CN102607860A

CN102607860A - Fault detection method, equipment and system for engineering machinery vehicle

Info

Publication number: CN102607860A
Application number: CN2012100424955A
Authority: CN
Inventors: 周欣; 范玉涛; 杨扬
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2012-02-23
Filing date: 2012-02-23
Publication date: 2012-07-25

Abstract

The invention discloses a fault detection method, equipment and a system for an engineering machinery vehicle. Wherein, the method comprises the following steps: the controller acquires a feedback signal of the supporting leg detection device; the controller judges whether the state of the supporting leg of the engineering machinery vehicle is normal or not according to the feedback signal; if not, the controller prompts the user for leg fault information, wherein the leg fault information comprises horizontal motion abnormity and vertical motion abnormity. According to the invention, the specific state of each support leg is obtained according to the feedback signal of the support leg detection device, and the fault on the support leg can be positioned in time according to the state, so that the problem that the fault of the support leg of the engineering machinery vehicle cannot be detected in time and accurately is solved, the safety of the engineering machinery vehicle is enhanced, and the maintenance efficiency is improved.

Description

The fault detection method of engineering machinery vehicle, equipment and system

Technical field

The present invention relates to engineering machinery field, in particular to a kind of fault detection method, equipment and system of engineering machinery vehicle.

Background technology

One type of engineering machinery that engineering machinery vehicle is a kind of of many uses, maneuverability, dependable performance, operating efficiency is high; Especially rough terrain wheeled crane; Except that the fixed point that possesses general hoisting machinery is hung year function; Also have band and carry the characteristics of going, therefore can conveniently accomplish moving of material or equipment.Except the lifting that can satisfy highway, railway, construction project,, can also be used for short-range lifting transportation such as factory, harbour, warehouse because of its band carries the function of going.Again because rough terrain wheeled crane to the extremely strong adaptive faculty of environment, therefore, in the desert, the abominable areas of construction operation environment such as Gobi desert and mountain areas, more can demonstrate the superiority of rough terrain wheeled crane.

In working order down, engineering machinery vehicle need stretch out supporting leg with the bigger support span of acquisition, and then improves the stability of car load work, keeps the balance of vehicle body.But do not have malfunction monitoring, diagnostic system and warning device to the supporting leg state at present, if the action of a certain supporting leg is broken down, operator's action button control supporting leg in pilothouse continues to stretch out or during contractive action, very easily causes vehicle body to tumble.The leg system synoptic diagram of rough terrain wheeled crane as shown in Figure 1 mainly includes: horizontal support legs 1, horizontal support legs are stretched sign 2 entirely, horizontal support legs is partly stretched sign 3 and vertical leg 4.At present; Stretch out or during contractive action, can only whether put to judge whether supporting leg breaks down in place through the corresponding sign of naked-eye observation by the observer, at the control supporting leg if break down; Then operator notified stops associative operation, produces the reason of fault then through the specialized equipment investigation.

Because the monitoring to supporting leg can only be judged according to supporting leg status indicator and the subjective experience of oneself by outside commander; Tell how the operator moves; And heavy-duty machine is bulky; Supporting leg is more, and it is that which kind of fault appears in that supporting leg that the observer can't judge rapidly accurately, and there is certain potential safety hazard in this operation to supporting leg.

Can't be in time and the problem that accurately detects to the supporting leg fault of engineering machinery vehicle in the correlation technique, effective solution is not proposed at present as yet.

Summary of the invention

Can't be in time and the problem that accurately detects to the supporting leg fault of engineering machinery vehicle, the invention provides a kind of fault detection method, equipment and system of engineering machinery vehicle.

According to an aspect of the present invention, a kind of fault detection method of engineering machinery vehicle is provided, has comprised: controller obtains the feedback signal of supporting leg pick-up unit; Controller judges according to above-mentioned feedback signal whether the supporting leg state of engineering machinery vehicle is normal; If undesired, controller is to user prompt supporting leg failure message, and wherein, this supporting leg failure message comprises that horizontal balance is unusual and vertically-acting is unusual.

Above-mentioned supporting leg pick-up unit comprises the linear transducer on each supporting leg that is arranged on engineering machinery vehicle, and this linear transducer is used to detect and feed back the extension elongation of supporting leg; Controller judges according to feedback signal whether the supporting leg state of engineering machinery vehicle normally comprises: when the horizontal balance button of specifying supporting leg is effective; Receive the leg length that linear transducer detects; If specify the length of the linear transducer feedback of supporting leg to equal 0 in the first length variations amount in the duration of specifying, controller confirms to specify the cross cylinder of supporting leg to break down.

Above-mentioned supporting leg pick-up unit comprises supporting leg travel switch and the supporting leg pressure transducer on each supporting leg that is arranged on engineering machinery vehicle; The supporting leg travel switch is used to detect and feed back the flexible state of supporting leg; The supporting leg pressure transducer is used to detect and feeds back the force value after supporting leg and ground come in contact; Controller judges according to feedback signal whether the supporting leg state of engineering machinery vehicle normally comprises: vertically stretch out button when effective what specify supporting leg; If the supporting leg travel switch on the appointment supporting leg is in closure state and closed duration surpasses the second appointment duration; Perhaps; The force value of specifying the supporting leg pressure transducer on the supporting leg the 3rd is specified in the duration and all is less than or equal to 0 what continue, and what controller confirmed to specify supporting leg vertically stretches out remarkable action.

Above-mentioned supporting leg pick-up unit comprises supporting leg travel switch and the supporting leg pressure transducer on each supporting leg that is arranged on engineering machinery vehicle, and is arranged on the vehicle body level inclination sensor on the vehicle body of engineering machinery vehicle; The supporting leg travel switch is used to detect and feed back the flexible state of supporting leg; The supporting leg pressure transducer is used to detect and feeds back the force value after supporting leg and ground come in contact; Vehicle body level inclination sensor is used for detecting and feedback vehicle body horizontal direction inclination angle and vertical direction inclination angle; Controller judges according to feedback signal whether the supporting leg state of engineering machinery vehicle normally comprises: vertically stretch out button all effectively the time at each supporting leg of engineering machinery vehicle; If the supporting leg travel switch of each supporting leg all is in off-state; And the force value of the supporting leg pressure transducer on each supporting leg is all in specified scope, and controller judges that horizontal direction inclination angle and the vertical direction inclination angle of vehicle body level inclination sensor feedback are whether all in the first specified angle scope; If not, controller confirms vertically to stretch out the supporting leg of remarkable action according to the combination of level inclination and vertical dip angle and the corresponding relation of supporting leg; Be when effective at the vertical contraction button of each supporting leg of engineering machinery vehicle, controller judges that horizontal direction inclination angle and the vertical direction inclination angle of vehicle body level inclination sensor feedback are whether all in the second specified angle scope; If controller is confirmed the supporting leg that vertical contractive action is unusual according to the flexible state of the supporting leg travel switch feedback of the force value of the supporting leg pressure transducer of each supporting leg feedback and each supporting leg; Controller is confirmed the supporting leg that vertical contractive action is unusual according to the combination at horizontal direction inclination angle and vertical direction inclination angle and the corresponding relation of supporting leg if not.

Above-mentioned controller is according to the flexible state of the supporting leg travel switch feedback of the force value of the supporting leg pressure transducer of each supporting leg feedback and each supporting leg; Confirm that the unusual supporting leg of vertical contractive action comprises: if specify the supporting leg travel switch on the supporting leg to be in off-state and to break off duration above the 4th appointment duration; Perhaps; Specify the force value of the supporting leg pressure transducer on the supporting leg in the five fingers that continue are regularly long, all to be not equal to 0, controller confirms to specify the vertical contractive action of supporting leg unusual.

According to a further aspect in the invention, a kind of fault test set of engineering machinery vehicle is provided, has comprised: the feedback signal acquisition module is used to obtain the feedback signal of supporting leg pick-up unit; The supporting leg condition judgment module is used for judging according to the feedback signal that the feedback signal acquisition module obtains whether the supporting leg state of engineering machinery vehicle is normal; Reminding module, when the result who is used for the judgement of supporting leg condition judgment module was undesired, to user prompt supporting leg failure message, wherein, the supporting leg failure message comprised that horizontal balance is unusual and vertically-acting is unusual.

According to another aspect of the invention, a kind of fault detection system of engineering machinery vehicle is provided, has comprised: controller and supporting leg pick-up unit; This controller comprises: the feedback signal acquisition module is used to obtain the feedback signal of this supporting leg pick-up unit; The supporting leg condition judgment module is used for judging according to the feedback signal that the feedback signal acquisition module obtains whether the supporting leg state of engineering machinery vehicle is normal; Reminding module, when the result who is used for the judgement of supporting leg condition judgment module was undesired, to user prompt supporting leg failure message, wherein, the supporting leg failure message comprised that horizontal balance is unusual and vertically-acting is unusual; This supporting leg pick-up unit comprises: be arranged on linear transducer, supporting leg travel switch and supporting leg pressure transducer on each supporting leg of engineering machinery vehicle; Be arranged at the vehicle body level inclination sensor on the vehicle body of engineering machinery vehicle; Wherein, linear transducer is used to detect and feed back the extension elongation of supporting leg; The supporting leg travel switch is used to detect and feed back the flexible state of supporting leg; The supporting leg pressure transducer is used to detect and feeds back the force value after supporting leg and ground come in contact; Vehicle body level inclination sensor is used for detecting and feedback vehicle body horizontal direction inclination angle and vertical direction inclination angle.

Above-mentioned supporting leg condition judgment module comprises: horizontal fault detection unit; Be used for when the horizontal balance button of specifying supporting leg is effective; If specify the length of the linear transducer feedback of supporting leg to equal 0, confirm to specify the cross cylinder of supporting leg to break down in the first length variations amount in the duration of specifying.

Above-mentioned supporting leg condition judgment module comprises: the first vertical fault detection unit; Be used for vertically stretching out button when effective what specify supporting leg; If the supporting leg travel switch on the appointment supporting leg is in closure state and closed duration surpasses the second appointment duration; Perhaps, the force value of specifying the supporting leg pressure transducer on the supporting leg the 3rd is specified in the duration and all is less than or equal to 0 what continue, and that confirms to specify supporting leg vertically stretches out remarkable action.

Above-mentioned supporting leg condition judgment module comprises: the second vertical fault detection unit; Be used for vertically stretching out button all effectively the time at each supporting leg of engineering machinery vehicle; If the supporting leg travel switch of each supporting leg all is in off-state; And the force value of the supporting leg pressure transducer on each supporting leg is all in specified scope, and whether horizontal direction inclination angle and the vertical direction inclination angle of judging vehicle body level inclination sensor feedback be all in the first specified angle scope; If not,, confirm vertically to stretch out the supporting leg of remarkable action according to the combination of level inclination and vertical dip angle and the corresponding relation of supporting leg; The 3rd vertical fault detection unit is used for vertical contraction button at each supporting leg of engineering machinery vehicle and is when effective, and whether horizontal direction inclination angle and the vertical direction inclination angle of judging vehicle body level inclination sensor feedback be all in the second specified angle scope; If, confirm the supporting leg that vertical contractive action is unusual according to the flexible state of the supporting leg travel switch feedback of the force value of the supporting leg pressure transducer of each supporting leg feedback and each supporting leg; If,, do not confirm the supporting leg that vertical contractive action is unusual according to the combination at horizontal direction inclination angle and vertical direction inclination angle and the corresponding relation of supporting leg.

Through the present invention; Get access to the concrete state of each supporting leg according to the signal of supporting leg pick-up unit feedback; Can in time locate the fault on the supporting leg according to this state; The supporting leg fault that has solved engineering machinery vehicle can't be in time and the problem that accurately detects, and strengthened the security of engineering machinery vehicle, improved the efficient of maintenance.

Description of drawings

Accompanying drawing described herein is used to provide further understanding of the present invention, constitutes the application's a part, and illustrative examples of the present invention and explanation thereof are used to explain the present invention, do not constitute improper qualification of the present invention.In the accompanying drawings:

Fig. 1 is the leg system synoptic diagram according to the rough terrain wheeled crane of correlation technique;

Fig. 2 is the fault detection method process flow diagram according to the engineering machinery vehicle of the embodiment of the invention;

Fig. 3 is the electrical system synoptic diagram according to the rough terrain wheeled crane of the embodiment of the invention;

Fig. 4 is the synoptic diagram according to the leg system of the embodiment of the invention and sensor installation site;

Fig. 5 is fault detect of supporting leg horizontal balance and the diagnostic flow chart according to the embodiment of the invention;

Fig. 6 is that the supporting leg according to the embodiment of the invention vertically stretches out action failure and detects and diagnostic flow chart;

Fig. 7 is that the supporting leg according to the embodiment of the invention vertically stretches out action failure and detects and diagnostic flow chart;

Fig. 8 is according to the vehicle body of the embodiment of the invention and supporting leg orientation synoptic diagram;

Fig. 9 is vertical contractive action fault detect of supporting leg and the diagnostic flow chart according to the embodiment of the invention;

Figure 10 is vertical contractive action fault detect of supporting leg and the diagnostic flow chart according to the embodiment of the invention;

Figure 11 is the engine failure detection system synoptic diagram according to the embodiment of the invention;

Figure 12 is the wheel box fault detection system synoptic diagram according to the embodiment of the invention;

Figure 13 is the engine diagnostic content synoptic diagram according to the embodiment of the invention;

Figure 14 is the wheel box diagnosis content synoptic diagram according to the embodiment of the invention;

Figure 15 is the monitoring synoptic diagram according to the controller input signal of the embodiment of the invention;

Figure 16 is the monitoring synoptic diagram according to the controller output signal of the embodiment of the invention;

Figure 17 is the system logic diagnosis synoptic diagram according to the embodiment of the invention;

Figure 18 is the fault test set structured flowchart according to the engineering machinery vehicle of the embodiment of the invention;

Figure 19 is the fault detection system structured flowchart according to the engineering machinery vehicle of the embodiment of the invention; And

Figure 20 is the rough terrain wheeled crane malfunction monitoring and diagnosis electric control system synoptic diagram according to the embodiment of the invention.

Embodiment

Hereinafter will and combine embodiment to specify the present invention with reference to accompanying drawing.Need to prove that under the situation of not conflicting, embodiment and the characteristic among the embodiment among the application can make up each other.

Present embodiment provides a kind of fault detection method of engineering machinery vehicle, and referring to Fig. 2, this method may further comprise the steps:

Step S202, controller obtain the feedback signal of supporting leg pick-up unit;

When specific embodiment; The supporting leg pick-up unit can be provided with according to the concrete structure of engineering machinery vehicle flexibly; For example, for crane, this supporting leg pick-up unit can comprise linear transducer, supporting leg travel switch, supporting leg pressure transducer and vehicle body level inclination sensor.Wherein, Linear transducer, supporting leg travel switch and supporting leg pressure transducer are separately positioned on each supporting leg of crane; Vehicle body level inclination sensor is arranged on the vehicle body of crane; This position can be specified as required, and this assigned address can be the vehicle body level meter position on the crane, uses this vehicle body level inclination sensor to replace this vehicle body level meter;

Above-mentioned linear transducer is used to detect and feed back the extension elongation of supporting leg, and controller can calculate the length variations amount of this supporting leg in a period of time according to the extension elongation of linear transducer feedback;

Above-mentioned supporting leg travel switch is used to detect and feed back the flexible state of supporting leg;

Above-mentioned supporting leg pressure transducer is used to detect and feeds back the force value after supporting leg and ground come in contact; It is the pressure transducer realization of 0-350bar that this pressure transducer can adopt range;

Above-mentioned vehicle body level inclination sensor is used for detecting and feedback vehicle body horizontal direction inclination angle and vertical direction inclination angle;

Step S204, this controller judges according to feedback signal whether the supporting leg state of engineering machinery vehicle is normal;

Step S206, if undesired, this controller is to user prompt supporting leg failure message.Wherein, this supporting leg failure message can draw concrete abort situation and failure cause etc. according to above-mentioned feedback signal, and for example: this supporting leg failure message comprises that horizontal balance is unusual and vertically-acting is unusual.

In the embodiment of the invention; Controller one of can be in the following manner the prompting user: carry out voice suggestion and/or point out with literal display format through speech player through display screen; If point out through display screen; When concrete the realization, can use the display screen that carries on the crane, the special-purpose display screen of a fault detect and prompting also can be set.

Present embodiment gets access to the concrete state of each supporting leg according to the feedback signal of supporting leg pick-up unit; Can in time locate the fault on the supporting leg according to this state; The supporting leg fault that has solved engineering machinery vehicle can't be in time and the problem that accurately detects; Strengthen the security of engineering machinery vehicle, improved the efficient of maintenance.

The method that present embodiment provides can be applied in the fault detect of rough terrain wheeled crane.The electrical system synoptic diagram of rough terrain wheeled crane as shown in Figure 3; Comprise: control unit of engine, wheel box control module, multi-functional Displaying Meter and limiter of moment all pass through CAN (Controller Area Network; Controller local area network) bus links to each other with entire car controller, and the multi-functional Displaying Meter that all parameters and state all pass through bus shows.The malfunction monitoring of this rough terrain wheeled crane comprises: parts such as supporting leg fault detect, controller self detection, function logic detection, limiter of moment fault detect, engine failure detection, wheel box fault detect; Wherein, controller self detection, function logic detection, limiter of moment fault detect, engine failure detection, wheel box fault detect can combine other correlation techniques to realize.

The embodiment of the invention is provided with the supporting leg pick-up unit on engineering machinery vehicle; Preferably; The concrete set-up mode of this supporting leg pick-up unit is following: linear transducer (also can be called the backguy sensor), supporting leg travel switch and supporting leg pressure transducer are set on each supporting leg of engineering machinery vehicle, and vehicle body level inclination sensor (also can be called horizontal double-shaft tilt angle sensor) is set on the vehicle body of engineering machinery vehicle.Based on this, whether controller definite engineering machinery vehicle under the assistance of these devices exists fault, and concrete abort situation, for the maintenance personal provides in time data reliably.Describe through concrete embodiment below.

Present embodiment can be confirmed the state of current each supporting leg through above-mentioned linear transducer; For example stretch out state and contraction state; When the cross cylinder of supporting leg moved, the backguy length of linear transducer changed, and was the backguy length variations of unit record linear transducer with the second usually; This variation shows with the length variations scale at present embodiment, i.e. the variable quantity of backguy p.s. length.Based on this; Above-mentioned controller judges according to feedback signal whether the supporting leg state of engineering machinery vehicle normally comprises: when the horizontal balance button of specifying supporting leg is effective; If the length variations amount of the linear transducer feedback of appointment supporting leg is greater than 0, controller confirms that specifying supporting leg is that level is stretched out state; If the length variations amount of the linear transducer feedback of appointment supporting leg is less than 0, controller confirms that specifying supporting leg is horizontal contraction state; If specify the length of the linear transducer feedback of supporting leg to equal 0 in the first length variations amount in the duration of specifying, controller confirms to specify the cross cylinder of supporting leg to break down.Wherein, first specify duration can be 5s.

The synoptic diagram of leg system as shown in Figure 4 and sensor installation site, wherein, 41 expression vehicle bodies; 42 expression horizontal support legs;

Linear transducer

45,46 expression linear transducer backguys are set on the horizontal support legs 42; 43 expression cross cylinders; 44 expression vertical leg, vertical leg 44 is provided with supporting leg pressure transducer 47 and supporting leg travel switch 48.49 expression horizontal support legs total length L.Present embodiment is at the vertical oil cylinder difference setting pressure sensor of four supporting legs, range 0-350Bar.Pressure transducer is used for monitoring the support reaction pressure value of vertical leg; Judge the contact condition on vertical leg and ground; When vehicle body is effectively supported by supporting leg; The reacting force of each pressure transducer is between 290-300bar, and this force value is as the feedback signal of four supporting leg action failure monitorings and diagnosis.On four supporting legs, travel switch is installed respectively, whether the trip switch shrinks in order to the monitoring vertical leg is put in place or effectively stretches out.Backguy sensor, i.e. linear transducer are installed on four horizontal support legs.Linear transducer is used for monitoring in real time the length that horizontal support legs stretches out, as the reference frame of horizontal support legs malfunction monitoring diagnosis.

Under the operating mode that makes a jack, in order to guarantee car body by effective support, i.e. the effective liftoff arrival certain height of tire.Can guarantee that like this tire can not come in contact with ground when the sling weight or the weight that plays turn round, avoid owing to the car body counterweight reduce to influence lift heavy the time vehicle stability.

The controller of present embodiment can be according to the feedback signal of sensor, sends on the display screen after the angle equilibrium state of real-time operating state and vehicle body with supporting leg is calculated to show.Like this, the operator can pass through display screen, grasps the malfunction and the position that produces fault of supporting leg timely, has shortened the investigation work to fault greatly, has made things convenient for the maintenance to equipment.

Be that example is described the concrete mode that supporting leg stretches out the fault detection and diagnosis of action below with Fig. 4.

Setting the horizontal support legs total length is L, promptly shown in the length among Fig. 4 49.The actual extension elongation of supporting leg is L ₀L wherein ₀Be the backguy length of linear transducer, in the present embodiment, this length shows in the enterprising line of numbers amount of display screen in real time.Fault detect of supporting leg horizontal balance and diagnostic flow chart as shown in Figure 5, wherein, " Y " among the figure refers to that the result who judges is flow process branch corresponding under the situation of " being ", " N " refers to that the result who judges is flow process branch corresponding under the situation of " denying ".Be that crane illustrates with the engineering machinery vehicle in the present embodiment, this crane has four supporting legs, is expressed as left front, right front, left back, right back supporting leg respectively, because this moment, each supporting leg was in the levels operation state, therefore also can be called horizontal support legs.As shown in Figure 5; When the supporting leg cross cylinder moved, promptly the horizontal support legs action key was effective, and the button time is when setting duration (for example 3s); Carry out following detection: the linear transducer backguy length on each supporting leg changes; Suppose that backguy length variable quantity p.s. is Δ L, if Δ L＞0, the expression horizontal support legs is for stretching out operating state; If Δ L＜0, the expression horizontal support legs is the contractive action state; If Δ L=0, and the duration surpass the 5s time, expression horizontal drive oil cylinder breaks down, display screen is reported to the police, and carries out failure message with reference to prompting, needs to shut down carry out trouble hunting; As shown in Figure 5, present embodiment is used Δ L ₁, Δ L ₂, Δ L ₃, Δ L ₄Represent the backguy length variations amount that left front, right front, left back, right back horizontal support legs is corresponding respectively.According to above-mentioned judgment mode, can detect the concrete state of each supporting leg.

By the way; Can confirm the horizontality of each supporting leg one by one; After determining the horizontality of supporting leg, each supporting leg will change plumbness (vertically stretching out or vertical contraction state) under the control of button, for fear of there being potential safety hazard; Can further carry out the judgement that whether puts in place under this state, the judgment mode that present embodiment adopts is following:

1) effectively (promptly presses and vertically stretch out button at the button that vertically stretches out of specifying supporting leg greater than a period of time; 3s for example) time; If the supporting leg travel switch on the appointment supporting leg is in closure state and closed duration surpasses the second appointment duration (5s); Perhaps, the force value of the supporting leg pressure transducer on this appointment supporting leg the 3rd is specified in the duration (10s) and all is less than or equal to 0 what continue, and what controller was confirmed this appointment supporting leg vertically stretches out remarkable action;

2) vertically stretch out button all effectively the time at each supporting leg of crane; If the supporting leg travel switch of each supporting leg all is in off-state; And the force value of the supporting leg pressure transducer on each supporting leg is all in specified scope (for example 290bar to 300bar); Controller will judge whether to exist the vertical supporting leg that stretches out remarkable action with the vertical direction inclination angle according to the horizontal direction inclination angle of vehicle body level inclination sensor feedback; For example: controller judges that horizontal direction inclination angle and the vertical direction inclination angle of vehicle body level inclination sensor feedback are whether all in specified angle scope (for example (2 °, 2 °)); If, controller confirm each supporting leg vertically to stretch out action normal; If not, controller confirms vertically to stretch out the supporting leg of remarkable action again according to the combination at horizontal direction inclination angle and vertical direction inclination angle and the corresponding relation of supporting leg.

Supporting leg as shown in Figure 6 vertically stretches out action failure and detects and diagnostic flow chart, and wherein, the supporting leg travel switch on left front, right front, left back, the right back supporting leg is expressed as XCKG1, XCKG2, XCKG3, XCKG4 respectively; The force value of the supporting leg pressure transducer on left front, right front, left back, the right back supporting leg is expressed as P respectively ₁, P ₂, P ₃, P ₄" Y " among the figure refers to that the result who judges is flow process branch corresponding under the situation of " being ", and " N " refers to that the result who judges is flow process branch corresponding under the situation of " denying "; Stretch out action key (being the above-mentioned button that vertically stretches out) effectively the time in the vertical leg of each supporting leg, carry out following detection after greater than 3s in the button time:

At first, judge whether the supporting leg travel switch of each supporting leg is off-state, if be off-state; Then detect the force value of the supporting leg pressure transducer of each supporting leg and carry out next step judgement; If be closure state, then after closure time surpasses 5s, that confirms this supporting leg vertically stretches out remarkable action; On display screen, the report to the police action failure that stretches out of this supporting leg needs shutdown inspection.

When the force value of carrying out each supporting leg detects, present embodiment earlier the force value of each supporting leg pressure transducer of inspection whether greater than 0bar, if detect concrete force value more whether between 290bar-300bar; If force value is less than or equal to 0, after continuing 10s, controller triggers the warning of this supporting leg, promptly on display screen, points out the action failure that stretches out of this supporting leg, needs shutdown inspection.

If the force value of four supporting legs is all between 290bar-300bar; Then can carry out supporting leg shown in Figure 7 and vertically stretch out action failure detection and diagnostic flow chart; Wherein, X and Y represent the horizontal direction inclination angle and the vertical direction inclination angle of vehicle body level inclination sensor feedback, wherein; " Y " among the figure refers to that the result who judges is flow process branch corresponding under the situation of " being ", and " N " refers to that the result who judges is flow process branch corresponding under the situation of " denying ".The level inclination sensor of present embodiment can detect the inclination angle angle of vehicle body X axle and Y axle simultaneously, sees vehicle body shown in Figure 8 and supporting leg orientation synoptic diagram.Wherein, the headstock direction is represented the Y axle, represents the X axle with the headstock vertical direction.Vehicle body tilts to the headstock direction, and angle is a positive-angle; Vehicle body tilts to tailstock direction, and angle is a negative angle; In the face of the tailstock, vehicle body direction to the right tilts, and angle is a positive-angle; Vehicle body direction left tilts, and angle is a negative angle.Illustrate: when the body sway angle is 3 °; 0 ° (X, Y), the length that the left front supporting leg of expression vehicle body and the vertical oil cylinder of right front supporting leg stretch out is much larger than the vertical oil cylinder extension elongation of left back supporting leg of vehicle body and right back supporting leg; After the operator presses supporting leg and vertically stretchs out pass (button); Left front supporting leg can not move with the vertical oil cylinder of right front supporting leg, and left back supporting leg can move with the vertical oil cylinder of right back supporting leg, gets back to horizontal level up to vehicle body; When the body sway angle is 3 °, 2 ° (X, Y), the expression vehicle body tilts to the right front, and the length that the vertical oil cylinder of the right front supporting leg of vehicle body stretches out is much smaller than the vertical oil cylinder extension elongation of other three supporting legs.Other angles are judged in like manner.

Represent mode based on above-mentioned angle, the corresponding relation of the combination of level inclination and vertical dip angle and supporting leg does in the present embodiment; X>=2 °, Y＞0 °, remarkable action appears vertically stretching out in corresponding left back supporting leg; X>=2 °, Y＜0 °, remarkable action appears vertically stretching out in corresponding right back supporting leg; X>=2 °, Y=0 °, remarkable action appears vertically stretching out in corresponding back side leg; X≤-2 °, Y＞0 °, remarkable action appears vertically stretching out in corresponding left front supporting leg; X≤-2 °, Y＜0 °, remarkable action appears vertically stretching out in corresponding right front supporting leg; X≤-2 °, Y=0 °, corresponding before side leg remarkable action appears vertically stretching out; Because X and Y are comparatively speaking, so the two can exchange, corresponding supporting leg also each other exchange get final product, specifically as shown in Figure 7, detailed description no longer here., confirm that each supporting leg vertically stretches out to put in place all between (2 °, 2 °) time at X and Y.

Describe each supporting leg above and vertically stretched out the status detection process; Trigger the vertical contraction button of each supporting leg as operating personnel after; In order further to get rid of potential safety hazard, can carry out the detection of vertical contraction state, based on this; The above-mentioned steps S204 of present embodiment can also comprise: it (is that each vertical button that shrinks is all pressed that the vertical contraction button at each supporting leg of crane is effectively; And through after a while, 3s for example) time, controller judges whether the supporting leg that exists vertical contractive action unusual according to the horizontal direction inclination angle of vehicle body level inclination sensor feedback and vertical direction inclination angle; For example: all whether horizontal direction inclination angle and the vertical direction inclination angle that controller is judged vehicle body level inclination sensor feedback in the specified angle scope (for example between-2 ° and 2 °); If controller judges whether the supporting leg that exists vertical contractive action unusual according to the flexible state of the supporting leg travel switch feedback of the force value of the supporting leg pressure transducer of each supporting leg feedback and each supporting leg; Controller is confirmed the supporting leg that vertical contractive action is unusual according to the combination at horizontal direction inclination angle and vertical direction inclination angle and the corresponding relation of supporting leg if not.

Vertical contractive action fault detect of supporting leg as shown in Figure 9 and diagnostic flow chart; Wherein, Wherein, " Y " among the figure refers to that the result who judges is flow process branch corresponding under the situation of " being ", and " N " refers to that the result who judges is flow process branch corresponding under the situation of " denying "; Effective at vertical leg contractive action button; And the button time more than or equal to 3s after; Carry out following testing process: the horizontal direction angles of inclination X of vehicle body level inclination sensor feedback and vertical direction inclination angle Y and draw following result according to the combination at horizontal direction inclination angle and vertical direction inclination angle and the corresponding relation of supporting leg whether between-2 ° and 2 °:

X >=2 °, Y＞0, and the duration greater than 3s, it is unusual to confirm that then vertical contractive action appears in right front supporting leg, controller sends warning message to display screen: it is unusual that vertical contractive action appears in right front supporting leg, needs shutdown inspection;

X >=2 °, Y＜0, and the duration greater than 3s, it is unusual to confirm that then vertical contractive action appears in left front supporting leg, controller sends warning message to display screen: it is unusual that vertical contractive action appears in left front supporting leg, needs shutdown inspection;

X >=2 °, Y=0, and the duration greater than 3s, vertical contractive action to occur unusual for side leg before then confirming, controller sends warning message to display screen: it is unusual that vertical contractive action appears in preceding side leg, needs shutdown inspection;

X≤-2 °, Y＞0, and the duration greater than 3s, it is unusual to confirm that then vertical contractive action appears in right back supporting leg, controller sends warning message to display screen: it is unusual that vertical contractive action appears in right back supporting leg, needs shutdown inspection;

X≤-2 °, Y＜0, and the duration greater than 3s, it is unusual to confirm that then vertical contractive action appears in left back supporting leg, controller sends warning message to display screen: it is unusual that vertical contractive action appears in left back supporting leg, needs shutdown inspection;

Because X and Y are comparatively speaking, so the two can exchange, corresponding supporting leg also each other exchange get final product, specifically as shown in Figure 9, detailed description no longer here.At X and Y all at (2 °; 2 °) between the time; According to the flexible state of the supporting leg travel switch feedback of the force value of the supporting leg pressure transducer of each supporting leg feedback and each supporting leg, judge whether the supporting leg that exists vertical contractive action unusual, for example: surpass the 4th and (for example specify duration if specify supporting leg travel switch on the supporting leg to be in off-state and break off duration; 5s); Perhaps, the force value of the supporting leg pressure transducer on the appointment supporting leg is regularly grown in (10s) at the five fingers that continue and all is not equal to 0, and controller confirms that the vertical contractive action of this appointment supporting leg is unusual.Vertical contractive action fault detect of supporting leg shown in figure 10 and diagnosis synoptic diagram, wherein, " Y " among the figure refers to that the result who judges is flow process branch corresponding under the situation of " being ", " N " refers to that the result who judges is flow process branch corresponding under the situation of " denying "; The flexible state that feeds back according to the supporting leg travel switch of the force value of the supporting leg pressure transducer of each supporting leg feedback and each supporting leg determines whether to exist the mode of supporting leg of vertical contraction fault following:

At first; Whether the force value of judging each supporting leg pressure transducer feedback equals 0, if the corresponding force value of each supporting leg is equal to 0, checks then whether the supporting leg travel switch of each supporting leg is closed; If there is the switch of not closed (promptly breaking off); And closure time does not surpass 5s, and vertical contractive action fault appears in the supporting leg that then this switch is corresponding, needs shutdown inspection; If having force value in the corresponding force value of each supporting leg is not 0, and continue not to be that 0 time surpasses 10s, then vertical contractive action fault appears in the corresponding supporting leg of this force value, the need shutdown inspection; If the supporting leg travel switch of each supporting leg is closure state, then definite each supporting leg all vertically shrinks and puts in place.

The action failure monitoring of the supporting leg in the said method and diagnosis are through the feedback signal of supporting leg pressure transducer, supporting leg travel switch and vehicle body level inclination sensor; Comprehensively carry out analysis and judgement; Force value after pressure transducer wherein comes in contact in order to detection of vertical supporting leg and ground; Whether travel switch has shunk in order to the detection of vertical supporting leg is put in place or effectively stretches out; Whether vehicle body level inclination sensor is normal in order to judge a certain vertical leg expanding-contracting action, can confirm concrete abort situation through the feedback signal of these parts, improved maintenance efficiency.

Certainly; Also there is engine in crane in the embodiment of the invention, device of the prior art such as wheel box, and the embodiment of the invention considers that present controller self detects and function logic detects; Can only in program code, embody; Break down or during logic error, the maintainer can only judge whether wiring or logic error through experience, have no display icon or literal to remind; Can only fault be arranged through malfunction indicator lamp judgement system for engine and wheel box, can't learn concrete fault content and reason.

Because of the power resources of crane are provided by engine, it is as the heart unit of total system, and the performance quality of engine has directly determined the quality of rough terrain wheeled crane.Because engine operation intensity is big, complex structure, so chance that breaks down and kind are more.Engine failure detection system synoptic diagram shown in figure 11; When engine breaks down; Pass through the combination of the flicker number of times of three different colours lamps at present, obtain different failure codes, consult the engine failure code table then and judge the engine failure type.This fault diagnosis mode efficient is very low, and can only could investigate fault by the personnel that possess strong professional knowledge, and degree of specialization is had relatively high expectations.Because common operating personnel can not possess so high professional skill, therefore, this malfunction elimination to crane, after sale service and plant maintenance have bigger restriction, not enough hommization.

Because of wheel box is the core component in the vehicle drive system, its safe reliability is directly connected to occupant's the going of life security and crane, work safety.Because the supplier of crane wheel box when product is provided, does not provide the checkout equipment of specialty.Wheel box fault detection system synoptic diagram shown in figure 12 if wheel box breaks down, can only be reported to the police through an alarm lamp flicker, but can't learn concrete fault type.In case taking place, wheel box reports to the police, must parking checking.The method of investigation fault can only the professional and technical personnel arrive on-the-spot at present; The fault alarm sign indicating number that reads gearbox control through professional checkout equipment comes the analysis of failure type; Common maintainer can't carry out the detection and the maintenance of wheel box fault, and degree of specialization is had relatively high expectations.This after sale service and product maintenance to crane is great restriction.

Consider the problems referred to above, the embodiment of the invention can also comprise on the basis that above-mentioned supporting leg detects: self the detecting and function logic detection etc. of the detection of engine, the detection of wheel box, controller.Wherein, the detection mode of engine is following: in the engine operation process of crane, controller receives the status information of engine feedback; Controller is resolved this status information; When this status information was abnormal state, controller was confirmed the breakdown in the motor sign according to this status information, gave the user with failure identification and the corresponding fault content presentation of failure identification.For example: engine is in operational process, and control unit of engine can send through the CAN bus status information in real time with the mode of broadcasting.International SAE J1939 standard agreement is followed in the transmission of all information.The entire car controller unit receives wherein required information according to demand, and through after the dissection process of director demon, data send to display screen through the CAN bus; When engine generation abnormal state; Entire car controller can receive and resolve the engine failure code; The content of calculating SPN sign indicating number (suspect parameter number) and the FMI sign indicating number (error pattern identifiers) and the fault of fault sends on the display screen together and shows, referring to engine diagnostic content synoptic diagram shown in Figure 13; Wherein, this figure has provided SPN and the pairing engine failure content of FMI.

This engine diagnosis can be known the breakdown in the motor type easily and fast, and need not the people is the failure code table of consulting engine specification.Work efficiency can significantly improve, and has reduced labour intensity, and product is more humane.

The detection mode of the wheel box of present embodiment is following: in the wheel box operational process of crane, controller receives the status information of wheel box feedback; Controller is resolved this status information; When this status information was abnormal state, controller was confirmed the failure identification of wheel box according to this status information, gave the user with failure identification and the corresponding fault content presentation of failure identification.Wheel box diagnosis content synoptic diagram shown in figure 14, wherein, this figure has provided SPN and the pairing wheel box fault of FMI content.

Self detection mode of the controller of present embodiment is following: controller detects the state of self, and it is one of following that state comprises at least: internal storage state, voltage status, state of temperature, terminal voltage state, group port output short circuit protection state, group port output open circuit protection state, relay voltage status, bus load state; Controller is pointed out the user when detecting the abnormal state of self.For example: present embodiment increases the state code of supervisory control device itself in the program of controller, after breaking down related content is sent on the display screen to show.These faults comprise: EMS memory error (ERROR_MEMORY), voltage alarm (ERROR_POWER), the high warning of temperature (ERROR_TEMPERATURE), terminal voltage disappear (ERROR_VBBR), organize port output short circuit protection (ERROR_SHORT_Q1-4), group port output open circuit protection (ERROR_BREAK_Q1-4), relay voltage (RELAISE), bus load (CAN1_WARNING) etc.

Present embodiment is in order to realize the detection of controller self better, and controller all sends to the input and output signal of all self port on the display screen and shows that the operator sees the entire controller input/output state easily.Wherein, the monitoring synoptic diagram of controller input signal is shown in figure 15, and the monitoring synoptic diagram of controller output signal is shown in figure 16, and certainly, when reality realized, can also upgrade needed additions and deletions Figure 15 and Figure 16 institute content displayed.

The function logic detection mode of present embodiment is following: controller detects the logic whether current operation meets setting, if do not meet, controller logic error occurs to this operation of user prompt.For example, present embodiment increases the judgement that all is not met logical operation in program, during like Vehicular turn, can only carry out single go to action, as four-wheel steering, crab row turn to, rear-axle steering.If because the problem of wiring or two or three turn signals of interference appearance are simultaneously effectively, system can prompting operation person turn to the pattern mistake.In the whole procedure need to might malfunction logic judge and on display screen, show simultaneously; System logic diagnosis synoptic diagram shown in figure 17; Comprising the type of error reason possible, confirm fault and solution as early as possible in order to auxiliary maintenance personal with producing such mistake.

Can adopt display screen to carry out promptings such as fault in the said method of present embodiment, inform fault content and the reason that the operator exists at present through display screen, the operator can be according to the relevant parts of suggestion content inspection.Whole fault detection system can provide the overall process monitoring when crane is worked, guarantee that the maintainer can promptly and accurately fix a breakdown, and has improved the security of equipment work greatly, has alleviated labour intensity.

Corresponding to the method in the foregoing description, present embodiment provides a kind of fault test set of engineering machinery vehicle, and is shown in figure 18, and this equipment comprises with lower module:

Feedback signal acquisition module 82 is used to obtain the feedback signal of supporting leg pick-up unit;

Supporting leg condition judgment module 84 links to each other with feedback signal acquisition module 82, is used for judging according to the feedback signal that feedback signal acquisition module 82 obtains whether the supporting leg state of this project motor vehicles and machines is normal;

Reminding module 86 links to each other with supporting leg condition judgment module 84, and the result who is used for judging in supporting leg condition judgment module 84 is when undesired, and to user prompt supporting leg failure message, wherein, this supporting leg failure message comprises that horizontal balance is unusual and vertically-acting is unusual.

The fault test set of present embodiment can be the controller in the foregoing description, and this fault test set can be applied in the common crane, also can be applied in the rough terrain wheeled crane.

The fault test set of present embodiment can in time be located the fault on the supporting leg according to the feedback signal of obtaining from the supporting leg pick-up unit; The supporting leg fault that has solved engineering machinery vehicle can't be in time and the problem that accurately detects; Strengthen the security of engineering machinery vehicle, improved the efficient of maintenance.

Present embodiment also provides a kind of fault detection system of engineering machinery vehicle, and referring to the fault detection system structured flowchart of engineering machinery vehicle shown in Figure 19, this system comprises: controller 80 and supporting leg pick-up unit 90;

Wherein, controller 80 comprises above-mentioned feedback signal acquisition module 82, supporting leg condition judgment module 84 and reminding module 86, and its function is the same, repeats no more here.

Supporting leg pick-up unit 90 comprises: be arranged on linear transducer, supporting leg travel switch and supporting leg pressure transducer on each supporting leg of engineering machinery vehicle; Be arranged at the vehicle body level inclination sensor on the vehicle body of engineering machinery vehicle; Wherein, linear transducer is used to detect and feed back the extension elongation of supporting leg; The supporting leg travel switch is used to detect and feed back the flexible state of supporting leg; The supporting leg pressure transducer is used to detect and feeds back the force value after supporting leg and ground come in contact; Vehicle body level inclination sensor is used for detecting and feedback vehicle body horizontal direction inclination angle and vertical direction inclination angle.

In order to confirm whether this project motor vehicles and machines exist horizontal balance unusual; The supporting leg condition judgment module 84 of present embodiment comprises: horizontal fault detection unit; Be used for when the horizontal balance button of specifying supporting leg is effective; If specify the length of the linear transducer feedback of supporting leg to equal 0, confirm to specify the cross cylinder of supporting leg to break down in the first length variations amount in the duration of specifying.Concrete definite mode can realize with reference to said method embodiment, repeats no more here.

In order to confirm whether this project motor vehicles and machines exist vertically-acting unusual, and the supporting leg condition judgment module 84 of present embodiment comprises with one of lower unit at least:

The first vertical fault detection unit; Be used for vertically stretching out button when effective what specify supporting leg; If the supporting leg travel switch on the appointment supporting leg is in closure state and closed duration surpasses the second appointment duration; Perhaps, the force value of specifying the supporting leg pressure transducer on the supporting leg the 3rd is specified in the duration and all is less than or equal to 0 what continue, and that confirms to specify supporting leg vertically stretches out remarkable action;

The second vertical fault detection unit; Be used for vertically stretching out button all effectively the time at each supporting leg of engineering machinery vehicle; If the supporting leg travel switch of each supporting leg all is in off-state; And the force value of the supporting leg pressure transducer on each supporting leg is all in specified scope, and whether horizontal direction inclination angle and the vertical direction inclination angle of judging vehicle body level inclination sensor feedback be all in the first specified angle scope; If not,, confirm vertically to stretch out the supporting leg of remarkable action according to the combination of level inclination and vertical dip angle and the corresponding relation of supporting leg;

The 3rd vertical fault detection unit is used for vertical contraction button at each supporting leg of engineering machinery vehicle and is when effective, and whether horizontal direction inclination angle and the vertical direction inclination angle of judging vehicle body level inclination sensor feedback be all in the second specified angle scope; If, confirm the supporting leg that vertical contractive action is unusual according to the flexible state of the supporting leg travel switch feedback of the force value of the supporting leg pressure transducer of each supporting leg feedback and each supporting leg; If,, do not confirm the supporting leg that vertical contractive action is unusual according to the combination at horizontal direction inclination angle and vertical direction inclination angle and the corresponding relation of supporting leg.

Be that example describes with rough terrain wheeled crane malfunction monitoring shown in Figure 20 with diagnosis electric control system synoptic diagram below; Whole fault detection system uses the CAN bus that all nodes are coupled together; Wherein, Control unit of engine is used for the signal (data) of detection of engine; The wheel box control module is used to detect the signal of wheel box, and entire car controller is equivalent to the controller in the foregoing description, and it receives the feedback signal of supporting leg linear transducer (being above-mentioned linear transducer), supporting leg pressure transducer and car body obliqueness sensor (being above-mentioned vehicle body level inclination sensor) etc.; The data of each node all send on the display screen (being special-purpose display screen among the figure) in the present embodiment; When engine or wheel box broke down, controller utilized SAE J1939-73 standard agreement that the dependent failure data are read to send on the display screen after the parsing to show.A horizontal double-shaft tilt angle sensor is installed in appropriate location on the rough terrain wheeled crane vehicle body by this system, replaces the vehicle body level meter of original system, and obliquity sensor is in order to monitoring vehicle body angle, as the reference frame of vertical leg expanding-contracting action malfunction monitoring and diagnosis.Adopt obliquity sensor monitoring vehicle body angle, judge vertical leg state and fault, make monitoring, control more in time, accurately.

The content that system shown in Figure 20 detects can be divided into: controller self diagnosis, input, output signal monitoring, function logic judgement, supporting leg condition monitoring, engine diagnosis, six parts of wheel box fault diagnosis; The concrete detection mode of various piece repeats no more with here.

Can find out that from above description the embodiment of the invention has the following advantages:

1, accomplishes real-time, rapidity and the accuracy of malfunction monitoring diagnosis.In engineering machinery vehicle operation, obtain the feedback signal of supporting leg pick-up unit, reach monitoring diagnosis system with operational system is carried out synchronously, so in case break down, system can report to the police at once, and points out trouble location and reason.

2, the monitoring, diagnosing process need not personnel's participation, and whole process is intelligent more, hommization.Whole monitoring, diagnosing process is carried out autonomous analysis and judgement by controller according to information such as sensor feedback signal and engine failure sign indicating number, wheel box DTCs fully.Greatly reduce staff's labour intensity, improved work efficiency.

3, convenient, quick, accurate to the investigation of fault.In case break down in a part of engineering machinery vehicle, controller can be pointed out the user, and for example that it is corresponding failure cause and the position mode with hommization on display screen is pointed out.Operator's (being the user) promptly knows detailed failure message through display screen, need not the professional and through professional checkout equipment fault is investigated, and greatly reduces the maintenance difficulty of vehicle, improves mechanical efficiency effectively.

4, improved the security of crane operation.Because monitoring diagnosis system synchronous operation, can effectively prevent the generation of the security incident that the maloperation owing to the operator causes.For example, certain supporting leg remarkable action, but operator and do not know and continue to operate supporting leg action might make and can cause slide-out when serious by body sway; Can detect fault in time through the testing mechanism in the foregoing description, and in time remind the user, avoid potential safety hazard effectively.

5, above-mentioned testing mechanism has strengthened the comprehensive of malfunction monitoring and diagnosis; The fault detect of supporting leg is provided, and diagnosis of the monitoring of the malfunction of controller self, input/output signal, function logic, engine diagnosis, wheel box fault diagnosis etc.

Obviously, it is apparent to those skilled in the art that above-mentioned each module of the present invention or each step can realize with the general calculation device; They can concentrate on the single calculation element; Perhaps be distributed on the network that a plurality of calculation element forms, alternatively, they can be realized with the executable program code of calculation element; Thereby; Can they be stored in the memory storage and carry out, and in some cases, can carry out step shown or that describe with the order that is different from here by calculation element; Perhaps they are made into each integrated circuit modules respectively, perhaps a plurality of modules in them or step are made into the single integrated circuit module and realize.Like this, the present invention is not restricted to any specific hardware and software combination.

The above is merely the preferred embodiments of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.

Claims

1. the fault detection method of an engineering machinery vehicle is characterized in that comprising:

Controller obtains the feedback signal of supporting leg pick-up unit;

Said controller judges according to said feedback signal whether the supporting leg state of said engineering machinery vehicle is normal;

If undesired, said controller is to user prompt supporting leg failure message, and wherein, said supporting leg failure message comprises that horizontal balance is unusual and vertically-acting is unusual.

2. method according to claim 1 is characterized in that, said supporting leg pick-up unit comprises the linear transducer on each supporting leg that is arranged on said engineering machinery vehicle, and said linear transducer is used to detect and feed back the extension elongation of said supporting leg;

Said controller judges according to said feedback signal whether the supporting leg state of said engineering machinery vehicle normally comprises: when the horizontal balance button of specifying supporting leg is effective; Receive the leg length that said linear transducer detects; If the length of the linear transducer of said appointment supporting leg feedback equals 0 in the first length variations amount in the duration of specifying, said controller confirms that the cross cylinder of said appointment supporting leg breaks down.

3. method according to claim 1 is characterized in that, said supporting leg pick-up unit comprises supporting leg travel switch and the supporting leg pressure transducer on each supporting leg that is arranged on said engineering machinery vehicle; Said supporting leg travel switch is used to detect and feed back the flexible state of said supporting leg; Said supporting leg pressure transducer is used to detect and feeds back the force value after said supporting leg and ground come in contact;

Said controller judges according to said feedback signal whether the supporting leg state of said engineering machinery vehicle normally comprises: vertically stretch out button when effective what specify supporting leg; If the supporting leg travel switch on the said appointment supporting leg is in closure state and closed duration surpasses the second appointment duration; Perhaps; The force value of the supporting leg pressure transducer on the said appointment supporting leg the 3rd is specified in the duration and all is less than or equal to 0 what continue, and what said controller was confirmed said appointment supporting leg vertically stretches out remarkable action.

4. method according to claim 1; It is characterized in that; Said supporting leg pick-up unit comprises supporting leg travel switch and the supporting leg pressure transducer on each supporting leg that is arranged on said engineering machinery vehicle, and is arranged on the vehicle body level inclination sensor on the vehicle body of said engineering machinery vehicle; Said supporting leg travel switch is used to detect and feed back the flexible state of said supporting leg;

Said supporting leg pressure transducer is used to detect and feeds back the force value after said supporting leg and ground come in contact; Said vehicle body level inclination sensor is used for detecting and feedback vehicle body horizontal direction inclination angle and vertical direction inclination angle;

Said controller judges according to said feedback signal whether the supporting leg state of said engineering machinery vehicle normally comprises:

Vertically stretch out button all effectively the time at each supporting leg of said engineering machinery vehicle; If the supporting leg travel switch of said each supporting leg all is in off-state; And the force value of the supporting leg pressure transducer on said each supporting leg is all in specified scope, and said controller judges that horizontal direction inclination angle and the vertical direction inclination angle of said vehicle body level inclination sensor feedback are whether all in the first specified angle scope; If not, said controller confirms vertically to stretch out the supporting leg of remarkable action according to the combination of said level inclination and said vertical dip angle and the corresponding relation of supporting leg;

Be when effective at the vertical contraction button of each supporting leg of said engineering machinery vehicle, said controller judges that horizontal direction inclination angle and the vertical direction inclination angle of said vehicle body level inclination sensor feedback are whether all in the second specified angle scope; If said controller is confirmed the supporting leg that vertical contractive action is unusual according to the flexible state of the supporting leg travel switch feedback of the force value of the supporting leg pressure transducer of said each supporting leg feedback and said each supporting leg; Said controller is confirmed the supporting leg that vertical contractive action is unusual according to said horizontal direction inclination angle and the combination at said vertical direction inclination angle and the corresponding relation of supporting leg if not.

5. method according to claim 4; It is characterized in that; Said controller confirms that according to the flexible state of the supporting leg travel switch feedback of the force value of the supporting leg pressure transducer of said each supporting leg feedback and said each supporting leg the unusual supporting leg of vertical contractive action comprises:

If being in off-state and breaking off duration, the supporting leg travel switch on the appointment supporting leg surpasses the 4th appointment duration; Perhaps; The force value of the supporting leg pressure transducer on the said appointment supporting leg all is not equal to 0 in the five fingers that continue are regularly long, said controller confirms that the vertical contractive action of said appointment supporting leg is unusual.

6. the fault test set of an engineering machinery vehicle is characterized in that comprising:

The feedback signal acquisition module is used to obtain the feedback signal of supporting leg pick-up unit;

The supporting leg condition judgment module is used for judging according to the said feedback signal that said feedback signal acquisition module obtains whether the supporting leg state of said engineering machinery vehicle is normal;

Reminding module, when the result who is used for said supporting leg condition judgment module judgement was undesired, to user prompt supporting leg failure message, wherein, said supporting leg failure message comprised that horizontal balance is unusual and vertically-acting is unusual.

7. the fault detection system of an engineering machinery vehicle is characterized in that comprising: controller and supporting leg pick-up unit;

Said controller comprises: the feedback signal acquisition module is used to obtain the feedback signal of said supporting leg pick-up unit; The supporting leg condition judgment module is used for judging according to the said feedback signal that said feedback signal acquisition module obtains whether the supporting leg state of said engineering machinery vehicle is normal; Reminding module, when the result who is used for said supporting leg condition judgment module judgement was undesired, to user prompt supporting leg failure message, wherein, said supporting leg failure message comprised that horizontal balance is unusual and vertically-acting is unusual;

Said supporting leg pick-up unit comprises: be arranged on linear transducer, supporting leg travel switch and supporting leg pressure transducer on each supporting leg of said engineering machinery vehicle; Be arranged at the vehicle body level inclination sensor on the vehicle body of said engineering machinery vehicle; Wherein, said linear transducer is used to detect and feed back the extension elongation of said supporting leg; Said supporting leg travel switch is used to detect and feed back the flexible state of said supporting leg; Said supporting leg pressure transducer is used to detect and feeds back the force value after said supporting leg and ground come in contact; Said vehicle body level inclination sensor is used for detecting and feedback vehicle body horizontal direction inclination angle and vertical direction inclination angle.

8. system according to claim 7 is characterized in that, said supporting leg condition judgment module comprises:

Horizontal fault detection unit; Be used for when the horizontal balance button of specifying supporting leg is effective; If the length of the linear transducer of said appointment supporting leg feedback equals 0 in the first length variations amount in the duration of specifying, confirm that the cross cylinder of said appointment supporting leg breaks down.

9. system according to claim 7 is characterized in that, said supporting leg condition judgment module comprises:

The first vertical fault detection unit; Be used for vertically stretching out button when effective what specify supporting leg; If the supporting leg travel switch on the said appointment supporting leg is in closure state and closed duration surpasses the second appointment duration; Perhaps, the force value of the supporting leg pressure transducer on the said appointment supporting leg the 3rd is specified in the duration and all is less than or equal to 0 what continue, and that confirms said appointment supporting leg vertically stretches out remarkable action.

10. system according to claim 7 is characterized in that, said supporting leg condition judgment module comprises:

The second vertical fault detection unit; Be used for vertically stretching out button all effectively the time at each supporting leg of said engineering machinery vehicle; If the supporting leg travel switch of said each supporting leg all is in off-state; And the force value of the supporting leg pressure transducer on said each supporting leg is all in specified scope, and whether horizontal direction inclination angle and the vertical direction inclination angle of judging said vehicle body level inclination sensor feedback be all in the first specified angle scope; If not,, confirm vertically to stretch out the supporting leg of remarkable action according to the combination of said level inclination and said vertical dip angle and the corresponding relation of supporting leg;

The 3rd vertical fault detection unit; Be used for vertical contraction button at each supporting leg of said engineering machinery vehicle and be when effective, whether horizontal direction inclination angle and the vertical direction inclination angle of judging said vehicle body level inclination sensor feedback be all in the second specified angle scope; If, confirm the supporting leg that vertical contractive action is unusual according to the flexible state of the supporting leg travel switch feedback of the force value of the supporting leg pressure transducer of said each supporting leg feedback and said each supporting leg; If,, do not confirm the supporting leg that vertical contractive action is unusual according to said horizontal direction inclination angle and the combination at said vertical direction inclination angle and the corresponding relation of supporting leg.