present disclosure;

[0025] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. Detailed Implementation

[0026] To better understand the above-mentioned objectives, features, and advantages of the embodiments of this disclosure, the solutions of the embodiments of this disclosure will be further described below. It should be noted that, unless otherwise specified, the embodiments of this disclosure and the features within them can be combined with each other.

[0027] Numerous specific details are set forth in the following description in order to provide a full understanding of the embodiments of this disclosure, but the embodiments of this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of the embodiments of this disclosure, and not all embodiments.

[0028] Serious failures such as component breakage and cracking in automotive reducers occur gradually. Before complete failure, there are often early faults such as pitting and wear. If no human intervention is taken when these early faults occur, the faults will develop further and eventually cause the aforementioned serious faults, resulting in loss of vehicle power and affecting the user's driving experience and vehicle driving safety.

[0029] In related technologies, early fault diagnosis of automotive reducers involves collecting vibration signals from the reducer, extracting fault-related features from these signals, and then identifying the fault type. However, reducers have a delicate structure with many components, and different fault types often exhibit similar vibration signal characteristics, leading to misdiagnosis. For example, in a certain reducer, the fault characteristic order of pitting on the inner ring of bearing A is 4, while the fault characteristic order of cage wear on bearing B is 3.9. However, the minimum resolution of the sensor used to collect the reducer's vibration signals is only 0.2, making it impossible to distinguish between the pitting on the inner ring of bearing A and the cage wear on bearing B. Increasing the sensor's resolution requires more sophisticated sensor devices, significantly increasing the overall vehicle cost. The inability to pinpoint the fault type prevents timely and accurate repairs, ultimately impacting the driving experience and road safety.

[0030] In view of this, one embodiment of this disclosure provides a fault diagnosis method for a vehicle reducer. This method can be applied to electric vehicles, as well as other vehicles that include a reducer as a component, such as... Figure 1 As shown, the method includes:

[0031] S1. Obtain vibration acceleration data of the reducer in at least two vibration directions, wherein at least two vibration directions intersect each other.

[0032] In practice, vibration acceleration data of the reducer can be collected using MEMS (Micro-Electro-Mechanical Systems) sensors (specifically vibration sensors or acceleration sensors) fitted to the reducer. Vibration acceleration data in different vibration directions can be collected by installing sensors at different positions on the reducer. For example, a sensor installed on the side of the reducer facing the vehicle's forward / reverse direction can collect vibration acceleration data in the forward / reverse direction; a sensor installed on the side of the reducer perpendicular to the forward / reverse direction and parallel to the ground can collect vibration acceleration data in the left / right direction; and a sensor installed on the side of the reducer perpendicular to the ground can collect vibration acceleration data in the up / down direction.

[0033] It is understood that, due to the different data acquisition methods of different sensor models, the relationship between the installation position of the sensor and the vibration direction described above is only exemplary and may vary in specific implementations. Furthermore, in some embodiments, a multi-axis sensor can be directly installed around the reducer to directly acquire vibration acceleration data in at least two vibration directions. Those skilled in the art can also use other methods for acquiring vibration acceleration data, which are not limited here.

[0034] S2. Analyze the vibration acceleration data in each vibration direction to obtain at least one fault characteristic data.

[0035] Specifically, the analyzed vibration acceleration data in a vibration direction includes multiple characteristic orders. The order in which abnormal numerical fluctuations occur can be considered the order in which a fault has occurred. The aforementioned fault characteristic data can include the order in which the fault occurred and its specific numerical value. After analyzing the vibration acceleration data in each vibration direction individually, it is possible that no fault characteristic data can be obtained, indicating that no component of the reducer has yet experienced an early fault. If one or more fault characteristic data are obtained from the acceleration data in one or more vibration directions, it indicates that a component of the reducer has experienced an early fault. This fault characteristic data, along with the vibration direction, will be used for subsequent fault diagnosis.

[0036] S3. Determine the fault type based on the fault characteristic data and the vibration direction corresponding to the fault characteristic data.

[0037] Specifically, the fault characteristic data corresponds to the vibration direction from which the data was collected. For example, if the first fault characteristic data is extracted from the vibration acceleration data collected in the first vibration direction, then this first fault characteristic data corresponds to the first vibration direction.

[0038] In the aforementioned reducer, the pitting fault characteristic order of bearing A's inner ring is 4, while the cage wear fault characteristic order of bearing B is 3.9. Since the minimum resolution of the sensor collecting the reducer's vibration signal is only 0.2, it is impossible to distinguish between the pitting fault of bearing A and the cage wear fault of bearing B using related technologies for fault diagnosis. However, in a specific embodiment, the pitting fault of bearing A causes abnormal fluctuations in the bearing's radial vibration acceleration data, while the cage wear fault of bearing B causes abnormal fluctuations in the bearing's axial vibration acceleration data. Therefore, using the method provided in this disclosure, as long as the source direction of the fault characteristic data is determined, or the direction in which the abnormal fluctuations in the fault characteristic data are greater, these two faults can be distinguished, thereby determining which component needs timely repair.

[0039] The vehicle reducer fault diagnosis method provided in this embodiment combines fault characteristics and the vibration direction corresponding to the fault characteristics to perform fault diagnosis. It can distinguish fault types with similar fault characteristics by vibration direction, avoid misjudging the fault type, and thus enable timely repair of faulty components of the reducer, ensuring the driving experience and driving safety of the vehicle.

[0040] It is understood that the relevant content of a certain reducer mentioned in the above embodiments is only illustrative. Since there are many reducer models in the related technology, the fault characteristics of pitting of the inner ring of bearing A and wear of the cage of bearing B in other reducer models may not be as described in the above embodiments. At the same time, in other reducer models, there may be two other components with similar characteristic orders but different directions of abnormal fluctuations. In this case, the method of the embodiments of this disclosure can be applied to these two components and is within the protection scope of this disclosure.

[0041] Specifically, the storage module deployed in the vehicle pre-stores the correspondence between multiple fault characteristic data, vibration direction, and fault type. For example, fault characteristic data corresponding to fault type A is that the amplitude of order a exceeds b and originates from vibration direction X. Therefore, when fault characteristic data with an amplitude of order a exceeding b is parsed from the vibration acceleration data collected in vibration direction X, the fault type can be determined as fault type A based on the above correspondence. The fault characteristic data and vibration direction corresponding to each fault type can be obtained through pre-experimental measurements. For example, the vibration acceleration data of a reducer determined to have fault type A and a normal reducer can be measured in multiple vibration directions, and the parsing results of the two vibration acceleration data are compared to obtain the characteristics of fault type A. It is understood that due to the large number of reducer models in related technologies, the specific values ​​of the above fault characteristic data cannot be limited in this embodiment. Those skilled in the art can set the values ​​based on the content disclosed in the above embodiments and in combination with actual conditions. The following other embodiments are similar and will not be described again.

[0042] In practical implementation, to conserve processor computing resources, steps S1 to S3 can be executed at intervals. The interval can be determined based on vehicle usage and actual conditions, and is not limited here. In one specific embodiment, as vehicle mileage increases, the service life of the reducer also increases, approaching its lifespan. Therefore, the aforementioned interval can be reduced as vehicle mileage increases, thereby ensuring timely diagnosis of reducer malfunctions.

[0043] In some embodiments, S2 includes:

[0044] S21. Perform frequency domain transformation on the vibration acceleration data to obtain the amplitude-frequency data of the vibration acceleration data, wherein the amplitude-frequency data includes multiple frequency orders and the amplitude of each frequency order.

[0045] S22. In response to the amplitude of any frequency order exceeding an amplitude threshold, and the ratio of the amplitude of the frequency order to the amplitude of its adjacent frequency order exceeding a preset ratio, fault characteristic data is obtained, wherein the frequency order and its amplitude are the characteristic order and characteristic amplitude of the fault characteristic data.

[0046] Determining a fault directly based on the characteristic amplitude of a single frequency order could lead to false alarms. This is because other external stimuli may increase the overall vibration amplitude of the reducer, which in turn would increase the amplitude of each frequency order in the amplitude-frequency data. However, a fault in a component of the reducer would only cause an increase in the amplitude of a specific frequency order, while the changes in the amplitudes of adjacent orders would be minimal. Therefore, by comparing the amplitudes with those of adjacent frequency orders, if the ratio is greater than a preset ratio, it indicates that the amplitude of that frequency order has increased significantly, further ensuring the accuracy of fault identification.

[0047] Specifically, S21 and S22 above are the process of analyzing vibration acceleration data in one vibration direction. The process of analyzing vibration acceleration data in multiple vibration directions can repeat S21 and S22 above.

[0048] In practice, vibration acceleration data in one vibration direction can be analyzed to obtain multiple fault feature data. For example, in response to the fact that the amplitudes of frequency order a and frequency order b both exceed the amplitude threshold, and the ratios of the amplitudes of frequency order a and frequency order b to the amplitudes of their adjacent frequency orders both exceed a preset ratio, then a fault feature data with a characteristic order and a characteristic amplitude of frequency order a and its amplitude, and a fault feature data with a characteristic order and a characteristic amplitude of frequency order b and its amplitude are obtained.

[0049] In one specific embodiment, S21 includes:

[0050] Vibration acceleration data is downsampled at regular intervals, and the average speed of the vehicle motor within that time period is calculated.

[0051] The FFT (Fourier Transform) algorithm is used to perform frequency domain transformation on the downsampled vibration acceleration data to calculate each vibration frequency and its corresponding amplitude.

[0052] The FFT algorithm suffers from spectral leakage, which may lead to errors in the frequency domain transformation. To better meet the periodicity requirements of FFT processing and reduce leakage, the time-domain vibration signal of the vibration acceleration data needs to be windowed. This embodiment uses the HANNING window function, the formula of which is (those skilled in the art will understand the definition of each function in the HANNING window function, and will not be elaborated here):

[0053]

[0054] Finally, based on the rotational frequency of the vehicle motor within a certain period, and the vibration frequencies and their corresponding amplitudes obtained by FFT of the vibration acceleration data, each frequency order and its corresponding amplitude are determined. The frequency order is equal to the ratio of the vibration frequency to the rotational frequency. The calculation method for the amplitudes of different frequency orders includes: first, calculating the vibration frequency corresponding to the desired frequency order based on the motor's rotational frequency within the period; finding the minimum interval containing this vibration frequency; extracting the amplitudes before and after the vibration frequency interval; and then obtaining the amplitude corresponding to the desired frequency order by linear interpolation of the amplitudes before and after the vibration frequency interval.

[0055] In other embodiments, parameters in the vehicle other than motor speed can be used together with the above-mentioned vibration acceleration data to determine the frequency order and the corresponding amplitude. Those skilled in the art can implement other embodiments accordingly, which will not be elaborated here.

[0056] Those skilled in the art can perform the steps of S21 and S22 described above using other conventional mathematical algorithms without any inventive effort, and all of these are within the protection scope of this disclosure.

[0057] In some embodiments, at least two vibration directions include a first vibration direction and a second vibration direction, and the fault characteristic data includes a characteristic order. The above S2 includes:

[0058] The vibration acceleration data of the reducer in the first vibration direction and the second vibration direction are analyzed respectively to obtain the first fault characteristic data including the first characteristic order. The first fault characteristic data can be obtained by analyzing the vibration acceleration data in the first vibration direction or by analyzing the vibration acceleration data in the second vibration direction.

[0059] The above S3 includes:

[0060] In response to the first fault feature data corresponding to the first vibration direction, i.e., the first fault feature is obtained by analyzing the vibration acceleration data in the first vibration direction, the fault type is determined to be the first fault type; or, in response to the first fault feature data corresponding to the second vibration direction, i.e., the first fault feature is obtained by analyzing the vibration acceleration data in the second vibration direction, the fault type is determined to be the second fault type, wherein the first fault type and the second fault type are different.

[0061] The reducer includes multiple components. Faults located on different components can be considered as different types of faults, and different faults located on the same component can also be considered as different types of faults. For example, pitting faults on the inner ring of the bearing and pitting faults on the outer ring of the bearing in the reducer can be considered as different faults. The same applies to the following embodiments, which will not be repeated here.

[0062] Different fault types in a reducer may correspond to the same fault characteristic data and only cause abnormal fluctuations in a specific vibration direction. In this case, the different fault types can be further distinguished by the vibration direction corresponding to the fault characteristic data, so as to avoid misjudging the fault type and thus enable timely repair of the faulty parts of the reducer, ensuring the driving experience and driving safety of the vehicle.

[0063] It should be noted that the first vibration direction and the second vibration direction mentioned above are only used to distinguish different vibration directions, and are not limited to only two selectable vibration directions. In other embodiments, vibration acceleration data in more vibration directions can be collected. Similarly, the first fault type and the second fault type are only used to distinguish different fault types, and are not limited to the above embodiments being able to identify only two fault types. In other embodiments, more types of fault types can be identified. Other embodiments of this disclosure are similar and will not be described in detail here.

[0064] In some embodiments, at least two vibration directions include a first vibration direction and a second vibration direction, and the fault characteristic data includes characteristic order and characteristic amplitude. The above S2 includes:

[0065] The vibration acceleration data of the reducer in the first vibration direction is analyzed to obtain the second fault characteristic data, and the vibration acceleration data of the reducer in the second vibration direction is analyzed to obtain the third fault characteristic data. The second fault characteristic data and the third fault characteristic data have the same characteristic order.

[0066] It should be noted that the criterion for determining that the feature orders are the same is based on the processor executing the method of the above embodiments determining that the two feature orders are the same, rather than on the specific numerical values ​​of the two feature orders. For example, in a specific embodiment, the actual feature order of the second fault feature data is 2.37, and the actual feature order of the third fault feature data is 2.39. However, since the resolution of the sensor that collects the vibration acceleration data is only 0.1, after the processor receives and parses the data, it determines that the feature order of the second fault feature data and the feature order of the third fault feature data are both 2.4. In this case, it can be considered that the feature orders of the second fault feature data and the third fault feature data are the same.

[0067] The above S3 includes:

[0068] In response to the feature amplitude of the second fault feature data being greater than the feature amplitude of the third fault feature data, the fault type is determined to be the third fault type; or, in response to the feature amplitude of the second fault feature data being less than the feature amplitude of the third fault feature data, the fault type is determined to be the fourth fault type, wherein the third fault type and the fourth fault type are different.

[0069] Different fault types in a reducer may correspond to the same fault characteristic data and simultaneously cause abnormal fluctuations in multiple vibration directions. However, different fault types will cause greater fluctuations in specific vibration directions. At this time, by comparing the amplitude of the characteristic order in each vibration direction in the fault characteristic data, different fault types can be further distinguished, further avoiding misjudgment of the fault type. This will enable timely repair of faulty components in the reducer, ensuring the driving experience and driving safety of the vehicle.

[0070] In some embodiments, at least two vibration directions include a first vibration direction and a second vibration direction, and the fault characteristic data includes characteristic order and characteristic amplitude. The above S2 includes:

[0071] The vibration acceleration data of the reducer in the first vibration direction is analyzed to obtain the fourth fault characteristic data, and the vibration acceleration data of the reducer in the second vibration direction is analyzed to obtain the fifth fault characteristic data. The difference between the characteristic order of the fourth fault characteristic data and the fifth fault characteristic data is less than the preset order difference.

[0072] Specifically, if the difference in feature order between the fourth fault feature data and the fifth fault feature data is less than a preset order difference, it indicates that the feature orders of the fourth fault feature data and the fifth fault feature data are very similar. In some specific embodiments, the preset order difference can be the minimum order difference supported by the sensor resolution, or it can be slightly larger than the minimum order difference. For example, when the minimum order difference supported by the resolution of a sensor is 0.2, the preset order difference can be selected in the range of 0.2 to 1.2. The above S3 includes:

[0073] In response to the feature amplitude of the fourth fault feature data being greater than the feature amplitude of the fifth fault feature data, the fault type is determined to be the fifth fault type; or, in response to the feature amplitude of the fourth fault feature data being less than the feature amplitude of the fifth fault feature data, the fault type is determined to be the sixth fault type, wherein the fifth fault type and the sixth fault type are different.

[0074] When high-resolution sensors are used to collect the aforementioned vibration acceleration data, even if the two characteristic orders are only slightly different, they can still be identified as two distinct characteristic orders. However, due to numerous external interference factors, misjudgments of similar characteristic orders are still possible. In such cases, further differentiation of different fault types by vibration direction can further avoid misjudging the fault type, thereby enabling timely repair of faulty components in the reducer and ensuring the vehicle's driving experience and road safety.

[0075] In some embodiments, the fault characteristic data includes a characteristic order;

[0076] The S2 method described above also includes:

[0077] S41. Obtain the amplitude of the harmonic order of the characteristic order of the fault characteristic data.

[0078] S42. In response to the amplitude of the harmonic order being greater than or equal to the harmonic threshold, the fault type is determined to be the seventh fault type; or, in response to the amplitude of the harmonic order being less than the harmonic threshold, the fault type is determined to be the eighth fault type, wherein the seventh fault type is different from the eighth fault type.

[0079] When certain fault types occur, the amplitude changes corresponding to their fault characteristic orders are not obvious. If the fault type is determined solely by the amplitude corresponding to the characteristic order, it may lead to the omission of such fault types, preventing timely maintenance of the reducer. However, when some rotating components fail, the periodic vibration fluctuations caused by the fault will be reflected in the harmonic order of the connected components. In this case, the fault diagnosis of the rotating component can be performed by observing the amplitude changes of the harmonic order, avoiding misjudgment of the fault type. This allows for timely repair of the faulty components of the reducer, ensuring a smooth driving experience and road safety.

[0080] Specifically, in the above embodiments, if the amplitude of the harmonic order does not change significantly, that is, if the amplitude of the harmonic order is less than the harmonic threshold, it indicates that the fault type is a fault on the component connected to the rotating component, rather than a fault in the rotating component itself.

[0081] In some embodiments, the reducer includes a first gear and a first bearing in which the first gear is located;

[0082] The seventh type of failure includes failure of the first gear, and the eighth type of failure includes failure of the first bearing.

[0083] Specifically, for gear faults in a reducer, especially broken tooth faults, the corresponding characteristic order amplitude changes are not significant. However, when a tooth of gear A breaks, a significantly increased impact occurs at the broken tooth location with each rotation of bearing A, leading to a significant increase in vibration. In this case, the characteristic order of the bearing containing the gear can be used for fault diagnosis. In one specific embodiment, the characteristic order of bearing A, where gear A is located, is 0.5. When gear A experiences a broken tooth fault, the amplitudes of the characteristic order and its harmonics of bearing A will increase significantly. If only bearing A is faulty, then only the amplitude of its characteristic order will increase significantly. In the frequency domain, the characteristic order and its harmonics of bearing A are integrated. If the integrated amplitude exceeds the harmonic threshold, the fault type is determined to be a broken tooth fault.

[0084] It is understood that the first to eighth fault types mentioned above are only used to distinguish fault types in different embodiments, and are not intended to limit the first to eighth fault types to be completely different fault types. Except for the different fault types explicitly described in the above embodiments (e.g., the seventh fault type is different from the eighth fault type), other fault types can be the same fault type (e.g., the sixth fault type can be the same as the first fault type).

[0085] In some embodiments, the reducer includes bearings and gears. The aforementioned failure types include bearing inner ring pitting failure, bearing rolling element pitting failure, bearing outer ring pitting failure, bearing cage failure, gear tooth surface pitting failure, and gear tooth breakage failure.

[0086] By combining fault characteristics and the vibration direction corresponding to those characteristics for fault diagnosis, this embodiment of the present disclosure can distinguish fault types that cannot be differentiated in related technologies, thereby enabling the diagnosis of more fault types and timely repair of faulty components in the reducer, thus ensuring the driving experience and road safety of the vehicle.

[0087] In some embodiments, at least two vibration directions include a first vibration direction, a second vibration direction, and a third vibration direction, wherein the first vibration direction, the second vibration direction, and the third vibration direction are perpendicular to each other.

[0088] Specifically, the first vibration direction, the second vibration direction, and the third vibration direction are respectively the direction of vehicle forward / backward movement, the direction perpendicular to the direction of vehicle forward / backward movement and parallel to the ground, and the direction perpendicular to the ground. It can be understood that the first vibration direction, the second vibration direction, and the third vibration direction constitute a three-dimensional coordinate system, which comprehensively covers the collection of vibration acceleration data of the reducer in all directions, thereby ensuring the accuracy of fault diagnosis.

[0089] In a certain reducer, the fault characteristic order of pitting on the inner ring of bearing A is order 4, the fault characteristic order of cage wear on bearing B is order 3.9, and the fault characteristic order of rolling element pitting on bearing C is order 4.1. Since the minimum resolution of the sensor collecting the reducer's vibration signal is only 0.2, it is impossible to distinguish between these three faults using related technologies for fault diagnosis. However, in a specific embodiment, the inner ring pitting of bearing A causes abnormal fluctuations in the bearing's vertical radial vibration acceleration data, the cage wear of bearing B causes abnormal fluctuations in the bearing's axial vibration acceleration data, and the rolling element pitting of bearing C causes abnormal fluctuations in the bearing's horizontal radial vibration acceleration data. Therefore, using the method provided in the above embodiments of this disclosure, as long as it is determined whether the fault characteristic data originates from a first, second, or third vibration direction, or in which direction the abnormal fluctuations of the fault characteristic data are greater, these three faults can be distinguished, thereby determining which component needs timely repair.

[0090] It is understood that the relevant content of a certain reducer mentioned in the above embodiments is only exemplary. Since there are many reducer models in the related technology, the failure characteristics of pitting of the inner ring of bearing A, wear of the cage of bearing B, and pitting of the rolling elements of bearing C in other reducer models may not be as described in the above embodiments. At the same time, in other reducer models, there may be three or more other components with similar characteristic orders but different directions of abnormal fluctuations. In this case, the method of the embodiments of this disclosure can be applied to these three or more components and are within the protection scope of this disclosure.

[0091] It is understood that, based on the above embodiments of this disclosure, those skilled in the art can obtain more vibration acceleration data in the vibration direction and perform reducer fault diagnosis without creative effort, all of which are within the protection scope of the embodiments of this disclosure.

[0092] In some embodiments, vibration acceleration data is acquired via a sensor. Before S1, the above method further includes:

[0093] S51. Obtain the real-time speed of the vehicle motor.

[0094] S52. In response to the real-time rotational speed being within a preset range, begin acquiring vibration acceleration data of the reducer in at least two directions, and execute steps S1 to S3 in the above embodiment. The preset range is determined based on the sensor's acquisition resolution and the target order resolution.

[0095] The target order resolution mentioned above is the desired order resolution. For example, if it is desired that the data collected by the sensor can distinguish between two feature orders, 1.3 and 1.4, after analysis, then the target order resolution can be set to 0.1; if it is desired that the data collected by the sensor can distinguish between two feature orders, 1.3 and 1.35, after analysis, then the target order resolution can be set to 0.05.

[0096] In one embodiment, the frequency order is equal to the ratio of the vibration frequency to the motor rotation frequency. Given a fixed sensor resolution, the motor rotation frequency can affect the resolution of the frequency order, thus impacting the accuracy of the fault diagnosis results. Therefore, the above embodiment, by initiating fault diagnosis only when the motor speed reaches a certain range, ensures the validity of the sensor-collected data and the accuracy of the fault diagnosis results. This allows for timely repair of faulty components in the reducer, ensuring a better driving experience and greater vehicle safety. Furthermore, applying the method provided in the above embodiment reduces the requirements for sensor accuracy, thereby lowering the overall vehicle manufacturing cost.

[0097] In some embodiments, the above-mentioned preset interval is:

[0098] Spd>(df / dO)*n

[0099] Wherein, Spd is the real-time rotational speed, df is the sensor's acquisition resolution, dO is the target order resolution, and n is the unit conversion factor selected based on the units of Spd, df, and dO. In a specific embodiment, the units of df and dO are both Hz, and the unit of Spd is rpm. In this case, n = 60. Those skilled in the art can adjust the value of the unit conversion factor n when selecting other units for Spd, df, and dO without any creative effort.

[0100] Specifically, the aforementioned frequency order O = fvib / fspd, where fvib is the vibration frequency and fspd is the motor's rotation frequency. The correspondence between the rotation frequency and the target order resolution is dO = df / fspd, and Spd = n*fspd. As fspd and Spd increase, d0 decreases, and the sensor's detection accuracy increases. By setting a reasonable preset range, the validity of the data collected by the sensor and the accuracy of the fault diagnosis results can be guaranteed. This allows for timely repair of faulty components in the reducer, ensuring the vehicle's driving experience and safety. Furthermore, applying the method provided in the above embodiments can reduce the requirements for sensor accuracy and lower the overall vehicle manufacturing cost.

[0101] In one specific embodiment, the sensor's acquisition resolution is df = 10Hz, dO = 10 / fspd = 0.2, fspd > 10 / 0.2 = 50Hz, and Spd > fspd * 60 = 3000rpm.

[0102] In other embodiments, since the vehicle's motor speed is directly related to the motor torque, the method further includes the following steps before S1:

[0103] The system acquires the real-time torque of the vehicle motor. In response to the real-time torque being within a preset range, it begins acquiring vibration acceleration data of the reducer in at least two directions and executes steps S1 to S3 in the above embodiment. The preset range is determined based on the sensor's acquisition resolution and the target order resolution.

[0104] For a detailed implementation of determining whether to activate fault diagnosis based on real-time torque, please refer to the above embodiment of determining whether to activate fault diagnosis based on real-time speed. Further details will not be elaborated here.

[0105] In some embodiments, prior to S1, the method further includes:

[0106] The ambient temperature of the sensor is acquired. In response to the ambient temperature being within the effective temperature range, the vibration acceleration data of the reducer in at least two directions is acquired, and steps S1 to S3 in the above embodiment are executed.

[0107] Different sensor models have fixed effective temperature ranges. The accuracy of sensor data acquisition can only be guaranteed within the effective temperature range. The accuracy of the sensor will deteriorate if the effective temperature range is exceeded. The above effective temperature range can be determined according to the sensor model used in the specific implementation. No further restrictions are imposed here.

[0108] In some embodiments, the above method further includes:

[0109] If the number of occurrences of the same fault type within a preset time exceeds a threshold, a fault alarm will be triggered for that fault type.

[0110] To avoid misjudgment of faults due to accidental data errors, a timer is started when a fault type first appears. If the same fault type appears multiple times within the preset time, it can be confirmed that the fault type has indeed occurred, and a fault alarm is then triggered to avoid misjudgment affecting the driving experience of the vehicle or wasting unnecessary maintenance time.

[0111] The preset time can be from 10 seconds to 5 minutes, and the number of times threshold can be from 3 to 10 times.

[0112] Based on the same inventive concept, corresponding to the above-described method embodiments, one embodiment of this disclosure also provides a fault diagnosis device for a vehicle reducer, such as... Figure 2 As shown, it includes:

[0113] The data acquisition module 10 is used to acquire vibration acceleration data of the reducer in at least two vibration directions, wherein the at least two vibration directions intersect each other.

[0114] The data processing module 20 is used to analyze the vibration acceleration data in each vibration direction to obtain at least one fault characteristic data.

[0115] The fault diagnosis module 30 is used to determine the fault type based on the fault characteristic data and the vibration direction corresponding to the fault characteristic data.

[0116] The vehicle reducer fault diagnosis device provided in this embodiment combines fault characteristics and the vibration direction corresponding to the fault characteristics to perform fault diagnosis. It can distinguish fault types with similar fault characteristics by vibration direction, avoid misjudging the fault type, and thus enable timely repair of faulty components of the reducer, ensuring the driving experience and driving safety of the vehicle.

[0117] In some embodiments, at least two vibration directions include a first vibration direction and a second vibration direction, and the fault characteristic data includes characteristic order. The data processing module 20 is specifically used for:

[0118] By analyzing the vibration acceleration data of the reducer in the first vibration direction and the second vibration direction respectively, the first fault characteristic data including the first characteristic order is obtained.

[0119] The aforementioned fault diagnosis module 30 is specifically used for:

[0120] In response to the first fault feature data corresponding to the first vibration direction, the fault type is determined to be a first fault type, or in response to the first fault feature data corresponding to the second vibration direction, the fault type is determined to be a second fault type, wherein the first fault type and the second fault type are different.

[0121] In some embodiments, at least two vibration directions include a first vibration direction and a second vibration direction, and the fault characteristic data includes characteristic order and characteristic amplitude. The data processing module 20 is specifically used for:

[0122] The vibration acceleration data of the reducer in the first vibration direction is analyzed to obtain the second fault characteristic data, and the vibration acceleration data of the reducer in the second vibration direction is analyzed to obtain the third fault characteristic data. The second fault characteristic data and the third fault characteristic data have the same characteristic order.

[0123] The aforementioned fault diagnosis module 30 is specifically used for:

[0124] In response to the feature amplitude of the second fault feature data being greater than the feature amplitude of the third fault feature data, the fault type is determined to be the third fault type; or, in response to the feature amplitude of the second fault feature data being less than the feature amplitude of the third fault feature data, the fault type is determined to be the fourth fault type, wherein the third fault type and the fourth fault type are different.

[0125] In some embodiments, at least two vibration directions include a first vibration direction and a second vibration direction, and the fault characteristic data includes characteristic order and characteristic amplitude. The data processing module 20 is specifically used for:

[0126] The vibration acceleration data of the reducer in the first vibration direction is analyzed to obtain the fourth fault characteristic data, and the vibration acceleration data of the reducer in the second vibration direction is analyzed to obtain the fifth fault characteristic data. The difference between the characteristic order of the fourth fault characteristic data and the fifth fault characteristic data is less than the preset order difference.

[0127] The aforementioned fault diagnosis module 30 is specifically used for:

[0128] In response to the feature amplitude of the fourth fault feature data being greater than the feature amplitude of the fifth fault feature data, the fault type is determined to be the fifth fault type; or, in response to the feature amplitude of the fourth fault feature data being less than the feature amplitude of the fifth fault feature data, the fault type is determined to be the sixth fault type, wherein the fifth fault type and the sixth fault type are different.

[0129] In some embodiments, the fault characteristic data includes a characteristic order, and the above apparatus further includes a frequency multiplication calculation module for:

[0130] Obtain the amplitude of the harmonic order of the characteristic order of the fault characteristic data; in response to the amplitude of the harmonic order being greater than or equal to the harmonic threshold, determine the fault type as the seventh fault type, or in response to the amplitude of the harmonic order being less than the harmonic threshold, determine the fault type as the eighth fault type, wherein the seventh fault type and the eighth fault type are different.

[0131] In some embodiments, the reducer includes a first gear and a first bearing in which the first gear is located; a seventh fault type includes a fault in the first gear, and an eighth fault type includes a fault in the first bearing.

[0132] In some embodiments, the reducer includes bearings and gears; the fault types include bearing inner ring pitting fault, bearing rolling element pitting fault, bearing outer ring pitting fault, bearing cage fault, gear tooth surface pitting fault, and gear tooth breakage fault.

[0133] In some embodiments, the data processing module 20 is specifically used for:

[0134] The vibration acceleration data is transformed in the frequency domain to obtain the amplitude-frequency data of the vibration acceleration data, wherein the amplitude-frequency data includes multiple frequency orders and the amplitude of each frequency order; in response to the amplitude of any frequency order exceeding the amplitude threshold, and the ratio of the amplitude of the frequency order to the amplitude of its adjacent frequency order exceeding a preset ratio, fault characteristic data is obtained, wherein the frequency order and its amplitude are the characteristic order and characteristic amplitude of the fault characteristic data.

[0135] In some embodiments, at least two vibration directions include a first vibration direction, a second vibration direction, and a third vibration direction, wherein the first vibration direction, the second vibration direction, and the third vibration direction are perpendicular to each other.

[0136] In some embodiments, vibration acceleration data is acquired via a sensor, and the data acquisition module 10 includes:

[0137] The speed acquisition unit is used to obtain the real-time speed of the vehicle's motor.

[0138] The above-mentioned device also includes:

[0139] The enable judgment module is used to start acquiring vibration acceleration data of the reducer in at least two directions in response to the real-time rotational speed being within a preset range. The preset range is determined based on the sensor's acquisition resolution and the target order resolution.

[0140] In some embodiments, the preset interval is:

[0141] Spd>(df / dO)*n

[0142] Where Spd is the real-time rotational speed, df is the sensor's acquisition resolution, dO is the target order resolution, and n is the unit conversion factor selected based on the units of Spd, df, and dO.

[0143] In some embodiments, since the vehicle's motor speed is directly related to the motor torque, the data acquisition module 10 further includes:

[0144] The torque acquisition unit is used to obtain the real-time torque of the vehicle's motor.

[0145] The aforementioned enable judgment module is also used to, in response to the real-time torque being within a preset range, begin acquiring vibration acceleration data of the reducer in at least two directions. The preset range is determined based on the sensor's acquisition resolution and the target order resolution.

[0146] In some embodiments, the data acquisition module 10 further includes:

[0147] The temperature acquisition unit is used to obtain the ambient temperature of the sensor.

[0148] The aforementioned enable judgment module is also used to, in response to the ambient temperature being within the effective temperature range, begin acquiring vibration acceleration data of the reducer in at least two directions.

[0149] In some embodiments, the above-described apparatus further includes:

[0150] The fault alarm module is used to issue a fault alarm for a fault type when the number of occurrences of the same fault type within a preset time exceeds a threshold.

[0151] For ease of description, the above apparatus is described in terms of its functions, divided into various modules. Of course, in implementing this disclosure, the functions of each module can be implemented in one or more software and / or hardware.

[0152] The apparatus described above is used to implement the fault diagnosis method for the corresponding vehicle reducer in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0153] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure is shown.

[0154] like Figure 3 As shown, the electronic device may include a processor 1101 and a memory 1102 storing computer program instructions.

[0155] Specifically, the processor 1101 may include a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this disclosure.

[0156] Memory 1102 may include a large-capacity storage device for information or instructions. For example, and not limitingly, memory 1102 may include a hard disk drive (HDD), a floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 1102 may include removable or non-removable (or fixed) media. Where appropriate, memory 1102 may be internal or external to the integrated gateway device. In a particular embodiment, memory 1102 is a non-volatile solid-state memory. In a particular embodiment, memory 1102 includes read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable programmable PROM (EEPROM), an electrically alterable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0157] The processor 1101 reads and executes computer program instructions stored in the memory 1102 to perform the steps of the vehicle decelerator fault diagnosis method provided in this embodiment of the present disclosure.

[0158] In one example, the electronic device may also include a transceiver 1103 and a bus 1104. Wherein, as... Figure 3 As shown, the processor 1101, memory 1102 and transceiver 1103 are connected via bus 1104 and communicate with each other.

[0159] Bus 1104 may include hardware, software, or both. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, bus 1104 may include one or more buses. Although specific buses are described and illustrated in the embodiments of this disclosure, this disclosure contemplates any suitable bus or interconnect.

[0160] The following are embodiments of a computer-readable storage medium provided in this disclosure. This computer-readable storage medium and the vehicle reducer fault diagnosis method of the above embodiments belong to the same inventive concept. For details not described in detail in the embodiments of the computer-readable storage medium, please refer to the embodiments of the vehicle reducer fault diagnosis method described above.

[0161] This embodiment provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform a fault diagnosis method for a vehicle decelerator.

[0162] Of course, the computer-executable instructions provided in the embodiments of this disclosure are not limited to the above-described method operations, but can also perform related operations in the vehicle decelerator fault diagnosis method provided in any embodiment of this disclosure.

[0163] Based on the above description of the implementation methods, those skilled in the art can clearly understand that this disclosure can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer cloud platform (which may be a personal computer, server, or network cloud platform, etc.) to execute the vehicle decelerator fault diagnosis method provided in the various embodiments of this disclosure.

[0164] While this specification contains numerous specific implementation details, these should not be construed as limiting the scope of any invention or the scope of the claims, but rather are primarily intended to describe features of specific embodiments of a particular invention. Certain features described in the various embodiments herein may also be implemented in combination in a single embodiment. Conversely, various features described in a single embodiment may also be implemented separately in various embodiments or in any suitable sub-combination. Furthermore, while features may function in certain combinations as described above and even initially claimed in this way, one or more features from a claimed combination may be removed from that combination in some cases, and a claimed combination may refer to a sub-combination or a variation thereof.

[0165] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the aforementioned element.

[0166] The foregoing description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described above, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A fault diagnosis method for a vehicle reducer, characterized in that, include: Acquire vibration acceleration data of the reducer in at least two vibration directions, wherein the at least two vibration directions intersect each other; The vibration acceleration data in each vibration direction are analyzed separately to obtain at least one fault characteristic data. The fault type is determined based on the fault characteristic data and the vibration direction corresponding to the fault characteristic data.

2. The method according to claim 1, characterized in that, The at least two vibration directions include a first vibration direction and a second vibration direction, and the fault characteristic data includes a characteristic order; The process of analyzing the vibration acceleration data in each direction to obtain at least one fault characteristic data includes: The vibration acceleration data of the reducer in the first vibration direction and the second vibration direction are analyzed respectively to obtain first fault feature data including the first feature order; The step of determining the fault type based on fault characteristic data and the vibration direction corresponding to the fault characteristic data includes: In response to the first fault feature data corresponding to the first vibration direction, the fault type is determined to be a first fault type, or in response to the first fault feature data corresponding to the second vibration direction, the fault type is determined to be a second fault type, wherein the first fault type and the second fault type are different.

3. The method according to claim 1, characterized in that, The at least two vibration directions include a first vibration direction and a second vibration direction, and the fault characteristic data includes characteristic order and characteristic amplitude; The vibration acceleration data in each direction is analyzed to obtain at least one fault characteristic data, including: The vibration acceleration data of the reducer in the first vibration direction is analyzed to obtain the second fault feature data, and the vibration acceleration data of the reducer in the second vibration direction is analyzed to obtain the third fault feature data, wherein the feature order of the second fault feature data and the third fault feature data is the same. The step of determining the fault type based on the fault characteristic data and the vibration direction corresponding to the fault characteristic data includes: In response to the feature amplitude of the second fault feature data being greater than the feature amplitude of the third fault feature data, the fault type is determined to be a third fault type; or, in response to the feature amplitude of the second fault feature data being less than the feature amplitude of the third fault feature data, the fault type is determined to be a fourth fault type, wherein the third fault type is different from the fourth fault type.

4. The method according to claim 1, characterized in that, The at least two vibration directions include a first vibration direction and a second vibration direction, and the fault characteristic data includes characteristic order and characteristic amplitude; The vibration acceleration data in each direction is analyzed to obtain at least one fault characteristic data, including: The vibration acceleration data of the reducer in the first vibration direction is analyzed to obtain the fourth fault feature data, and the vibration acceleration data of the reducer in the second vibration direction is analyzed to obtain the fifth fault feature data. The difference between the feature order of the fourth fault feature data and the fifth fault feature data is less than a preset order difference. The step of determining the fault type based on the fault characteristic data and the vibration direction corresponding to the fault characteristic data includes: In response to the feature amplitude of the fourth fault feature data being greater than the feature amplitude of the fifth fault feature data, the fault type is determined to be the fifth fault type; or, in response to the feature amplitude of the fourth fault feature data being less than the feature amplitude of the fifth fault feature data, the fault type is determined to be the sixth fault type, wherein the fifth fault type is different from the sixth fault type.

5. The method according to claim 1, characterized in that, The fault characteristic data includes the characteristic order; After analyzing the vibration acceleration data in each vibration direction to obtain at least one fault characteristic data, the method further includes: Obtain the amplitude of the harmonic order of the characteristic order of the fault characteristic data; In response to the amplitude of the frequency harmonic being greater than or equal to the frequency harmonic threshold, the fault type is determined to be the seventh fault type; or, in response to the amplitude of the frequency harmonic being less than the frequency harmonic threshold, the fault type is determined to be the eighth fault type, wherein the seventh fault type is different from the eighth fault type.

6. The method according to claim 5, characterized in that, The reducer includes a first gear and a first bearing in which the first gear is located; The seventh fault type includes a fault in the first gear, and the eighth fault type includes a fault in the first bearing.

7. The method according to claim 1, characterized in that, Analyzing the vibration acceleration data in one vibration direction to obtain the fault characteristic data includes: The vibration acceleration data is transformed in the frequency domain to obtain the amplitude-frequency data of the vibration acceleration data, wherein the amplitude-frequency data includes multiple frequency orders and the amplitude of each frequency order; In response to the amplitude of any frequency order exceeding an amplitude threshold, and the ratio of the amplitude of that frequency order to the amplitude of its adjacent frequency order exceeding a preset ratio, the fault feature data is obtained, wherein the frequency order and its amplitude are the feature order and feature amplitude of the fault feature data.

8. The method according to claim 1, characterized in that, The vibration acceleration data is acquired through sensors; Before acquiring vibration acceleration data of the reducer in at least two directions, the method further includes: Obtain the real-time speed of the vehicle's motor; In response to the real-time rotational speed being within a preset range, the acquisition of vibration acceleration data of the reducer in at least two directions begins, wherein the preset range is determined based on the sensor's acquisition resolution and the target order resolution.

9. The method according to claim 8, characterized in that, The preset interval is: Spd>(df / dO)*n Wherein, Spd is the real-time rotational speed, df is the sensor's acquisition resolution, dO is the target order resolution, and n is the unit conversion factor selected based on the units of Spd, df, and dO.

10. The method according to claim 1, characterized in that, Also includes: If the number of occurrences of the same fault type within a preset time exceeds a threshold, a fault alarm will be triggered for that fault type.

11. A fault diagnosis device for a vehicle reducer, characterized in that, include: The data acquisition module is used to acquire vibration acceleration data of the reducer in at least two vibration directions, wherein the at least two vibration directions intersect each other; The data processing module is used to analyze the vibration acceleration data in each vibration direction to obtain at least one fault characteristic data. The fault diagnosis module is used to determine the fault type based on the fault characteristic data and the vibration direction corresponding to the fault characteristic data.

12. An electronic device, characterized in that, include: processor; Memory, used to store executable instructions; The processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the method of any one of claims 1-10.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, The storage medium stores a computer program that, when executed by a processor, causes the processor to implement the method of any one of claims 1-10.

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