Vehicle fault alarm system and unmanned vehicle

Abstract

The utility model provides a fault warning system of a vehicle and an unmanned vehicle, and the system comprises at least two transmission devices which are arranged on the vehicle, and at least a first transmission device and a second transmission device in the at least two transmission devices have a transmission relationship; the plurality of sensors are respectively arranged on the at least two transmission devices, and the sensors are used for detecting the states of the transmission devices to obtain corresponding sensing data; and the alarm device is used for outputting an alarm signal under the condition that the sensed data is abnormal, and the alarm signal is used for representing that at least one of the transmission devices breaks down.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of unmanned driving, and particularly relates to a fault alarm system of a vehicle and an unmanned vehicle. BACKGROUND

[0002] For abnormal conditions of a manned vehicle transmission device, such as an abnormal transmission shaft, clutch failure, etc., the driver can actively discover the abnormality and check in time by relying on his own experience or driving feeling. This process relies on the direct observation of the driver on the vehicle state and the understanding of the vehicle transmission device failure. With the gradual rise of unmanned driving technology, unmanned vehicles also need to have the ability to judge the vehicle transmission device failure. In the traditional way, it relies on maintenance personnel to check the unmanned vehicle regularly, and this process has a certain lag. If the transmission device of the unmanned vehicle cannot be discovered and handled in time when it fails, it may cause the unmanned vehicle to run with a fault, and further cause various safety problems. CONTENT OF THE UTILITY MODEL

[0003] The present disclosure provides a fault alarm system of a vehicle and an unmanned vehicle, which solves the problem that the existing vehicle transmission device failure cannot be effectively identified.

[0004] Based on the above problems, in a first aspect, the present disclosure provides a fault alarm system of a vehicle, comprising:

[0005] At least two transmission devices are arranged on the vehicle, and at least a first transmission device and a second transmission device in the at least two transmission devices have a transmission relationship;

[0006] A plurality of sensors are arranged on the at least two transmission devices, wherein the sensor is used to detect the state of the transmission device to obtain corresponding sensing data;

[0007] An alarm device is used to output an alarm signal in the case of abnormal sensing data, and the alarm signal is used to represent that at least one of the transmission devices fails.

[0008] In combination with the first aspect, in a possible implementation manner, the sensor comprises at least one of the following: a rotation speed sensor, a wheel speed meter, a steering angle sensor, and a displacement sensor.

[0009] In combination with the first aspect, in a possible implementation manner, the sensor comprises a rotation speed sensor; the at least two transmission devices comprise an engine crankshaft and a generator main shaft; and the engine crankshaft and the generator main shaft are transmitted through a shock absorber.

[0010] The rotation speed sensors are respectively arranged on the engine crankshaft and the generator main shaft, and are used to detect the rotation speed of the engine crankshaft and the rotation speed of the generator main shaft.

[0011] In combination with the first aspect, in a possible implementation, the sensors include rotation speed sensors, and the at least two transmission devices include a motor shaft of an electric motor and an input shaft of a gearbox.

[0012] The rotation speed sensors are respectively arranged on the motor shaft of the electric motor and the input shaft of the gearbox, and are used to detect the rotation speed of the motor shaft of the electric motor and the rotation speed of the input shaft of the gearbox.

[0013] In combination with the first aspect, in a possible implementation, the sensors include rotation speed sensors, and the at least two transmission devices include an input shaft of a gearbox and an output shaft of the gearbox; the input shaft of the gearbox and the output shaft of the gearbox are in transmission through gears inside the gearbox with preset gears.

[0014] The rotation speed sensors are respectively arranged on the input shaft of the gearbox and the output shaft of the gearbox, and are used to detect the rotation speed of the input shaft of the gearbox and the rotation speed of the output shaft of the gearbox.

[0015] In combination with the first aspect, in a possible implementation, the sensors include rotation speed sensors and a wheel speed meter, and the at least two transmission devices include an output shaft of a gearbox and a wheel; the output shaft of the gearbox and the wheel are in transmission through a main reducer, a transmission shaft and a drive axle.

[0016] The rotation speed sensor is arranged on the output shaft of the gearbox, and is used to detect the rotation speed of the output shaft of the gearbox; the wheel speed meter is arranged on an axle connected with the wheel or a relevant position of the axle connected with the wheel, and is used to detect the rotation speed of the wheel.

[0017] In combination with the first aspect, in a possible implementation, the sensors include a steering angle sensor, and the at least two transmission devices include a steering wheel and a wheel; the steering wheel and the wheel are in transmission through a steering column, a steering gear and a steering drag link in a mechanical transmission mode.

[0018] The steering angle sensor is arranged on the steering wheel, and is used to detect the steering angular velocity of the steering wheel; the steering angle sensor is also arranged on an axle connected with the wheel or a relevant position of the axle connected with the wheel, and is used to detect the steering angular velocity of the wheel.

[0019] In conjunction with the first aspect, in one possible implementation, the sensor includes: a steering angle sensor and a displacement sensor; the at least two transmission devices include: a steering wheel and a steering tie rod; the steering wheel and the steering tie rod are mechanically transmitted through a steering column and a steering gear.

[0020] The steering angle sensor is mounted on the steering wheel and is used to detect the steering angular velocity of the steering wheel; the displacement sensor is mounted on the steering tie rod and is used to detect the movement speed of the steering tie rod.

[0021] In conjunction with the first aspect, in one possible implementation, the sensor includes a steering angle sensor, and the at least two transmission devices include a steering wheel and wheels; the steering wheel and wheels are driven by a steering gear and steering cylinder using a fully hydraulic transmission.

[0022] The steering angle sensor is disposed on the steering wheel and is used to detect the steering angular velocity of the steering wheel; the steering angle sensor is also disposed on the axle connected to the wheel and / or at the associated position of the axle connected to the wheel, and is used to detect the steering angular velocity of the wheel.

[0023] In conjunction with the first aspect, in one possible implementation, the sensor includes a steering angle sensor and a displacement sensor, and the at least two transmission devices include a steering wheel and a steering cylinder; the steering wheel and the steering cylinder are driven by a steering gear using a fully hydraulic transmission method.

[0024] The steering angle sensor is mounted on the steering wheel and is used to detect the steering angular velocity of the steering wheel; the displacement sensor is mounted on the steering cylinder and is used to detect the movement speed of the steering cylinder.

[0025] In a second aspect, an unmanned vehicle is provided, including a vehicle fault alarm system as described in the first aspect or any possible implementation thereof.

[0026] The beneficial effects of the embodiments disclosed herein include:

[0027] This disclosure provides a vehicle fault alarm system and an unmanned vehicle, comprising: at least two transmission devices mounted on the vehicle, wherein at least a first transmission device and a second transmission device are connected by a transmission relationship; multiple sensors respectively mounted on the at least two transmission devices, wherein the sensors are used to detect the state of their respective transmission devices to obtain corresponding sensing data; and an alarm device for outputting an alarm signal when the sensing data is abnormal, the alarm signal indicating that at least one of the transmission devices has malfunctioned. The vehicle fault alarm system provided in this disclosure detects the state of the transmission device, such as speed, torque, and displacement, using sensors mounted on the transmission devices in the vehicle. An alarm is output when the state of the transmission device is abnormal. Compared with existing technologies, this eliminates reliance on the experience of maintenance personnel, enabling the unmanned vehicle to diagnose transmission device faults and take measures when a vehicle malfunctions, preventing the vehicle from driving with a fault and ensuring driving safety. For manned vehicles, it can also serve as a warning, ensuring driving safety. Attached Figure Description

[0028] Figure 1 One of the structural schematic diagrams of a vehicle fault alarm system provided in this embodiment of the disclosure;

[0029] Figure 2 A second schematic diagram of the structure of a vehicle fault alarm system provided in an embodiment of this disclosure;

[0030] Figure 3 The third schematic diagram of the structure of the vehicle fault alarm system provided in this embodiment of the disclosure;

[0031] Figure 4 This is the fourth structural schematic diagram of a vehicle fault alarm system provided in an embodiment of this disclosure. Detailed Implementation

[0032] This disclosure provides a vehicle fault alarm system and an unmanned vehicle. Preferred embodiments of this disclosure are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the scope of this disclosure. Furthermore, the embodiments and features described herein can be combined with each other unless otherwise specified.

[0033] This disclosure provides a vehicle fault alarm system, such as... Figure 1 As shown, it includes:

[0034] At least two transmission devices 100 are installed on the vehicle, and at least the first transmission device 101 and the second transmission device 102 of the at least two transmission devices 100 have a transmission relationship;

[0035] Multiple sensors 200 are respectively disposed on at least two transmission devices 100, wherein the sensors 200 are used to detect the state of the transmission device 100 to obtain corresponding sensing data;

[0036] Alarm device 300 is used to output an alarm signal in the event of abnormal sensing data. The alarm signal is used to indicate that at least one of the transmission devices 100 has malfunctioned.

[0037] In this embodiment of the disclosure, in the traditional field of manned vehicles, drivers, relying on their long-accumulated driving experience and intuitive understanding of the vehicle, can keenly detect abnormal conditions in the transmission device 100. For example, if the drive shaft malfunctions, the vehicle may produce noticeable vibrations or abnormal noises during operation, allowing the driver to make a judgment and promptly send the vehicle for repair. Similarly, if the clutch malfunctions, the driver will feel abnormalities during gear shifting, such as changes in clutch pedal travel or difficulty shifting, thus realizing a problem with the vehicle's transmission device 100. This method of detecting faults through direct driver observation and perception plays a crucial role in manned driving scenarios. However, with the rapid development of autonomous driving technology, fault diagnosis of the transmission device 100 in autonomous vehicles faces entirely new challenges. In autonomous driving scenarios, there is no driver constantly monitoring the vehicle's status, rendering traditional fault detection methods relying on driver perception inapplicable. Autonomous vehicles rely to some extent on maintenance personnel to periodically inspect the transmission device 100 to ensure its normal operation. However, this periodic inspection mode has a significant lag and cannot monitor the operating status of the transmission device 100 in real time. If the transmission device 100 malfunctions between two inspections, the vehicle may be driven with the malfunction undetected, which undoubtedly greatly increases the safety risk and may cause serious safety accidents such as loss of vehicle control or sudden stopping, posing a huge threat to road traffic safety.

[0038] In this embodiment, the transmission device 100, as the core device for power transmission and steering control, directly affects the driving safety and performance of the entire vehicle. At least two transmission devices 100 are installed on the vehicle, wherein at least the first transmission device 101 and the second transmission device 102 of the at least two transmission devices 100 have a transmission relationship. For example, a gearbox installed on the vehicle, where the input shaft and output shaft of the gearbox are transmitted through gears with preset gear positions inside the gearbox, the first transmission device 101 can be the input shaft of the gearbox, and the second transmission device 102 can be the output shaft of the gearbox. Multiple sensors 200 are respectively installed on at least two transmission devices 100. For example, the sensors 200 can be speed sensors, with two speed sensors respectively installed on the input shaft and the output shaft of the gearbox. The sensors 200 are used to detect the state of their respective transmission devices 100 to obtain corresponding sensing data. For example, the speed sensors are used to detect the rotational speeds of the input shaft and the output shaft of the gearbox to obtain speed sensing data.

[0039] Furthermore, the alarm device 300 can receive sensing data sent by the sensor 200. When the sensing data is abnormal, for example, if the sensing data indicates that the transmission relationship between the first transmission device 101 and the second transmission device 102 does not conform to a preset transmission relationship, and the duration of the non-conformity exceeds a preset threshold, then at least one transmission device 100 malfunctions. The alarm device 300 is used to output an alarm signal when the sensing data is abnormal, and the alarm signal indicates that at least one of the transmission devices 100 has malfunctioned.

[0040] In this embodiment, traditional methods often rely on the driver's subjective perception or periodic manual inspections, which are inherently time-consuming and subjective. Compared to traditional methods, the autonomous vehicle, with the real-time monitoring capabilities of the sensors 200, can detect anomalies at the moment a transmission device 100 malfunctions, significantly reducing the time lag in fault detection and providing valuable time for timely fault handling. Furthermore, multiple sensors 200 collect data from different dimensions, comprehensively and accurately reflecting the operating status of the transmission device 100, effectively avoiding the omission of fault information due to a single detection point and significantly improving the accuracy of fault diagnosis. For manned vehicles, this also serves as a warning, ensuring driving safety.

[0041] In another embodiment of this disclosure, the sensor 200 includes at least one of the following: a rotational speed sensor, a wheel speed gauge, a steering angle sensor, and a displacement sensor.

[0042] In this embodiment, sensor 200 includes at least one of the following: a rotational speed sensor, a wheel speed gauge, a steering angle sensor, and a displacement sensor. The rotational speed sensor can be a sensor that converts the rotational speed of a rotating object into an electrical output, such as a Hall effect type rotational speed sensor. Utilizing the Hall effect principle, it measures the change in Hall voltage caused by the change in the magnetic field generated by a rotating magnet, thereby determining the rotational speed of the rotating body. This type is suitable for applications requiring high precision and long lifespan. The rotational speed sensor can be used to measure the rotational speed of the gearbox input shaft and gearbox output shaft. The wheel speed gauge can be used to measure the rotational speed of vehicle wheels. The steering angle sensor can be used to detect the rotation angle and steering direction of devices such as a steering wheel, outputting the steering angle information of the steering wheel or other devices through analog signals or digital pulse signals. The displacement sensor can be a sensor that detects changes in the position of an object, typically used to measure linear or angular displacement. Multiple sensors 200 collect data from different dimensions, which can comprehensively and accurately reflect the operating status of the transmission device 100.

[0043] In another embodiment of this disclosure, such as Figure 2 As shown, sensor 200 includes: speed sensor 201; at least two transmission devices 100 include: engine crankshaft 103 and generator main shaft 104; engine crankshaft 103 and generator main shaft 104 are driven by shock absorber 105;

[0044] Speed ​​sensors 201 are respectively installed on the engine crankshaft 103 and the generator main shaft 104. Speed ​​sensors 201 are used to detect the speed of the engine crankshaft 103 and the speed of the generator main shaft 104.

[0045] In this embodiment, a speed sensor 201 is used to detect faults in the engine crankshaft 103, generator main shaft 104, and shock absorber 105. In the range extender of a series hybrid vehicle, at least two transmission devices 100 include an engine crankshaft 103 and a generator main shaft 104. The engine crankshaft 103 and generator main shaft 104 are driven by a shock absorber 105. The speed sensor 201 is respectively disposed on the engine crankshaft 103 and the generator main shaft 104, and the speed sensor 201 is used to detect the rotational speed of the engine crankshaft 103 and the rotational speed of the generator main shaft 104. Within the speed accuracy range acquired by the speed sensor 201, if the speed of the engine crankshaft 103 and the speed of the generator main shaft 104 do not conform to the preset transmission relationship—for example, if the ratio of the speed of the engine crankshaft 103 to the speed of the generator main shaft 104 is not 1:1, and the duration of this non-conformity exceeds a preset threshold—it indicates that at least one of the following devices—the engine crankshaft 103, the generator main shaft 104, and the shock absorber 105—has malfunctioned. In this case, the alarm device 300 outputs a corresponding alarm signal.

[0046] In another embodiment of this disclosure, such asFigure 3 As shown, sensor 200 includes: speed sensor 201; at least two transmission devices 100 include: motor shaft 106 of electric motor and input shaft 107 of gearbox;

[0047] The speed sensor 201 is respectively installed on the motor shaft 106 of the electric motor and the input shaft 107 of the gearbox; the speed sensor 201 is used to detect the speed of the motor shaft 106 of the electric motor and the speed of the input shaft 107 of the gearbox.

[0048] In this embodiment, a speed sensor 201 is used to detect faults in the motor shaft 106 of the electric motor and the input shaft 107 of the gearbox. At least two transmission devices 100 include the motor shaft 106 of the electric motor and the input shaft 107 of the gearbox. The speed sensor 201 is respectively disposed on the motor shaft 106 of the electric motor and the input shaft 107 of the gearbox, and is used to detect the rotational speed of the motor shaft 106 and the rotational speed of the input shaft 107 of the gearbox. Within the accuracy range of the rotational speed collected by the speed sensor 201, if the rotational speed of the motor shaft 106 and the rotational speed of the input shaft 107 of the gearbox do not conform to a preset transmission relationship—for example, if the ratio of the rotational speed of the motor shaft 106 to the rotational speed of the input shaft 107 of the gearbox is not 1:1, and the duration of this non-conformity exceeds a preset threshold—it indicates that at least one of the devices in the motor shaft 106 and the input shaft 107 of the gearbox has malfunctioned. In this case, the alarm device 300 outputs a corresponding alarm signal.

[0049] In another embodiment of this disclosure, the sensor 200 includes a speed sensor 201, and at least two transmission devices 100 include an input shaft of a gearbox and an output shaft of a gearbox; the input shaft of the gearbox and the output shaft of the gearbox are driven by gears with preset gear positions inside the gearbox.

[0050] The speed sensor 201 is installed on the input shaft and the output shaft of the gearbox, respectively. The speed sensor 201 is used to detect the speed of the input shaft and the speed of the output shaft of the gearbox.

[0051] In this embodiment, a speed sensor 201 is used to detect faults in the input shaft and output shaft of the transmission, as well as in the gears of a preset gear position within the transmission. At least two transmission devices 100 include an input shaft and an output shaft of the transmission, which are driven by gears of a preset gear position within the transmission. The speed sensor 201 is respectively disposed on the input shaft and the output shaft of the transmission, and is used to detect the rotational speeds of the input and output shafts. The speed sensor 201 can accurately detect the rotational speeds of the input and output shafts using principles such as electromagnetic induction and the Hall effect. Within the accuracy range of the speed sensor 201, if the rotational speeds of the input and output shafts do not conform to a preset transmission relationship—for example, if the ratio of the input and output shaft rotational speeds does not conform to the transmission ratio of a preset gear position within the transmission, and the duration of this non-conformity exceeds a preset threshold—it indicates that at least one of the following devices—the input shaft, the output shaft, or the gears of a preset gear position—has malfunctioned. In this case, the alarm device 300 outputs a corresponding alarm signal. The speed sensor 201 is used to obtain speed sensing data, which can be used to determine the meshing state of the gears inside the gearbox and whether the transmission ratio is normal.

[0052] In another embodiment of this disclosure, such as Figure 4 As shown, sensor 200 includes: speed sensor 201 and wheel speed meter 202, and at least two transmission devices 100 include: output shaft of gearbox and wheel 108; the output shaft of gearbox and wheel 108 are driven by a main reducer, drive shaft and drive axle;

[0053] The speed sensor 201 is mounted on the output shaft of the gearbox to detect the speed of the output shaft; the wheel speed gauge 202 is mounted on the axle connected to the wheel 108 or at an associated position on the axle connected to the wheel 108 (e.g., ...). Figure 4 As shown in the figure, it is used to detect the rotational speed of wheel 108.

[0054] In this embodiment, a speed sensor 201 and a wheel speed meter 202 are used to detect faults in the output shaft, final drive, drive shaft, drive axle, and wheels 108 of the gearbox. At least two transmission devices 100 include the output shaft of the gearbox and wheels 108. The output shaft and wheels 108 are driven by the final drive, drive shaft, and drive axle. The speed sensor 201 is disposed on the output shaft of the gearbox to detect its rotational speed. The wheel speed meter 202 is disposed on the axle connected to the wheels 108 or at an associated position on the axle connected to the wheels 108 to detect the rotational speed of the wheels 108. If, within the accuracy range of the speed measurements collected by the speed sensor 201 and wheel speed meter 202, the rotational speed of the gearbox output shaft and the rotational speed of the wheels 108 do not conform to a preset transmission relationship—for example, the ratio of the rotational speeds of the gearbox output shaft and the wheels 108 is not 1:1, and the duration of this non-conformity exceeds a preset threshold—it indicates that at least one of the following devices—the output shaft, wheels 108, final drive, drive shaft, and drive axle—has malfunctioned. In this situation, the alarm device 300 outputs a corresponding alarm signal.

[0055] In another embodiment of this disclosure, the sensor 200 includes a steering angle sensor, and at least two transmission devices 100 include a steering wheel and a wheel 108; the steering wheel and the wheel 108 are driven by mechanical transmission through a steering column, a steering gear and a steering tie rod.

[0056] A steering angle sensor is mounted on the steering wheel to detect the steering angular velocity of the steering wheel; the steering angle sensor is also mounted on the axle connected to the wheel 108 or at an associated position on the axle connected to the wheel 108 to detect the steering angular velocity of the wheel 108.

[0057] In this embodiment, a steering angle sensor is used to detect faults in the steering wheel, steering column, steering gear, steering tie rod, and wheel 108. At least two transmission devices 100 include a steering wheel and a wheel 108. The steering wheel and wheel 108 are mechanically transmitted through the steering column, steering gear, and steering tie rod. When the vehicle turns, the rotation of the steering wheel is transmitted to the steering column, which not only transmits torque from the steering wheel but also absorbs vibrations from uneven road surfaces. The end of the steering column is connected to the steering gear, which can be a core component of the vehicle's steering system, responsible for converting the rotational motion of the steering wheel into the deflection motion of the wheels. Common steering gear types include rack and pinion, recirculating ball, and worm crank pin type. The steering gear converts the rotational motion of the steering wheel into linear motion. The linear motion output by the steering gear is transmitted to the steering tie rod, causing the wheel 108 to deflect, thus achieving vehicle steering. The steering angle sensor is mounted on the steering wheel to detect the steering angular velocity of the steering wheel. The steering angle sensor is also installed on the axle connected to wheel 108 or at an associated position on the axle connected to wheel 108 to detect the steering angular velocity of wheel 108. If, within the accuracy range of the steering angular velocity collected by the steering angle sensor, the steering angular velocity of the steering wheel and the steering angular velocity of wheel 108 do not conform to a preset transmission relationship—for example, if the ratio of the steering angular velocity of the steering wheel to the steering angular velocity of wheel 108 is not a preset ratio, and the duration of this non-conformity exceeds a preset threshold—it indicates that at least one of the following devices—steering wheel, wheel 108, steering column, steering gear, and steering tie rod—has malfunctioned. In this case, the alarm device 300 outputs a corresponding alarm signal.

[0058] In another embodiment of this disclosure, the sensor 200 includes a steering angle sensor and a displacement sensor; at least two transmission devices 100 include a steering wheel and a steering tie rod; the steering wheel and the steering tie rod are driven by mechanical transmission through a steering column and a steering gear.

[0059] The steering angle sensor is mounted on the steering wheel to detect the steering angular velocity of the steering wheel; the displacement sensor is mounted on the steering tie rod to detect the movement speed of the steering tie rod.

[0060] In this embodiment, a steering angle sensor and a displacement sensor are used to detect faults in the steering wheel, steering column, steering gear, and steering tie rod. At least two transmission devices 100 include a steering wheel and a steering tie rod. The steering wheel and steering tie rod are mechanically transmitted through the steering column and steering gear. When the vehicle turns, the rotation of the steering wheel is transmitted to the steering column, the end of which is connected to the steering gear, which converts the rotational motion of the steering wheel into linear motion. The linear motion output by the steering gear is transmitted to the steering tie rod, causing the wheels 108 to deflect, thus achieving vehicle steering. The steering angle sensor is mounted on the steering wheel to detect the steering angular velocity of the steering wheel. The displacement sensor is mounted on the steering tie rod to detect the movement speed of the steering tie rod. If, within the accuracy range of the steering angular velocity acquired by the steering angle sensor and the accuracy range of the steering tie rod's movement speed detected by the displacement sensor, the steering angular velocity of the steering wheel and the movement speed of the steering tie rod do not conform to a preset transmission relationship—for example, if the ratio of the steering angular velocity of the steering wheel to the movement speed of the steering tie rod is not a preset ratio, and the duration of this non-conformity exceeds a preset threshold—it indicates that at least one of the following components—the steering wheel, steering column, steering gear, and steering tie rod—has malfunctioned. In this case, the alarm device 300 outputs a corresponding alarm signal.

[0061] In another embodiment of this disclosure, the sensor 200 includes a steering angle sensor, and at least two transmission devices 100 include a steering wheel and a wheel 108; the steering wheel and the wheel 108 are driven by a steering gear and a steering cylinder using a fully hydraulic transmission method.

[0062] A steering angle sensor is mounted on the steering wheel to detect the steering angular velocity of the steering wheel; the steering angle sensor is also mounted on the axle connected to the wheel 108 and / or at an associated position on the axle connected to the wheel 108 to detect the steering angular velocity of the wheel 108.

[0063] In this embodiment, a steering angle sensor is used to detect faults in the steering wheel, steering gear, steering cylinder, and wheels. At least two transmission devices 100 include a steering wheel and wheels 108. The steering wheel and wheels 108 are driven by a fully hydraulic transmission via the steering gear and steering cylinder. A hydraulic pump, typically driven by an engine, is the core power source for this fully hydraulic transmission. The hydraulic pump converts mechanical energy into hydraulic energy, generating high-pressure hydraulic oil. When the steering wheel rotates, it actuates the steering gear valve core, resulting in different oil inflow directions and speeds into the steering cylinder. This oil then drives the wheels to rotate, achieving steering. After steering, the hydraulic oil returns to the tank through the return channel inside the steering gear, simultaneously unloading the system to reduce unnecessary energy loss. The steering angle sensor is mounted on the steering wheel to detect the steering angular velocity of the steering wheel. The steering angle sensor is also mounted on the axle connected to the wheels 108 or at an associated position on the axle connected to the wheels 108 to detect the steering angular velocity of the wheels 108. If, within the accuracy range of the steering angular velocity collected by the steering angle sensor, the steering angular velocity of the steering wheel and the steering angular velocity of the wheel 108 do not conform to a preset transmission relationship, for example, the ratio of the steering angular velocity of the steering wheel to the steering angular velocity of the wheel 108 should be within the range of the maximum and minimum transmission ratios. The maximum transmission ratio can be the ratio of the maximum steering angular velocity of the wheel 108 to the steering angular velocity of the steering wheel at any steering angular velocity of the steering wheel, and the minimum transmission ratio can be the ratio of the minimum steering angular velocity of the wheel 108 to the steering angular velocity of the steering wheel at any steering angular velocity of the steering wheel. If the duration of the non-conformity to the preset transmission relationship exceeds a preset threshold, it indicates that at least one of the following devices—the steering wheel, the wheel 108, the steering gear, and the steering cylinder—has malfunctioned. In this case, the alarm device 300 outputs a corresponding alarm signal.

[0064] In another embodiment of this disclosure, the sensor 200 includes a steering angle sensor and a displacement sensor, and at least two transmission devices 100 include a steering wheel and a steering cylinder; the steering wheel and the steering cylinder are driven by a steering gear using a fully hydraulic transmission method.

[0065] The steering angle sensor 203 is mounted on the steering wheel to detect the steering angular velocity of the steering wheel; the displacement sensor is mounted on the steering cylinder to detect the movement speed of the steering cylinder.

[0066] In this embodiment, a steering angle sensor and a displacement sensor are used to detect faults in the steering wheel, steering gear, and steering cylinder. At least two transmission devices 100 include a steering wheel and a steering cylinder; the steering wheel and steering cylinder are driven by a fully hydraulic transmission via the steering gear. A hydraulic pump, typically driven by an engine, is the core power source for this fully hydraulic transmission. The hydraulic pump converts mechanical energy into hydraulic energy, generating high-pressure hydraulic oil. When the steering wheel rotates, it actuates the steering gear valve core, resulting in different oil inflow directions and speeds into the steering cylinder. The steering cylinder then drives the wheels to rotate, achieving steering. After steering, the hydraulic oil returns to the oil tank through the return channel inside the steering gear, simultaneously unloading the system to reduce unnecessary energy loss. A steering angle sensor 203 is mounted on the steering wheel to detect the steering angular velocity. A displacement sensor is mounted on the steering cylinder to detect the movement speed of the steering cylinder. If the steering angle velocity collected by the steering angle sensor and the steering cylinder movement speed collected by the displacement sensor do not conform to the preset transmission relationship, for example, the ratio of the steering angle velocity of the steering wheel to the movement speed of the steering cylinder should be within the range of the maximum and minimum transmission ratios. The maximum transmission ratio can be the ratio of the maximum movement speed of the steering cylinder to the steering angle velocity of the steering wheel at any steering angle velocity of the steering wheel, and the minimum transmission ratio can be the ratio of the minimum movement speed of the steering cylinder to the steering angle velocity of the steering wheel at any steering angle velocity of the steering wheel. If the duration of this non-conformity exceeds a preset threshold, it indicates that at least one of the components—the steering wheel, steering gear, and steering cylinder—has malfunctioned. In this case, the alarm device 300 outputs a corresponding alarm signal.

[0067] Based on the same disclosed concept, this disclosure also provides an unmanned vehicle. Since the principle by which the unmanned vehicle solves the problem is similar to that of the aforementioned vehicle fault alarm system, the implementation of the unmanned vehicle can refer to the implementation of the aforementioned system, and the repeated parts will not be described again.

[0068] This disclosure provides an unmanned vehicle, including a vehicle fault alarm system as described in any of the above embodiments.

[0069] Through the above description of the embodiments, those skilled in the art can clearly understand that the embodiments of this disclosure can be implemented in hardware or by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions of the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) and includes several instructions to cause a computer device (such as a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of this disclosure.

[0070] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes in the drawings are not necessarily essential for implementing this disclosure.

[0071] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0072] The sequence numbers of the embodiments disclosed above are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0073] Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims of this disclosure and their equivalents, this disclosure is also intended to include such modifications and variations.

Claims

1. A vehicle fault alarm system, characterized in that, include: At least two transmission devices are installed on the vehicle, and at least the first transmission device and the second transmission device of the at least two transmission devices have a transmission relationship; Multiple sensors are respectively disposed on the at least two transmission devices, wherein the sensors are used to detect the state of their respective transmission devices to obtain corresponding sensing data; An alarm device is provided for outputting an alarm signal in the event of abnormal sensing data, the alarm signal being used to indicate that at least one of the transmission devices has malfunctioned.

2. The system as described in claim 1, characterized in that, The sensor includes at least one of the following: a speed sensor, a wheel speed gauge, a steering angle sensor, and a displacement sensor.

3. The system as described in claim 1, characterized in that, The sensor includes a speed sensor; the at least two transmission devices include an engine crankshaft and a generator main shaft; the engine crankshaft and the generator main shaft are driven by shock absorbers; The speed sensors are respectively installed on the engine crankshaft and the generator main shaft, and are used to detect the speed of the engine crankshaft and the speed of the generator main shaft.

4. The system as described in claim 1, characterized in that, The sensor includes a speed sensor; the at least two transmission devices include a motor shaft of an electric motor and an input shaft of a gearbox. The speed sensors are respectively installed on the motor shaft of the electric motor and the input shaft of the gearbox; the speed sensors are used to detect the speed of the motor shaft of the electric motor and the speed of the input shaft of the gearbox.

5. The system as described in claim 1, characterized in that, The sensor includes a speed sensor, and the at least two transmission devices include an input shaft of the gearbox and an output shaft of the gearbox; the input shaft of the gearbox and the output shaft of the gearbox are driven by gears with preset gear positions inside the gearbox; The speed sensors are respectively installed on the input shaft and the output shaft of the gearbox, and are used to detect the speed of the input shaft and the speed of the output shaft of the gearbox.

6. The system as described in claim 1, characterized in that, The sensors include a speed sensor and a wheel speed gauge; the at least two transmission devices include an output shaft of a gearbox and wheels; the output shaft of the gearbox and wheels are driven by a main reducer, a drive shaft and a drive axle. The speed sensor is mounted on the output shaft of the gearbox and is used to detect the speed of the output shaft of the gearbox; the wheel speed gauge is mounted on the axle connected to the wheel or at an associated position on the axle connected to the wheel and is used to detect the speed of the wheel.

7. The system as described in claim 1, characterized in that, The sensor includes a steering angle sensor, and the at least two transmission devices include a steering wheel and wheels; the steering wheel and the wheels are transmitted mechanically through a steering column, a steering gear, and a steering tie rod. The steering angle sensor is disposed on the steering wheel and is used to detect the steering angular velocity of the steering wheel; the steering angle sensor is also disposed on the axle connected to the wheel or at an associated position of the axle connected to the wheel and is used to detect the steering angular velocity of the wheel.

8. The system as described in claim 1, characterized in that, The sensors include a steering angle sensor and a displacement sensor; the at least two transmission devices include a steering wheel and a steering tie rod; the steering wheel and the steering tie rod are transmitted mechanically through a steering column and a steering gear. The steering angle sensor is mounted on the steering wheel and is used to detect the steering angular velocity of the steering wheel; the displacement sensor is mounted on the steering tie rod and is used to detect the movement speed of the steering tie rod.

9. The system as described in claim 1, characterized in that, The sensor includes a steering angle sensor, and the at least two transmission devices include a steering wheel and wheels; the steering wheel and wheels are driven by a steering gear and a steering cylinder using a fully hydraulic transmission method. The steering angle sensor is disposed on the steering wheel and is used to detect the steering angular velocity of the steering wheel; the steering angle sensor is also disposed on the axle connected to the wheel and / or at the associated position of the axle connected to the wheel, and is used to detect the steering angular velocity of the wheel.

10. The system as claimed in claim 1, characterized in that, The sensors include a steering angle sensor and a displacement sensor; the at least two transmission devices include a steering wheel and a steering cylinder; the steering wheel and the steering cylinder are driven by a steering gear using a fully hydraulic transmission method. The steering angle sensor is mounted on the steering wheel and is used to detect the steering angular velocity of the steering wheel; the displacement sensor is mounted on the steering cylinder and is used to detect the movement speed of the steering cylinder.

11. An unmanned vehicle, characterized in that, include: The vehicle fault alarm system as described in any one of claims 1-10.

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