CN112172991A

CN112172991A - Balance car fault positioning method, equipment, storage medium and device

Info

Publication number: CN112172991A
Application number: CN202010991758.1A
Authority: CN
Inventors: 陈美名
Original assignee: Suzhou 360 Intelligent Security Technology Co Ltd
Current assignee: Suzhou 360 Intelligent Security Technology Co Ltd
Priority date: 2020-09-18
Filing date: 2020-09-18
Publication date: 2021-01-05
Anticipated expiration: 2040-09-18
Also published as: CN112172991B

Abstract

The invention relates to the technical field of balance cars, and discloses a balance car fault positioning method, device, equipment and storage medium. When the balance car receives a starting instruction, sending a detection signal to each equipment component in the balance car according to the starting instruction so that the equipment component feeds back current working state information according to the detection signal; comparing the current working state information with preset working state information to obtain abnormal working state information in the current working state information; and determining a fault equipment component of the balance car according to the equipment component corresponding to the abnormal working state information. According to the invention, the balance car is subjected to power-on self-check when receiving the starting instruction, so that the fault equipment part corresponding to the abnormal working state information is determined, a user can be prompted to overhaul aiming at the fault equipment part of the balance car, the safety of the balance car is improved, the safety consciousness of the user is improved, and the problem that the traditional fault detection mode is not enough to clearly and accurately reflect the condition of the balance car is solved.

Description

Balance car fault positioning method, equipment, storage medium and device

Technical Field

The invention relates to the technical field of balance cars, in particular to a balance car fault positioning method, equipment, a storage medium and a device.

Background

The electric balance vehicle is also called a body sensing vehicle, a thinking vehicle, a camera vehicle and the like, and mainly comprises a single wheel and two wheels on the market. The operating principle is mainly based on a basic principle called dynamic stability. Utilize the inside gyroscope and the acceleration sensor of automobile body, detect the change of automobile body gesture, and utilize servo control system, driving motor carries out corresponding adjustment accurately, in order to keep the balance of system, it is modern to use as the instrument of riding instead of walk, the result of a neotype green of amusement and recreation, along with the rapid development of balance car, the safety problem of balance car is also outstanding day by day, traditional fault detection and fault display's mode, be not enough to let the user clear accurate understanding vehicle situation before the trip, the use of giving people has brought certain influence, there is the potential safety hazard.

Disclosure of Invention

The invention mainly aims to provide a method, equipment, a storage medium and a device for positioning faults of a balance car, and aims to solve the technical problem that the traditional fault detection mode is not enough to clearly and accurately reflect the conditions of the balance car.

In order to achieve the purpose, the invention provides a balance car fault positioning method, which comprises the following steps:

when the balance car receives a starting instruction, sending a detection signal to each equipment component in the balance car according to the starting instruction so as to enable the equipment component to feed back current working state information according to the detection signal;

comparing the current working state information with preset working state information to obtain abnormal working state information in the current working state information;

and determining a fault equipment component of the balance car according to the equipment component corresponding to the abnormal working state information.

Optionally, after the step of determining the faulty equipment component of the balance car according to the equipment component corresponding to the abnormal operating state information, the method further includes:

acquiring a fault code corresponding to the abnormal working state information of the fault equipment component;

determining fault content corresponding to the fault code and a preset fault solving strategy;

and carrying out voice broadcast on the fault content and the preset fault solving strategy.

Optionally, the step of determining the fault content corresponding to the fault code and the preset fault resolution policy includes:

matching the fault code with a preset fault code set, wherein the fault code set stores the corresponding relation among the fault code, the fault content and a preset fault solving strategy;

and when the fault code is matched with a code in a preset fault code set, determining fault content and a preset fault solution strategy corresponding to the fault code from the preset fault code set.

Optionally, before the step of sending a detection signal to each equipment component in the balance car according to the start instruction so that the equipment component feeds back the current working state information according to the detection signal, the method further includes:

fault early warning classification is carried out on each equipment component in the balance car based on a preset fault early warning rule so as to obtain a fault early warning grade corresponding to each equipment component;

correspondingly, the step of determining the fault equipment component of the balance car according to the equipment component corresponding to the abnormal working state information comprises the following steps:

acquiring a fault early warning level corresponding to the abnormal working state information;

determining a fault early warning grade with the highest grade from the fault early warning grades, and taking the fault early warning grade with the highest grade as a target fault early warning grade;

and taking the equipment component corresponding to the target fault early warning level as a fault equipment component of the balance car.

Optionally, the step of performing fault early warning classification on each equipment component in the balance car based on a preset fault early warning rule to obtain a fault early warning grade corresponding to each equipment component includes:

acquiring a reference fault index value and a reference fault consequence index value in a preset fault early warning rule;

determining a fault probability value according to the reference fault index value and the influence factors corresponding to all equipment components in the balance car;

determining a fault consequence value according to the reference fault consequence index value and the influence factors corresponding to all equipment components in the balance car;

determining the fault risk value of each equipment component according to the fault probability value and the fault consequence value;

and carrying out fault classification on each equipment component according to the fault risk value so as to obtain a fault early warning grade corresponding to each equipment component.

Optionally, the step of obtaining the fault early warning level corresponding to the abnormal working state information includes:

acquiring a preset fault judgment range corresponding to the abnormal working state information;

determining a target fault judgment range of the abnormal working state information in the preset fault judgment range according to a preset stage sequence;

and taking the fault early warning grade corresponding to the target fault judgment range as the fault early warning grade corresponding to the abnormal working state information.

acquiring the working state information of the equipment component corresponding to the abnormal working state information after preset time;

determining a reference fault judgment range in which the working state information after the preset time is located in the preset fault judgment range;

judging whether the reference fault judgment range is consistent with the target fault judgment range;

and when the reference fault judgment range is consistent with the target fault judgment range, taking the fault early warning level corresponding to the target fault judgment range as the fault early warning level corresponding to the abnormal working state information.

In addition, in order to achieve the above object, the present invention further provides a balance car fault location device, including:

the detection module is used for sending a detection signal to each equipment component in the balance car according to a starting instruction when the balance car receives the starting instruction, so that the equipment components feed back current working state information according to the detection signal;

the comparison module is used for comparing the current working state information with preset working state information to obtain abnormal working state information in the current working state information;

and the determining module is used for determining the fault equipment component of the balance car according to the equipment component corresponding to the abnormal working state information.

In addition, in order to achieve the above object, the present invention further provides a balance car fault location apparatus, including: the system comprises a memory, a processor and a balance car fault location program stored on the memory and running on the processor, wherein the balance car fault location program realizes the steps of the balance car fault location method when being executed by the processor.

In addition, in order to achieve the above object, the present invention further provides a storage medium, wherein the storage medium stores a balance car fault location program, and the balance car fault location program realizes the steps of the balance car fault location method as described above when executed by a processor.

According to the technical scheme provided by the invention, when the balance car receives a starting instruction, a detection signal is sent to each equipment component in the balance car according to the starting instruction, so that the equipment components feed back the current working state information according to the detection signal; comparing the current working state information with preset working state information to obtain abnormal working state information in the current working state information; the fault equipment part of the balance car is determined according to the equipment part corresponding to the abnormal working state information, the balance car is started for self-checking when receiving a starting instruction, and a user can be prompted to overhaul the fault equipment part of the balance car, so that the safety of the balance car is improved, the safety consciousness of the user is improved, and the technical problem that the traditional fault detection mode is not enough to clearly and accurately reflect the condition of the balance car is solved.

Drawings

FIG. 1 is a schematic structural diagram of a balance car fault locating device in a hardware operating environment according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart of a first embodiment of a balance car fault location method according to the present invention;

FIG. 3 is a schematic flow chart of a balance car fault location method according to a second embodiment of the present invention;

FIG. 4 is a schematic flow chart of a method for locating a fault of a balance car according to a third embodiment of the present invention;

fig. 5 is a block diagram of the first embodiment of the fault location device for the balance car according to the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a balance car fault location device in a hardware operating environment according to an embodiment of the present invention.

As shown in fig. 1, the balance car fault location apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), the optional user interface 1003 may also include a standard wired interface and a wireless interface, and the wired interface of the user interface 1003 may be a Universal Serial Bus (USB) interface in the present invention. The network interface 1004 may optionally include a standard wired interface as well as a wireless interface (e.g., WI-FI interface). The Memory 1005 may be a high speed Random Access Memory (RAM); or a stable Memory, such as a Non-volatile Memory (Non-volatile Memory), and may be a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.

Those skilled in the art will appreciate that the configuration shown in FIG. 1 does not constitute a limitation of the balance car fault locating device and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.

As shown in fig. 1, a memory 1005, which is one type of computer storage medium, may include an operating system, a network communication module, a user interface module, and a balance car fault location program.

In the balance car fault location device shown in fig. 1, the network interface 1004 is mainly used for connecting a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting peripheral equipment; the balance car fault location device calls a balance car fault location program stored in the memory 1005 through the processor 1001, and executes the balance car fault location method provided by the embodiment of the invention.

Based on the hardware structure, the embodiment of the balance car fault positioning method is provided.

Referring to fig. 2, fig. 2 is a schematic flow chart of a balance car fault location method according to a first embodiment of the present invention.

In a first embodiment, the balance car fault location method comprises the following steps:

step S10: when the balance car receives a starting instruction, sending a detection signal to each equipment component in the balance car according to the starting instruction so that the equipment components can feed back the current working state information according to the detection signal.

It should be noted that the execution main body of this embodiment is a balance car fault location device, and the balance car fault location device may be a balance car or a server, or may also be other devices that can implement the same or similar functions. When the balance car receives a starting instruction, a detection signal is sent to each equipment component in the balance car according to the starting instruction, the starting instruction can be sourced from an APP application of a user terminal which is in communication connection with the balance car and is started by pressing a mechanical switch of the balance car for a user, or the user can trigger starting through the APP application of the user terminal.

It is easy to understand that when the balance car receives the starting instruction, the detection signal is sent to each equipment component in the balance car according to the starting instruction, so that the equipment component feeds back the current working state information according to the detection signal. Each equipment component in the balance car can comprise a main control board, a left motor, a right motor, a left pedal, a right pedal, a steering sensor, a battery and the like, wherein the main control board can comprise a main control chip which can be used for sending a detection signal, feeding the detection signal back to the current working state information for processing, sending a control signal to the outside and the like; if the balance car is a two-wheel balance car, each device component in the balance car may further include a gyroscope, a gyroscope chip for detecting an angular velocity and an acceleration of a car body of the two-wheel balance car, and the like.

Specifically, for example, a detection signal is sent to a left motor current sensor in the balance car according to a starting instruction, and the left motor current sensor feeds back the current working state information of the left motor current sensor according to the detection signal; and sending a detection signal to a left motor driver in the balance car according to the starting instruction, feeding back current working state information and the like of the left motor driver by the left motor driver according to the detection signal, wherein the current working state information can comprise battery information, motor information, current information, voltage information and the like fed back by each equipment component in the balance car.

Step S20: and comparing the current working state information with preset working state information to obtain abnormal working state information in the current working state information.

It should be understood that the current working state information is compared with the preset working state information, wherein the preset working state information may be standard state information of each equipment component in the balance car in normal working; and when the current working state information is different from the corresponding standard state information or the current working state information does not belong to the range of the corresponding standard state information, obtaining abnormal working state information in the current working state information.

It is easy to understand that, before step S20, the current operating state information may also be detected, so as to avoid misjudgment of the current operating state information, and the specific detection process may be: summarizing the current working state information to obtain summarized working state information; performing accuracy verification on the summarized working state information based on an immune genetic algorithm to obtain an accuracy verification result; judging whether the accuracy checking result meets the accuracy checking standard or not; and when the accuracy verification result meets the accuracy verification standard, executing the step of comparing the current working state information with preset working state information to obtain abnormal working state information in the current working state information.

Specifically, the current working state information may include battery information, motor information, current information, voltage information and the like fed back by each equipment component in the balance car, the battery information, the motor information, the current information, the voltage information and the like are summarized, and accuracy verification is performed on the summarized information through an immune genetic algorithm, so that accuracy and reliability of the current working state information compared with preset working state information are ensured, and misjudgment of the current working state information is avoided.

Step S30: and determining a fault equipment component of the balance car according to the equipment component corresponding to the abnormal working state information.

It should be noted that, a faulty equipment component of the balance car is determined according to an equipment component corresponding to the abnormal working state information, wherein when a plurality of pieces of abnormal working state information exist, a plurality of faulty equipment components of the balance car can be correspondingly determined, and at this time, a fault code corresponding to the abnormal working state information of the plurality of faulty equipment components needs to be acquired; the fault content and the preset fault solution strategy corresponding to the fault code are determined, the fault content and the preset fault solution strategy can be subjected to voice broadcast, and all the fault content and the preset fault solution strategy corresponding to the determined fault equipment components need to be subjected to voice broadcast.

Specifically, for example, the faulty equipment component of the balance car is determined according to the equipment component corresponding to the abnormal operating state information, which may include the abnormal information of the left motor current sensor, the abnormal information of battery communication and the abnormal information of the left foot pedal switch, the faulty equipment component of the balance car is determined to be the main control board according to the equipment component corresponding to the abnormal information of the left motor current sensor, the faulty equipment component of the balance car is determined to be the battery according to the equipment component corresponding to the abnormal information of battery communication, the faulty equipment component of the balance car is determined to be the left foot pedal according to the equipment component corresponding to the abnormal information of the left foot pedal switch, and the fault codes corresponding to the main control board, the battery and the left foot pedal are respectively obtained; confirm the trouble content that corresponds with the fault code and predetermine the trouble and solve the strategy, can carry out voice broadcast to trouble content and predetermine the trouble and solve the strategy, the content that needs to carry out voice broadcast includes: the main control board is required to detect faults of the main control board, the battery communication faults are required to detect the connection condition of the battery, and the left pedal faults are required to detect whether a left pedal switch and a wiring are normal.

It should be understood that when a plurality of abnormal working state information exists, a plurality of fault equipment components of the balance car can be correspondingly determined, different voice broadcast information needs to be generated according to the plurality of fault equipment components, in order to facilitate a user to know the state of the car in time, fault early warning classification needs to be carried out on each equipment component in the balance car based on a preset fault early warning rule so as to obtain the corresponding fault early warning grade of each equipment component, and when a plurality of fault equipment components exist, the fault equipment components of different grades are processed according to corresponding processing plans; for example, the highest fault early warning level can be determined from the fault early warning levels, and the highest fault early warning level is taken as a target fault early warning level; the equipment parts corresponding to the target fault early warning level are used as fault equipment parts of the balance car, voice broadcasting is carried out on fault contents and preset fault solution strategies of the equipment parts corresponding to the target fault early warning level, voice broadcasting is not needed to be carried out on all the fault contents and the preset fault solution strategies corresponding to the plurality of determined fault equipment parts, and therefore a user can rapidly determine the equipment parts of the balance car, which are possibly dangerous and have the highest final fault degree.

It is easy to understand that when the balance car receives a starting instruction, a detection signal is sent to each equipment component in the balance car according to the starting instruction, so that the equipment component feeds back the current working state information according to the detection signal; and comparing the current working state information with preset working state information, not obtaining abnormal working state information in the current working state information, and judging that the balance car has no fault and sufficient electric quantity, so that a user can be prompted to normally run at the moment, and voice broadcasting can be carried out on the fault-free normal running.

Further, when the balance car receives a starting instruction, sending a detection signal to each equipment component in the balance car according to the starting instruction so that the equipment component feeds back current working state information according to the detection signal; and comparing the current working state information with preset working state information, not obtaining abnormal working state information in the current working state information, determining that the electric quantity is insufficient according to the current working state information, and determining that the balance car has no fault but insufficient electric quantity, wherein the balance car can be allowed to be started to remind a user of paying attention to the electric quantity, and voice broadcasting is carried out on the fault-free but insufficient electric quantity.

In the embodiment, when the balance car receives a starting instruction, a detection signal is sent to each equipment component in the balance car according to the starting instruction, so that the equipment components feed back current working state information according to the detection signal; comparing the current working state information with preset working state information to obtain abnormal working state information in the current working state information; the fault equipment part of the balance car is determined according to the equipment part corresponding to the abnormal working state information, the balance car is started for self-checking when receiving a starting instruction, and a user can be prompted to overhaul the fault equipment part of the balance car, so that the safety of the balance car is improved, the safety consciousness of the user is improved, and the technical problem that the traditional fault detection mode is not enough to clearly and accurately reflect the condition of the balance car is solved. Can also carry out voice broadcast to the trouble content that the trouble equipment part that confirms corresponds and predetermine trouble solution strategy, for traditional buzzing prompt tone and the mode that screen data shows, the user will be reminded with voice broadcast's mode to the balance car, makes the clear accurate safe condition who knows the balance car before the user's trip.

Referring to fig. 3, fig. 3 is a schematic flow chart of a method for locating a fault of a balance car according to a second embodiment of the present invention, and the method for locating a fault of a balance car according to the second embodiment of the present invention is proposed based on the first embodiment shown in fig. 2. This embodiment is explained based on the first embodiment.

In the second embodiment, after the step S30, the method further includes:

step S40: and acquiring a fault code corresponding to the abnormal working state information of the fault equipment component.

It should be noted that, a preset fault code set is constructed, and the preset fault code set may include: and acquiring a fault code corresponding to the abnormal working state information of the fault equipment component according to the corresponding relation among the fault code, the fault content and the preset fault solving strategy, and matching the fault code with a preset fault code set.

Specifically, for example, the abnormal operating state information may include abnormal information of the left motor current sensor, and the faulty device component of the balance car is determined to be the main control board according to the device component corresponding to the abnormal information of the left motor current sensor, and the fault code corresponding to the main control board is obtained.

It should be understood that the faulty equipment component may be a main control board, a battery, a motor, a foot pedal, a steering sensor, etc., wherein the abnormal operating state information of the fault of the main control board may include 12V voltage abnormal information, 5V voltage abnormal information, 3.3V voltage abnormal information, main control board initialization abnormal information, left motor current sensor abnormal information, right motor current sensor abnormal information, left motor driver abnormal information, right motor driver abnormal information, gyroscope initialization abnormal information, etc., and if the above abnormal operating state information determines that the faulty equipment component of the balance car is the main control board, a fault code corresponding to the abnormal operating state information of the fault of the main control board is obtained.

Further, the faulty equipment component may be a battery, wherein the abnormal operating state information of the battery fault may include information that a firmware version of the battery is too low, battery communication abnormal information, driving voltage abnormal information, battery temperature abnormal information, battery cell voltage abnormal information, and the like, and if the abnormal operating state information determines that the faulty equipment component of the balance car is the battery, a fault code corresponding to the battery is obtained. Further, the faulty equipment component may be a motor, wherein the abnormal operating state information of the motor fault may include abnormal information of a hall sensor of the left motor, abnormal information of a hall sensor of the right motor, and the like, and if the abnormal operating state information determines that the faulty equipment component of the balance car is the motor, a fault code corresponding to the abnormal operating state information of the motor fault is acquired.

Further, the faulty equipment component may be a pedal, wherein the abnormal operating state information of the pedal fault may include abnormal information of the left pedal switch and abnormal information of the right pedal switch, and if the abnormal operating state information determines that the faulty equipment component of the balance car is a pedal, a fault code corresponding to the abnormal operating state information of the pedal fault is acquired. Further, the faulty equipment component may be a steering sensor, wherein the abnormal operating state information of the fault of the steering sensor may include abnormal information of the foot-controlled steering sensor, and if the abnormal operating state information determines that the faulty equipment component of the balance car is the steering sensor, a fault code corresponding to the abnormal operating state information of the fault of the steering sensor is obtained.

Step S50: and determining fault content corresponding to the fault code and a preset fault solving strategy.

It is easy to understand that the fault codes are matched with a preset fault code set, and the fault code set stores the corresponding relation among the fault codes, the fault contents and the preset fault solution strategies; and when the fault code is matched with a code in a preset fault code set, determining fault content and a preset fault solution strategy corresponding to the fault code from the preset fault code set.

Specifically, for example, the abnormal operating state information may include abnormal information of a left motor current sensor, a faulty device component of the balance car is determined to be the main control board according to a device component corresponding to the abnormal information of the left motor current sensor, and a fault code corresponding to the abnormal operating state information of the fault of the main control board is acquired; and determining fault content corresponding to the fault code and a preset fault solution strategy, wherein the fault content can be a fault of the main control board, and the preset fault solution strategy can be a fault of the main control board.

Further, the abnormal working state information of the main control board fault may include 12V voltage abnormal information, and a fault code corresponding to the 12V voltage abnormal information is acquired; and determining fault content corresponding to the fault code and a preset fault solution strategy, wherein the fault content can be a fault of the main control board, and the preset fault solution strategy can be a fault of the main control board. Acquiring corresponding fault codes according to other abnormal working state information such as 5V voltage abnormal information, 3.3V voltage abnormal information, main control board initialization abnormal information, left motor current sensor abnormal information, right motor current sensor abnormal information, left motor driver abnormal information, right motor driver abnormal information, gyroscope initialization abnormal information and the like; and determining fault content corresponding to the fault code and a preset fault solution strategy, wherein the fault content can be a fault of the main control board, and the preset fault solution strategy can be a fault of the main control board.

It is easy to understand that the abnormal operating state information of the battery fault may include too low version information of the battery firmware, abnormal communication information of the battery, abnormal driving voltage information, abnormal battery temperature information, abnormal battery cell voltage information, and the like; acquiring a fault code corresponding to the battery firmware version too low information; determining fault content corresponding to the fault code and a preset fault solution strategy, wherein the fault content can be that the version of the battery firmware is too low, and the preset fault solution strategy can be that the battery firmware is required to be replaced; acquiring a fault code corresponding to the battery communication abnormal information; determining fault content corresponding to the fault code and a preset fault solution strategy, wherein the fault content can be abnormal battery communication, and the preset fault solution strategy can be a request for detecting the battery connection condition; acquiring a fault code corresponding to the abnormal driving voltage information; determining fault content corresponding to the fault code and a preset fault solution strategy, wherein the fault content can be abnormal driving voltage, and the preset fault solution strategy can be used for detecting whether the main control board and the battery voltage are normal or not; acquiring a fault code corresponding to the abnormal information of the battery temperature; determining fault content corresponding to the fault code and a preset fault solution strategy, wherein the fault content can be abnormal battery temperature, and the preset fault solution strategy can be used for ensuring that the ambient temperature is between-10 ℃ and 50 ℃; acquiring a fault code corresponding to the abnormal information of the battery cell voltage; and determining fault content corresponding to the fault code and a preset fault solution strategy, wherein the fault content can be abnormal voltage of a battery cell, and the preset fault solution strategy can be that the battery needs to be replaced.

Further, the abnormal operating state information of the motor fault may include left motor hall sensor abnormality information, right motor hall sensor abnormality information, and the like, for example: acquiring a fault code corresponding to abnormal information of a Hall sensor of a left motor; and determining fault content corresponding to the fault code and a preset fault solution strategy, wherein the fault content can be that the Hall sensor of the left motor is abnormal, and the preset fault solution strategy can be that the wiring of the left motor is required to be detected or the left motor is required to be replaced. For example, acquiring a fault code corresponding to abnormal information of a Hall sensor of a right motor; and determining fault content corresponding to the fault code and a preset fault solution strategy, wherein the fault content can be that the Hall sensor of the right motor is abnormal, and the preset fault solution strategy can be that the wiring of the right motor is required to be detected or the right motor is required to be replaced.

It should be understood that the abnormal operation state information of the pedal failure may include left pedal switch abnormality information, right pedal switch abnormality information, and the like, for example: acquiring a fault code corresponding to the abnormal information of the left foot pedal switch; and determining fault content corresponding to the fault code and a preset fault solution strategy, wherein the fault content can be that the left foot pedal switch is abnormal, and the preset fault solution strategy can be that whether the left foot pedal switch and the wiring are normal or not is detected. Acquiring a fault code corresponding to the abnormal information of the right foot pedal switch; and determining fault content corresponding to the fault code and a preset fault solution strategy, wherein the fault content can be that the right foot pedal switch is abnormal, and the preset fault solution strategy can be that whether the right foot pedal switch and the wiring are normal or not is detected.

Further, the faulty equipment component may be a steering sensor, wherein the abnormal operating state information of the fault of the steering sensor may include abnormal information of the foot-controlled steering sensor, for example, a fault code corresponding to the abnormal information of the foot-controlled steering sensor is obtained; and determining fault content corresponding to the fault code and a preset fault solution strategy, wherein the fault content can be abnormal of the foot-controlled steering sensor, and the preset fault solution strategy can be used for detecting whether the foot-controlled steering sensor is loosened or whether the connecting line is normal.

Step S60: and carrying out voice broadcast on the fault content and the preset fault solving strategy.

It should be noted that, can directly carry out voice broadcast to trouble content and predetermine trouble solution strategy, the suggestion user: for example, the abnormal operating state information may include abnormal information of a left motor current sensor, and a faulty equipment component of the balance car is determined to be a main control board according to an equipment component corresponding to the abnormal information of the left motor current sensor, so as to obtain a fault code corresponding to the main control board; confirm the trouble content that corresponds with the fault code and predetermine the trouble and solve the strategy, can carry out voice broadcast to trouble content and predetermine the trouble and solve the strategy, the content that needs to carry out voice broadcast includes: the main control board is requested to detect the fault of the main control board.

It is easy to understand that the fault information packet can be generated according to the fault content and the preset fault solution strategy, and the fault information packet is sent to the preset terminal to prompt the user; a light color value sequence corresponding to the fault code can be obtained; and adjusting the light of the balance car according to the light color value sequence to perform light early warning and prompt a user.

In this embodiment, a fault code corresponding to the abnormal operating state information of the faulty equipment component is obtained; determining fault content corresponding to the fault code and a preset fault solving strategy; and carrying out voice broadcast on the fault content and the preset fault solving strategy. The starting-up self-checking is carried out when the balance car receives the starting instruction, and the fault equipment component of the balance car can be prompted to a user to overhaul, so that the safety of the balance car is improved, the safety awareness of the user is improved, and the technical problem that the condition of the balance car is not reflected clearly and accurately by a traditional fault detection mode is solved. Can also carry out voice broadcast to the trouble content that the trouble equipment part that confirms corresponds and predetermine trouble solution strategy, for traditional buzzing prompt tone and the mode that screen data shows, the user will be reminded with voice broadcast's mode to the balance car, makes the clear accurate safe condition who knows the balance car before the user's trip.

Referring to fig. 4, fig. 4 is a schematic flow chart of a method for locating a fault of a balance car according to a third embodiment of the present invention, and the method for locating a fault of a balance car according to the third embodiment of the present invention is proposed based on the first embodiment shown in fig. 2. This embodiment is explained based on the first embodiment.

In this embodiment, before step S10, the method further includes:

step S101: and carrying out fault early warning classification on each equipment part in the balance car based on a preset fault early warning rule so as to obtain the fault early warning grade corresponding to each equipment part.

It should be noted that, when there are a plurality of abnormal operating state information, a plurality of faulty device components that can determine the balance car correspondingly need to generate different voice broadcast information according to the plurality of faulty device components, and in order to facilitate users to know the state of the car in time, it needs to perform fault early warning classification on each device component in the balance car based on preset fault early warning rules to obtain the fault early warning grade corresponding to each device component.

It should be understood that fault early warning classification of each equipment component in the balance car based on the preset fault early warning rule can be realized by acquiring a reference fault index value and a reference fault consequence index value in the preset fault early warning rule; determining a fault probability value according to the reference fault index value and the influence factors corresponding to all equipment components in the balance car; determining a fault consequence value according to the reference fault consequence index value and the influence factors corresponding to all equipment components in the balance car; determining the fault risk value of each equipment component according to the fault probability value and the fault consequence value; and carrying out fault classification on each equipment component according to the fault risk value so as to obtain a fault early warning grade corresponding to each equipment component.

Specifically, the reference fault index value and the influence factor may adopt a processing mode of product to determine a fault probability value, the reference fault consequence index value and the influence factor may adopt a processing mode of product to determine a fault consequence value, and the processing mode of product is favorable for evaluating the influence of a high-probability low-loss fault event and a low-probability high-loss fault event, and safety and economy can be both considered.

Accordingly, the step S30 includes:

s301: and acquiring a fault early warning level corresponding to the abnormal working state information.

It is easy to understand that the fault early warning level corresponding to the abnormal working state information can be obtained through the following modes: acquiring a preset fault judgment range corresponding to the abnormal working state information; determining a target fault judgment range of the abnormal working state information in a preset fault judgment range according to a preset stage sequence; and taking the fault early warning grade corresponding to the target fault judgment range as the fault early warning grade corresponding to the abnormal working state information.

Specifically, the preset failure determination range may refer to a parameter range of the abnormal operating state information corresponding to different failure degrees. In consideration of the parameter characteristics of the abnormal operating state information, a plurality of ranges can be set for the same fault degree. The preset failure determination range may include three forms: a numerical range, a variation range and an operation state switching frequency range. The value range may be a parameter of a rated operation value, the variation range may be a parameter which varies continuously and has a certain variation rate, and the operation state switching frequency range may be a parameter which switches the state according to a certain frequency, for example, some equipment parts switch frequently, and switch the state 25-30 times in 1 minute. For example, the normal range of the parameter of the abnormal operating state information may be 5 to 10, and the fault determination ranges from low to high of the fault early warning level may be: range one may be 11-15 and 0-5, range two may be 16-20, range three may be 21-25, etc.

It should be noted that obtaining the fault early warning level corresponding to the abnormal operating state information may be implemented by another way as follows: acquiring a preset fault judgment range corresponding to the abnormal working state information; determining a target fault judgment range of the abnormal working state information in the preset fault judgment range according to a preset stage sequence; acquiring the working state information of the equipment component corresponding to the abnormal working state information after preset time; determining a reference fault judgment range in which the working state information after the preset time is located in the preset fault judgment range; judging whether the reference fault judgment range is consistent with the target fault judgment range; when the reference fault judgment range is consistent with the target fault judgment range, taking a fault early warning level corresponding to the target fault judgment range as a fault early warning level corresponding to the abnormal working state information; and when the reference fault judgment range is inconsistent with the target fault judgment range, taking the fault early warning level corresponding to the reference fault judgment range as the fault early warning level corresponding to the abnormal working state information. And the reference fault judgment range is increased, so that the process of acquiring the fault early warning level corresponding to the abnormal working state information is more accurate, and the error judgment of the abnormal working state information is avoided.

It should be noted that, the process of determining the target fault determination range in which the abnormal operating state information is located in the preset fault determination range according to the preset stage sequence may be: acquiring historical abnormal working state information corresponding to the abnormal working state information according to a preset stage sequence; judging whether a historical fault judgment range corresponding to the historical abnormal working state information is located in a first range or not; when the historical fault judgment range is determined to be in the first range, judging whether the abnormal working state information is in a second range, wherein the fault early warning level corresponding to the second range is higher than the fault early warning level corresponding to the first range; and when the abnormal working state information is in the second range, taking the second range as a target fault judgment range.

Specifically, the preset stage sequence may be a sequence of failure degrees from low to high, specifically, the preset failure determination range may include N ranges, the process of determining the failure early warning level may be divided into a plurality of stages, in the last stage, the parameter of the abnormal working state information is in the first range, and it is determined that the device is in a slight failure, and in the determination process of the current stage, it is directly determined whether the parameter of the abnormal working state information is in the second range, where the failure early warning level corresponding to the second range is higher than the failure early warning level corresponding to the first range, and optionally, the second range is adjacent to the first range. Therefore, the step-type fault early warning grade judgment can be guaranteed, the slight fault of the balance car equipment component can be conveniently found in time, a user is further prompted to conveniently make a corresponding decision, and the loss is avoided.

S302: and determining the highest fault early warning grade from the fault early warning grades, and taking the highest fault early warning grade as a target fault early warning grade.

It is easy to understand that when a plurality of fault equipment components exist, the fault equipment components of different levels are processed according to corresponding processing plans; for example, the fault early warning levels may be sorted from high to low according to the risk degree, the highest fault early warning level may be determined from the fault early warning levels, and the highest fault early warning level may be used as the target fault early warning level.

S303: and taking the equipment component corresponding to the target fault early warning level as a fault equipment component of the balance car.

It should be noted that, the device component corresponding to the target failure early warning level is used as the failed device component of the balance car, and the voice broadcast is performed on the failure content and the preset failure solution strategy of the device component corresponding to the target failure early warning level, and the voice broadcast is not required to be performed on all the failure content and the preset failure solution strategy corresponding to the determined multiple failed device components, so that a user can quickly determine the device component of the balance car, which has the highest failure degree and is possibly dangerous, of the failed device component.

It should be understood that the present embodiment also provides another fault classification manner: fault early warning classification is carried out on each equipment component in the balance car based on a preset fault early warning rule so as to obtain a fault early warning grade corresponding to each equipment component; setting fault processing conditions corresponding to various faults according to the fault early warning level; correspondingly, the step of determining the fault equipment component of the balance car according to the equipment component corresponding to the abnormal working state information comprises the following steps: acquiring a fault early warning level corresponding to the abnormal working state information; acquiring fault processing conditions corresponding to the fault early warning level, and judging whether the abnormal working state information meets the fault processing conditions; and when the abnormal working state information does not meet the fault processing condition, determining that the equipment component corresponding to the abnormal working state information is a fault equipment component of the balance car. By the method, the fault processing condition is added, the voice broadcast of the subsequent fault equipment component is carried out when the abnormal working state information does not meet the fault processing condition, when the abnormal working state information meets the fault processing condition, the abnormal working state information can be restored or the fault information is triggered by mistake, and the balance car can be restored to be normal without carrying out the voice broadcast of the subsequent fault equipment component.

In this embodiment, fault early warning classification is performed on each equipment component in the balance car based on a preset fault early warning rule, so as to obtain a fault early warning grade corresponding to each equipment component. Acquiring a fault early warning level corresponding to the abnormal working state information; determining a fault early warning grade with the highest grade from the fault early warning grades, and taking the fault early warning grade with the highest grade as a target fault early warning grade; and taking the equipment component corresponding to the target fault early warning level as a fault equipment component of the balance car. The starting-up self-checking is carried out when the balance car receives the starting instruction, and the fault equipment component of the balance car can be prompted to a user to overhaul, so that the safety of the balance car is improved, the safety awareness of the user is improved, and the technical problem that the condition of the balance car is not reflected clearly and accurately by a traditional fault detection mode is solved. Can also carry out voice broadcast to the trouble content that the trouble equipment part that confirms corresponds and predetermine trouble solution strategy, for traditional buzzing prompt tone and the mode that screen data shows, the user will be reminded with voice broadcast's mode to the balance car, makes the clear accurate safe condition who knows the balance car before the user's trip.

In addition, an embodiment of the present invention further provides a storage medium, where the storage medium stores a balance car fault location program, and the balance car fault location program, when executed by a processor, implements the steps of the balance car fault location method described above.

Since the storage medium adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.

In addition, referring to fig. 5, an embodiment of the present invention further provides a balance car fault location device, where the balance car fault location device includes:

the detection module 10 is configured to, when the balance car receives a start instruction, send a detection signal to each equipment component in the balance car according to the start instruction, so that the equipment component feeds back current working state information according to the detection signal.

It should be noted that, when the balance car receives a start instruction, a detection signal is sent to each device component in the balance car according to the start instruction, where a source of the start instruction may be that a user starts by pressing a mechanical switch of the balance car, or that the user triggers start by an APP application of a user terminal in communication connection with the balance car, and in addition, a manner of starting the balance car may also be that other manners are required according to actual situations, which is not limited in this embodiment.

And the comparison module 20 is configured to compare the current working state information with preset working state information to obtain abnormal working state information in the current working state information.

It is easy to understand that, before comparing the current working state information with the preset working state information and obtaining the abnormal working state information in the current working state information, the current working state information can be detected, so as to avoid misjudgment of the current working state information, and the specific detection process can be as follows: summarizing the current working state information to obtain summarized working state information; performing accuracy verification on the summarized working state information based on an immune genetic algorithm to obtain an accuracy verification result; judging whether the accuracy checking result meets the accuracy checking standard or not; and when the accuracy verification result meets the accuracy verification standard, executing the step of comparing the current working state information with preset working state information to obtain abnormal working state information in the current working state information.

And the determining module 30 is configured to determine a faulty equipment component of the balance car according to the equipment component corresponding to the abnormal working state information.

In the technical scheme provided by this embodiment, the detection module 10 is configured to, when the balance car receives a start instruction, send a detection signal to each equipment component in the balance car according to the start instruction, so that the equipment component feeds back current working state information according to the detection signal; the comparison module 20 is configured to compare the current working state information with preset working state information to obtain abnormal working state information in the current working state information; the determining module 30 is configured to determine the faulty equipment component of the balance car according to the equipment component corresponding to the abnormal working state information, so that the balance car is subjected to power-on self-checking when receiving a start instruction, and the user can be prompted to overhaul the faulty equipment component of the balance car, so that the safety of the balance car is improved, the safety consciousness of the user is improved, and the technical problem that the conventional fault detection mode is not enough to clearly and accurately reflect the condition of the balance car is solved. Can also carry out voice broadcast to the trouble content that the trouble equipment part that confirms corresponds and predetermine trouble solution strategy, for traditional buzzing prompt tone and the mode that screen data shows, the user will be reminded with voice broadcast's mode to the balance car, makes the clear accurate safe condition who knows the balance car before the user's trip.

The balance car fault positioning device provided by the invention adopts all technical schemes of all the embodiments, so that the balance car fault positioning device at least has all beneficial effects brought by the technical schemes of the embodiments, and the details are not repeated.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third and the like do not denote any order, but rather the words first, second and the like may be interpreted as indicating any order.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g., a Read Only Memory (ROM)/Random Access Memory (RAM), a magnetic disk, an optical disk), and includes several instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

The invention discloses A1 and a balance car fault positioning method, which comprises the following steps:

A2, the method for locating faults of a balance car as in A1, further comprising, after the step of determining the faulty equipment component of the balance car according to the equipment component corresponding to the abnormal operating state information:

A3, the method for locating faults of a balance car as A2, wherein the step of determining fault contents corresponding to the fault codes and presetting a fault solution strategy comprises the steps of:

A4, in the method for locating a fault in a balance car as described in any one of a1 to A3, before the step of sending a detection signal to each equipment component in the balance car according to the start instruction so that the equipment component feeds back current operating state information according to the detection signal, the method further includes:

A5, the method for positioning faults of a balance car as in a4, wherein the step of performing fault early warning classification on each equipment component in the balance car based on preset fault early warning rules to obtain the fault early warning grade corresponding to each equipment component includes:

A6, the method for positioning faults of balance car according to A5, wherein the step of obtaining the fault early warning level corresponding to the abnormal working state information includes:

A7, the method for positioning faults of balance car according to A5, wherein the step of obtaining the fault early warning level corresponding to the abnormal working state information includes:

A8, the method for locating a fault in a balancing vehicle as recited in a7, further comprising, after the step of determining whether the reference fault determination range coincides with the target fault determination range:

and when the reference fault judgment range is inconsistent with the target fault judgment range, taking the fault early warning level corresponding to the reference fault judgment range as the fault early warning level corresponding to the abnormal working state information.

A9, the method for locating a fault of a balance car as described in a6 or a7, wherein the step of determining the target fault judgment range in which the abnormal operation state information is located in the preset fault judgment range according to a preset stage sequence includes:

acquiring historical abnormal working state information corresponding to the abnormal working state information according to a preset stage sequence;

judging whether a historical fault judgment range corresponding to the historical abnormal working state information is in a first range or not;

when the historical fault judgment range is determined to be in a first range, judging whether the abnormal working state information is in a second range, wherein the fault early warning level corresponding to the second range is higher than the fault early warning level corresponding to the first range;

and when the abnormal working state information is in the second range, taking the second range as a target fault judgment range.

A10, in the method for locating a fault in a balance car as described in any one of a1 to A3, before the step of sending a detection signal to each equipment component in the balance car according to the start instruction so that the equipment component feeds back current operating state information according to the detection signal, the method further includes:

setting fault processing conditions corresponding to various faults according to the fault early warning level;

acquiring fault processing conditions corresponding to the fault early warning level, and judging whether the abnormal working state information meets the fault processing conditions;

and when the abnormal working state information does not meet the fault processing condition, determining that the equipment component corresponding to the abnormal working state information is a fault equipment component of the balance car.

A11, the method for locating faults of a balance car as in A1, further comprising, after the step of determining the faulty equipment component of the balance car according to the equipment component corresponding to the abnormal operating state information:

generating a fault information packet according to the fault content and the preset fault solving strategy;

and sending the fault information packet to a preset terminal.

A12, the method for locating faults of a balance car as in A1, further comprising, after the step of determining the faulty equipment component of the balance car according to the equipment component corresponding to the abnormal operating state information:

acquiring a light color value sequence corresponding to the fault code;

and adjusting the light of the balance car according to the light color value sequence to perform light early warning.

A13, in the method for locating a fault of a balance car according to any one of a1 to a12, before the step of comparing the current working state information with preset working state information to obtain abnormal working state information in the current working state information, the method further includes:

summarizing the current working state information to obtain summarized working state information;

performing accuracy verification on the summarized working state information based on an immune genetic algorithm to obtain an accuracy verification result;

judging whether the accuracy checking result meets the accuracy checking standard or not;

and when the accuracy verification result meets the accuracy verification standard, executing the step of comparing the current working state information with preset working state information to obtain abnormal working state information in the current working state information.

The invention also discloses B14 and a balance car fault positioning device, which comprises:

B15, the balance car fault location device of B14, the balance car fault location device also includes broadcasting the module; wherein the content of the first and second substances,

the broadcasting module is used for acquiring a fault code corresponding to the abnormal working state information of the fault equipment component;

the broadcasting module is further used for determining fault content corresponding to the fault code and presetting a fault solving strategy;

the broadcasting module is further used for carrying out voice broadcasting on the fault content and the preset fault solving strategy.

B16, the balance car fault location device according to B15, where the broadcast module is further configured to match the fault code with a preset fault code set, where the fault code library set stores a corresponding relationship between the fault code, fault content, and a preset fault resolution policy;

the broadcasting module is further configured to determine fault content and a preset fault solution strategy corresponding to the fault code from a preset fault code set when the fault code matches a code in the preset fault code set.

B17, the balance car fault location device as any one of B14-B16, the balance car fault location device further comprises a grading module; wherein the content of the first and second substances,

the grading module is used for carrying out fault early warning grading on each equipment component in the balance car based on a preset fault early warning rule so as to obtain a fault early warning grade corresponding to each equipment component;

correspondingly, the determining module is further configured to obtain a fault early warning level corresponding to the abnormal working state information;

the determining module is further configured to determine a highest-grade fault early warning grade from the fault early warning grades, and use the highest-grade fault early warning grade as a target fault early warning grade;

the determining module is further configured to use the device component corresponding to the target failure early warning level as a failure device component of the balance car.

The B18, the balance car fault positioning device as described in B17, the grading module further configured to obtain a reference fault index value and a reference fault consequence index value in a preset fault early warning rule;

the grading module is further used for determining a fault probability value according to the reference fault index value and the influence factors corresponding to all equipment components in the balance car;

the grading module is further used for determining a fault consequence value according to the reference fault consequence index value and the influence factors corresponding to all equipment components in the balance car;

the grading module is further used for determining fault risk values of all equipment components according to the fault probability value and the fault consequence value;

and the grading module is also used for carrying out fault grading on each equipment component according to the fault risk value so as to obtain the fault early warning grade corresponding to each equipment component.

C19, a balance car fault location device, comprising: the system comprises a memory, a processor and a balance car fault location program stored on the memory and running on the processor, wherein the balance car fault location program realizes the steps of the balance car fault location method when being executed by the processor.

D20, a storage medium having a balance car fault location program stored thereon, the balance car fault location program, when executed by a processor, implementing the steps of the balance car fault location method as described above.

Claims

1. The method for positioning the faults of the balance car is characterized by comprising the following steps of:

2. The balance car fault location method according to claim 1, wherein after the step of determining the faulty equipment component of the balance car according to the equipment component corresponding to the abnormal operating state information, the method further comprises:

3. The balance car fault location method according to claim 2, wherein the step of determining the fault content corresponding to the fault code and the preset fault resolution strategy comprises:

4. The balance car fault location method according to any one of claims 1 to 3, wherein before the step of sending a detection signal to each equipment component in the balance car according to the starting instruction so that the equipment component feeds back current working state information according to the detection signal, the method further comprises:

5. The balance car fault location method according to claim 4, wherein the step of performing fault early warning classification on each equipment component in the balance car based on a preset fault early warning rule to obtain a fault early warning grade corresponding to each equipment component comprises:

6. The balance car fault location method according to claim 5, wherein the step of obtaining the fault early warning level corresponding to the abnormal working state information includes:

7. The balance car fault location method according to claim 5, wherein the step of obtaining the fault early warning level corresponding to the abnormal working state information includes:

8. The utility model provides a balance car fault location device which characterized in that, balance car fault location device includes:

9. A balance car fault location device, characterized in that, balance car fault location device includes: the balance car fault location method comprises the following steps of a memory, a processor and a balance car fault location program stored on the memory and running on the processor, wherein the balance car fault location program realizes the steps of the balance car fault location method according to any one of claims 1 to 7 when being executed by the processor.

10. A storage medium, characterized in that the storage medium stores thereon a balance car fault location program, which when executed by a processor implements the steps of the balance car fault location method according to any one of claims 1 to 7.