CN113568394B - Stair climbing machine and fault diagnosis device thereof - Google Patents
Stair climbing machine and fault diagnosis device thereof Download PDFInfo
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- CN113568394B CN113568394B CN202110787613.4A CN202110787613A CN113568394B CN 113568394 B CN113568394 B CN 113568394B CN 202110787613 A CN202110787613 A CN 202110787613A CN 113568394 B CN113568394 B CN 113568394B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0262—Confirmation of fault detection, e.g. extra checks to confirm that a failure has indeed occurred
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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Abstract
The invention discloses a stair climbing machine fault diagnosis device and a stair climbing machine, wherein the stair climbing machine fault diagnosis device comprises: the system comprises a fault diagnosis circuit, a diagnosis control module and terminal equipment; the fault diagnosis circuit is used for responding to the detection instruction and troubleshooting the stair climbing machine; the diagnosis control module is used for acquiring the detection signal output by the fault diagnosis circuit, positioning a fault component of the stair climbing machine and sending a fault diagnosis result to the terminal equipment; and the terminal equipment is used for displaying the fault diagnosis result and providing maintenance operation guide corresponding to the fault diagnosis result. The fault diagnosis device for the stair climbing machine provided by the invention can quickly and accurately position the fault reason of the stair climbing machine, correspondingly provides a maintenance scheme, shortens the maintenance period and reduces the maintenance cost. In addition, the maintenance scheme is displayed on the terminal equipment, so that the maintenance of a user can be more intuitively guided, the operation of the user is facilitated, and the user experience is enhanced.
Description
Technical Field
The invention relates to the technical field of auxiliary transportation, in particular to a stair climbing machine and a fault diagnosis device thereof.
Background
The stair climbing machine is a common device for assisting in carrying and moving, and after the machine device is used for a period of time, the machine device can easily fail to work normally due to faults. Among these faults are component failures due to wear and tear of the machine components in use, such as damage to some key switches, breakage and detachment of internal electrical connections due to shaking of the machine in use, damage to electronic components on the circuit board, and the like.
At present, two diagnostic methods are generally available for the fault problem of the stair climbing machine: one is that the manufacturer provides remote maintenance guidance to guide the user to disassemble the machine, troubleshoot the fault and locate the fault, and finally provides a corresponding maintenance method and scheme; in addition, a maintenance worker is dispatched to perform field maintenance or a user sends the machine back to a factory for maintenance, and the factory also needs a lot of time to disassemble the machine and troubleshoot and position the fault in the maintenance process.
However, the failure of a machine to work normally is usually caused by one or more failure causes, the same failure phenomenon may be caused by different failure causes, and the higher the complexity of the machine, the greater the difficulty of troubleshooting the failure. The diagnosis and location of faults, whether by the customer or by a manufacturer service person, takes a relatively long time. For the user, because of unfamiliarity with the machine structure and lack of professional technical knowledge, more time is needed for communication, and in the troubleshooting process, the phenomenon that parts are damaged due to misoperation or misjudgment easily occurs, and even the machine is permanently damaged in serious cases. In view of the above, a fault diagnosis device for a stair climbing machine is needed to solve the above problems.
Disclosure of Invention
The invention provides a stair climbing machine fault diagnosis device and a stair climbing machine, and aims to solve the technical problems that time consumption is long and stair climbing machine equipment is easy to damage in the conventional stair climbing machine fault diagnosis method.
In order to solve the above technical problem, the present invention provides a stair climbing machine fault diagnosis device, including: the system comprises a fault diagnosis circuit, a diagnosis control module and terminal equipment;
the fault diagnosis circuit is used for responding to the detection instruction and troubleshooting the stair climbing machine;
the diagnosis control module is used for acquiring the detection signal output by the fault diagnosis circuit, positioning a fault component of the stair climbing machine and sending a fault diagnosis result to the terminal equipment;
and the terminal equipment is used for displaying the fault diagnosis result and providing maintenance operation guide corresponding to the fault diagnosis result.
Optionally, the fault diagnosis circuit includes:
and the input detection circuit is used for acquiring a voltage signal of a key input circuit of the stair climbing machine and a voltage signal of a switch input circuit of the stair climbing machine.
Optionally, the fault diagnosis circuit further includes:
and the output detection circuit is used for simulating actual switch operation or actual key operation through the analog switch and judging whether the switch failure, the key failure or the control unit failure of the stair climbing machine exists according to the response of the stair climbing machine.
Optionally, the fault diagnosis circuit further includes:
the brushless motor detection circuit is used for acquiring three-phase Hall signals of a brushless motor of the stair climbing machine so as to judge whether the brushless motor fails;
and the voltage detection circuit is used for acquiring voltage signals of detected components of the stair climbing machine so as to judge whether the detected components are in fault.
Optionally, the fault diagnosis circuit further includes:
and the communication detection circuit is used for judging whether the communication between the diagnosis control module and the input components of the terminal equipment and the stair climbing machine is in fault or not.
Optionally, the communication detection circuit includes:
and the serial port communication monitoring circuit is used for judging whether a serial port between an input component of the stair climbing machine and the diagnosis control module is in fault or not.
Optionally, the terminal device is further configured to:
further acquiring first historical working condition data of the stair climbing machine according to the fault diagnosis result;
comparing the first historical working condition data with a rated working data range of the stair climbing machine, and determining whether the first historical working condition data is in the rated working data range;
when the first historical working condition data is determined to be out of the rated working data range, generating fault prompt information and maintenance operation guide corresponding to the fault prompt information; and the fault prompt information comprises the model number information of the stair climbing machine and the fault reason.
Optionally, the first historical operating condition data includes: and the load data, the working time length data or the climbing gradient data of the stair climbing machine in a preset time period.
Optionally, the terminal device is further configured to:
according to the fault diagnosis result, further acquiring second historical working condition data of the stair climbing machine;
comparing the second historical working condition data with the maximum rated working data of the stair climbing machine, and determining whether the second historical working condition data is greater than the maximum rated working data;
when the second historical working condition data is determined to be larger than the maximum rated working data, calculating a difference value between the second historical working condition data and the maximum rated working data;
when the difference is smaller than or equal to a first preset threshold value, judging that the fault is a primary fault, and generating primary fault prompt information and maintenance operation guidance corresponding to the primary fault prompt information;
when the difference value is larger than a first preset threshold value and smaller than or equal to a second preset threshold value, judging that the fault is a secondary fault, and generating secondary fault prompt information and maintenance operation guide corresponding to the secondary fault prompt information;
and when the difference value is larger than a second preset threshold value, judging to be a third-level fault, and generating third-level fault prompt information and maintenance operation guide corresponding to the third-level fault prompt information.
Optionally, the second historical operating condition data includes: and working current data or working voltage data of the stair climbing machine in a preset time period.
The invention also provides a stair climbing machine, comprising:
the stair climbing machine comprises a stair climbing machine body and the fault diagnosis device of the stair climbing machine in any one of the embodiments, wherein the fault diagnosis device of the stair climbing machine is used for carrying out fault diagnosis on the stair climbing machine body.
Optionally, the fault diagnosis circuit and/or the diagnosis control module are/is detachably mounted on the stair climbing machine body;
or the fault diagnosis circuit and/or the diagnosis control module are/is integrated on the stair climbing machine body.
Compared with the prior art, the invention has the beneficial effects that:
the stair climbing machine fault diagnosis device and the stair climbing machine provided by the invention can quickly and accurately position the fault reason of the stair climbing machine, correspondingly provide a maintenance scheme, shorten the maintenance period and reduce the maintenance cost. In addition, the maintenance scheme is displayed on the terminal equipment, so that the maintenance of a user can be more intuitively guided, the operation of the user is facilitated, and the user experience is enhanced.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a stair climbing machine fault diagnosis device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a key input detection circuit according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a switch input detection circuit according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an output detection circuit according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a brushless motor detection circuit according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a voltage detection circuit according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of detecting a motor drive output according to one embodiment of the present invention;
fig. 8 is a schematic structural diagram of a serial port communication monitoring circuit according to an embodiment of the present invention;
fig. 9 is a schematic flow chart illustrating a process of determining a cause of a failure of a stair climbing machine and a corresponding maintenance operation guide according to an embodiment of the present invention;
fig. 10 is a diagram illustrating an analysis of the working stress of the stair-climbing stepping machine according to an embodiment of the present invention;
fig. 11 is a diagram illustrating an analysis of the working stress of a crawler-type stair-climbing machine according to an embodiment of the present invention;
fig. 12 is a schematic flow chart for determining a failure level of a stair climbing machine according to an embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the following describes the stair climbing machine fault diagnosis device and the stair climbing machine provided by the present invention in further detail with reference to the accompanying drawings and the detailed description.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a stair climbing machine fault diagnosis device according to an embodiment of the present invention. In this embodiment, the structure of the failure diagnosis apparatus includes: fault diagnosis circuit 01, diagnosis control module 02 and terminal equipment 03.
The fault diagnosis circuit 01 is used for responding to a detection instruction and troubleshooting the stair climbing machine;
the diagnosis control module 02 is configured to acquire a detection signal output by the fault diagnosis circuit 01, locate a fault component of the stair climbing machine, and send a fault diagnosis result to the terminal device 03;
and the terminal device 03 is configured to display the fault diagnosis result and provide a maintenance operation guide corresponding to the fault diagnosis result.
It should be noted that the main purpose of the fault diagnosis circuit 01 is to implement detection of each working module of the stair climbing machine. When the detection device is applied, the fault diagnosis circuit 01 firstly receives a certain detection instruction, then carries out fault troubleshooting on the stair climbing machine according to the detection instruction, and correspondingly outputs a detection signal.
Alternatively, the detection instruction may be an instruction to detect an operating circuit at a certain portion of the stair climbing machine, or may be an instruction to detect operating circuits at a plurality of portions of the stair climbing machine.
Alternatively, the detection instruction may be issued by the operator through the terminal device 03, or may be issued through some input component of the stair climbing machine, for example, a detection start button provided on the stair climbing machine.
Further, after the fault diagnosis circuit 01 outputs the detection signal, the detection signal is mainly received by the diagnosis control module 02, and the fault component of the stair climbing machine is positioned according to the detection signal. The detection signal may be a parameter value such as voltage, power, or current of an operating circuit of the stair climbing machine, and the parameter value may be used to determine whether the corresponding operating circuit is in a normal operating state. When the diagnosis control module 02 locates a fault component of the stair climbing machine, a fault detection result is generated correspondingly and sent to the terminal device 03.
It can be understood that the terminal device 03 is mainly configured to display the fault detection result sent by the diagnosis control module 02, and then match the corresponding maintenance operation guide according to the fault detection result, so that the operator performs maintenance according to the guide. It is emphasized that in the process of matching the maintenance operation guide, one or more maintenance operation guides are matched from the database and sorted in a descending priority mode, and an operator can determine the actual maintenance mode to be adopted after reading all the maintenance operation guides. For example, the terminal device 03 displays 3 maintenance operation guides in the order of priority of guide a > guide B > guide C; however, after the operator reads the 3 guides, the operator finds that the guide A cannot be executed due to lack of maintenance tools, the guide B and the guide C are approximately the same in maintenance effect, the guide B is much higher in maintenance cost, and finally, the operator selects the optimal maintenance operation guide in the actual maintenance environment, namely the guide C, by comprehensively considering various factors, and finally completes fault maintenance according to the guide C.
It should be noted that the terminal device 03 according to the embodiment of the present invention may generally be a mobile terminal or a non-mobile terminal. The non-mobile terminal comprises a desktop computer, and the mobile terminal comprises a Smart Phone (such as an Android Phone and an iOS Phone), Smart glasses, a Smart watch, a Smart bracelet, a tablet computer, a notebook computer, a personal digital assistant and other mobile internet devices capable of performing wireless communication.
In conclusion, the stair climbing machine fault diagnosis device disclosed by the embodiment can quickly and accurately locate the fault reason of the stair climbing machine, correspondingly provides a maintenance scheme, shortens the maintenance period, and reduces the maintenance cost. In addition, the maintenance scheme is displayed on the terminal equipment, so that the maintenance of a user can be more intuitively guided, the operation of the user is facilitated, and the user experience is enhanced.
In one embodiment, the fault diagnosis circuit 01 includes an input detection circuit for collecting a voltage signal of a key input circuit of the stair climbing machine and a voltage signal of a switch input circuit of the stair climbing machine.
It should be noted that the switch or the key of the stair climbing machine is usually externally arranged on the stair climbing machine body. When the stair climbing machine works, an operator mainly generates a corresponding control instruction by operating a switch or a key and controls the relevant working state of the stair climbing machine through the control instruction. Correspondingly, the input detection circuit includes a key input detection circuit and a switch input detection circuit, wherein the schematic circuit diagrams of the key input detection circuit and the switch input detection circuit are respectively shown in fig. 2 and fig. 3.
Specifically, the principle of the key input detection circuit is as follows: the key signal enters the diagnosis control module 02 after being isolated by an optical coupler. When the key is not pressed down, the optocoupler U18 is not conducted, and the diagnosis control module 02 receives a high level signal; when the key is pressed down, the optocoupler U18 is switched on, and the diagnosis control module 02 receives a low level signal; when a key is in fault, the diagnosis control module 02 can only receive the same level signal no matter whether the key is pressed down or not. Therefore, whether the key input circuit is in failure or not can be judged according to the three different conditions.
The circuit principle of the switch input detection circuit is as follows: the switching signal enters the diagnostic control module 02 after being isolated by an optical coupler. When the switch is switched to the low level side, the optocoupler U20 is not conducted, and the diagnosis control module 02 receives a high level signal; when the switch is switched to the high level side, the optocoupler U20 is switched on, and the diagnosis control module 02 receives a low level signal; when the switch fails, the diagnostic control module 02 can only receive the same level signal no matter which side the switch is dialed. Similarly, whether the switch input circuit is in failure can be judged according to the three different conditions.
In one embodiment, the fault diagnosis circuit 01 further includes an output detection circuit, which is configured to simulate an actual switch operation or an actual key operation through the analog switch, and determine whether the switch fault, the key fault, or the control unit fault of the stair climbing machine is detected according to a response of the stair climbing machine.
Referring to fig. 4, fig. 4 is a schematic circuit diagram of the output detection circuit of the present embodiment. It will be appreciated that after detection of the input states of the switches and keys, these states may be output to the control unit of the stair climbing machine to detect whether it is an output failure. Specifically, in fig. 4, after the states of the switches and the keys are input into the diagnosis control module 02, the states of the analog switches are controlled by the diagnosis control module 02, and the analog switches output the states to the control unit of the stair climbing machine. When the switch is closed or opened, the diagnosis control module 02 controls the analog switch to be closed or opened; the diagnostic control module 02 also controls the analog switch to close or open (corresponding to key depression and release) when the key is depressed or released. Therefore, the state of the switch or the key received on the control unit of the stair climbing machine can be ensured to be consistent with the state of the actual operation switch or the key.
Specifically, after the switch is operated, if the diagnosis control module 02 does not output a corresponding control signal, the switch fault is diagnosed; after the key is operated, if the diagnosis control module 02 does not output a corresponding control signal, the key is diagnosed as a key fault; when the switch or the key is operated, the diagnosis control module 02 outputs a corresponding control signal to the analog switch, the analog switch inputs the generated analog signal to the control unit of the stair climbing machine, and if the stair climbing machine does not respond, the control unit of the stair climbing machine is diagnosed to be in fault.
In one embodiment, the fault diagnosis circuit 01 further includes a brushless motor detection circuit, which is configured to collect three-phase hall signals of a brushless motor of the stair climbing machine, so as to determine whether the brushless motor has a fault.
Referring to fig. 5, fig. 5 is a schematic circuit diagram of the brushless motor detection circuit according to the present embodiment. The motor is an important component of the stair climbing machine, and is divided into a brush motor and a brushless motor. In the embodiment, whether the brushless motor operates or not can be judged through the Hall sensor signal.
Specifically, the principle of the brushless motor detection circuit is as follows: the signal output by the Hall sensor is a high-low level signal. When a high level is output, the triode Q11 is not conducted, the optocoupler U19 is not conducted, and the signal acquired by the diagnostic control module 02 is a high level signal; when a low level is output, the triode Q11 is turned on, the optocoupler U19 is also turned on, and the signal acquired by the diagnostic control module 02 is a low level signal. In addition, the hall sensor signals have three phases, U, V, W respectively, the same acquisition circuit is adopted, and if the diagnosis control module 02 sends out a motor action command and does not acquire the change of the three-phase hall signals, the connection of the brushless motor or the brushless motor is judged to be failed.
In one embodiment, the fault diagnosis circuit 01 further includes a voltage detection circuit, which is configured to collect a voltage signal of a detected component of the stair climbing machine, so as to determine whether the detected component has a fault.
Referring to fig. 6, fig. 6 is a schematic circuit diagram of the voltage detection circuit in the present embodiment. The circuit principle of the circuit is as follows: after the detected voltage signal is subjected to resistance voltage division, a signal meeting the interface input voltage standard of the diagnosis control module 02 is obtained, the signal is input into an internal ADC (analog-to-digital converter) of the diagnosis control module 02, and the diagnosis control module 02 can judge whether the corresponding detected part works normally or not by calculating the detected voltage value.
Generally, the voltage detection circuit is mainly used for detecting the voltage of a battery, detecting the voltage of a motor driving output end and other parts which can judge whether the operation is normal or not through the voltage. When detecting the battery voltage, if the voltage is too low, the battery needs to be charged in time. The principle of detecting the motor driving output end is shown in fig. 7. In fig. 7, the voltages of the output terminals a and B are detected, and it is determined whether the voltages are correct. If the voltage is incorrect, the motor driver is in failure; if the voltage is correct, the motor does not operate, and the motor is damaged or a connecting line of the motor is disconnected.
In one embodiment, the fault diagnosis circuit 01 further includes a communication detection circuit, configured to determine whether communication between the diagnosis control module 02 and the input component of the terminal device 03 and the input component of the stair climbing machine is faulty.
Further, the communication detection circuit in this embodiment includes a serial communication monitoring circuit, which is used to determine whether the serial port between the input component of the stair climbing machine and the diagnosis control module 02 has a fault.
Referring to fig. 8, fig. 8 is a schematic circuit diagram of a serial port communication monitoring circuit according to the present embodiment. It should be noted that, in some stair climbers, the operation of the stair climber needs to be controlled through an input component of the stair climber. For example, the operation modes of the stair climbing machine, including the moving direction, the loading angle, the unloading angle, the operation speed and the like, are controlled by operating input components such as a handle, a rocker and the like. The input components are generally connected and communicated with a control unit of the stair climbing machine through a serial port. In actual use, communication failure may be caused by disconnection of the connection line, so that whether communication failure occurs in the serial port needs to be detected. As shown in fig. 8, the input component and the control unit of the stair climbing machine are respectively connected to the diagnostic control module 02 of the fault diagnosis device, the serial port of the diagnostic control module 02 is responsible for forwarding data, including forwarding the data sent by the input component to the control unit of the stair climbing machine and forwarding the data sent by the control unit of the stair climbing machine to the input component, and if the diagnostic control module 02 cannot receive the data sent by the input component, it indicates that a communication fault occurs in the input component; if the diagnosis control module 02 cannot receive the data sent by the control unit of the stair climbing machine, the communication fault occurs in the control unit of the stair climbing machine.
In addition, in order to facilitate the wireless communication between the diagnostic control module 02 and the terminal device 03, a bluetooth module is usually arranged in the diagnostic control module 02, and then the diagnostic control module is connected with the terminal device 03 in a bluetooth pairing manner; generally, before performing fault detection, whether the bluetooth communication between the terminal device 03 and the diagnostic control module 02 fails is detected to ensure normal communication between the terminal device 03 and the diagnostic control module 02.
In order to better understand the data interaction process among the terminal device 03, the diagnosis control module 02, the fault diagnosis circuit 01 and the stair climbing machine, in a specific embodiment, a detailed description is given by taking an example of diagnosing the fault condition of an actual stair climbing machine.
In this embodiment, a mobile phone or a tablet computer is used as the terminal device 03 for performing data interaction with the diagnostic control module 02, and is connected to the stair climbing machine in a bluetooth manner. The terminal device 03 transmits and receives information mainly through an application program, a web page, or an applet, and in the present embodiment, a failure diagnosis APP is preferably used as an operation target. The page of the fault diagnosis APP shows detection methods and detection operation steps of machines of various models, and is used for guiding clients and maintenance personnel to diagnose faults of the machines and operate according to related prompts. The following takes the diagnosis of a certain type of stair climbing machine as an example to show the operation steps of fault diagnosis, which are as follows:
1) first the operator selects the stair climber model to be diagnosed on the page. It should be noted that the fault diagnosis device can be universally used for fault diagnosis of various types of stair climbers.
2) Each stair climbing machine has a Bluetooth name, an operator selects the Bluetooth name of the stair climbing machine to be detected, clicks 'connect machine', and clicks 'next step' after the successful connection is prompted.
3) Selecting the phenomenon that the stair climbing machine fails, for example, selecting 'machine does not rotate', and then clicking 'next'.
4) The page will prompt "please hold the machine up, press the click button on the machine for 1 second", if it is detected that the state of the button has changed, the display button will be normal, and click "next". If no change in state is detected, a corresponding prompt is given, such as "please check the key press or replace the key".
5) The jog key is normal, and the fault diagnosis device automatically detects the stair climbing machine to determine the cause and the position of the fault. Wherein, corresponding prompts are given during detection, such as "during machine detection, please wait for a while". After the detection is finished, the page can display a fault diagnosis result, such as 'disconnection of a motor connecting line or damage of a motor, please check'. And then, the operator performs troubleshooting according to the fault diagnosis result.
6) Finally, the operator sends the troubleshooting result to the terminal device 03, so that the terminal device 03 can perform fault summary. If it is determined that some faults occur too frequently according to the fault diagnosis result, a replacement scheme or device should be considered.
Therefore, the fault cause can be easily found through simple operation, the time is greatly saved, and the fault troubleshooting efficiency is improved.
It should be noted that, in an actual usage scenario, a user can easily find a direct cause of a fault through the method provided by the above embodiment, but cannot help the user and a manufacturer to find other causes of the fault. For example, when some faults occur frequently (for example, the motor is damaged once in two weeks) due to incorrect use habits of the user (for example, overload, excessive operation gradient, overlong operation time and the like), the user can solve the problem by replacing the motor, but the user may doubt the quality of the building climbing machine of the manufacturer and bring negative effects to the manufacturer because the root cause of the frequent fault is unknown; meanwhile, the stair climbing machine always frequently breaks down under the incorrect use habit of the user, and economic loss and even personal threat are brought to the user.
In view of the above problem, in a specific embodiment, the terminal device 03 is further configured to perform the following steps to find a fault cause and a corresponding maintenance operation guide, as shown in fig. 9, where the steps specifically include:
s10, further acquiring first historical working condition data of the stair climbing machine according to the fault diagnosis result;
s20, comparing the first historical working condition data with a rated working data range of the stair climbing machine, and determining whether the first historical working condition data are in the rated working data range;
s30, when the first historical working condition data are determined to be out of the rated working data range, generating fault prompt information and maintenance operation instructions corresponding to the fault prompt information; and the fault prompt information comprises stair climbing machine type number information and a fault reason.
It can be understood that various use data of the stair climbing machine can influence the service life of the motor. In this embodiment, by combining the first historical operating condition data of the stair climbing machine and the rated working data range of the stair climbing machine, it can be determined whether the historical use habit of the user causes each item of use data of the machine type to exceed the rated working data range of the stair climbing machine, so as to determine the root cause of frequent failure of a certain component. In addition, after the fault reason is determined, the correct use parameters of the model can be displayed on the terminal device 03, and a prompt for correcting the incorrect use behavior of the user can be given, so that the user is reminded to correctly use the stair climbing machine.
The first historical working condition data comprises load data, working time length data or climbing gradient data of the stair climbing machine in a preset time period. It can be understood that if the user uses the stair climbing machine for a long time, or uses the stair climbing machine under overload, the motor of the stair climbing machine will be burdened, and the motor will be further frequently broken down. Therefore, when the motor of the stair climbing machine of the user is in failure, the user can correct the wrong use behavior of the user by matching with the prompt message displayed by the terminal device 03, for example, the prompt message can be 'reduce the load of the stair climbing machine once, please carry the stair climbing machine a small number of times', and the like.
In order to better understand the working process of the stair climbing machine fault diagnosis device and the effect thereof, a detailed description is given by taking a specific scene as an example.
Application scenario 1
After the diagnosis is performed by the fault diagnosis device, the fault diagnosis result displayed by the terminal device 03 is the motor fault, and in order to further trace the root cause of the motor fault, an operator acquires historical working condition data within a certain time range of the stair climbing machine through the terminal device 03, for example, acquires load data of a week, and then compares the historical working condition data with a specified normal load range of the stair climbing machine, such as 0-200 kg. According to the acquired historical working condition data, multiple overweight uses exist in the nearly one-week work of the stair climbing machine. Obviously, the stair climbing machine does not work according to the normal use regulations. In response to the situation, the terminal device 03 may generate corresponding failure prompt information according to a result of comparing the historical load data with the normal load range, where the information includes a model of the stair climbing machine, prompt information of a user behavior error, and a correct use suggestion. For example, the user behavior error prompt message is "use multiple times overweight", and the use suggestion is "please pay attention to the maximum load not exceeding 200kg when using", and the like.
In scenario 1, the fault diagnosis device mainly determines the wrong usage behavior of the user according to the load data and gives corresponding reminders and usage suggestions. It can be understood that, in the daily operating condition of the stair climbing machine, mostly "concentrate the time quantum" work system, that is to say operating personnel may concentrate on using the stair climbing machine in the delivery peak hour (mostly daytime), and then more do not use the stair climbing machine night. Moreover, in order to ensure the working efficiency, the operator usually uses the stair climbing machine "continuously", which also accelerates the loss of the motor. Therefore, different use suggestions need to be given for different situations.
Specifically, historical service time data of the stair climbing machine, such as service time data of nearly three days, is acquired, and the comparison with a rated working time range (such as 0-8 h) shows that the stair climbing machine works in an overtime mode for two days. Obviously, the loss of the motor is accelerated due to the long-time use of the stair climbing machine. For this situation, the terminal device 03 may generate corresponding fault notification information, which includes the model of the stair climbing machine, user behavior error notification information, and a correct use suggestion. For example, the user behavior error prompt message displayed by the terminal device 03 is "use for a long time, and the use suggestion may be" the working time per day does not exceed 8h ".
In addition, for the behavior of centralized use, the fault diagnosis device can also give corresponding use suggestions, for example, in the acquired historical use data, the time for the user to continuously use the stair climbing machine is close to 30 minutes each time, sometimes even more than 30 minutes, and the user can enter into the next use after a short time interval (for example, 3 minutes) each time. For this situation, the user behavior error prompt message in the fault prompt message may be "too long a time of one continuous use" and "too short a time interval between two uses". Correspondingly, the correct use suggestion can be that the duration of one continuous operation is not more than 20 minutes, the interval of two uses is at least 10 minutes, and the like, so as to correct the wrong use behavior of the user.
In the scenario 1 and the scenario 2, relatively intuitive influences such as load and working time are mainly considered, and in this embodiment, a problem that whether the stair climbing posture influences the working state of the motor is mainly considered.
It should be noted that, according to the existing stair building standards, the suitable gradient of the stair is usually 20 to 45 degrees, wherein about 30 degrees is commonly used; the slope range of 45 degrees to 60 degrees can be used for special stairways which are small in pedestrian flow and not commonly used, and the slope range of more than 60 degrees is commonly used for ladders for fire prevention or overhaul. However, the normal slope range given by the existing stair climbing machine is usually 20-45 °, obviously, various application environments cannot be effectively covered, and thus, some situations can be caused:
on the one hand, in order to ensure normal use of the stair climbing machine in certain specific environments, some users must correspondingly select the stair climbing machine with an adaptive model according to the environment gradient, and even if the users meet various stair climbing gradients in one-time operation, the users need to alternately use a plurality of stair climbing machines with different rated working data ranges, so that the operation cost is increased, and the working difficulty is increased.
On the other hand, when the climbing slope that the user faces is not within the normal slope range of the used climbing machine, the user can work in an abnormal climbing posture in order to complete the operation, and finally the motor is in a fault state. Still other users know to perform stair climbing operations in a "small number of times" manner to avoid motor failure due to the adoption of a wrong stair climbing posture. However, such "a small number of times" is often determined only by experience during transportation, and then a user may reduce a large amount of goods transported by the stair climbing machine in a normal working state, or even reduce the goods by half to perform work. Therefore, the stair climbing efficiency is greatly reduced, and the user experience of the stair climbing machine is poor.
From the above situation, due to lack of analysis on the relationship between the stair climbing angle and the load of the stair climbing machine, scientific guidance cannot be given to remind the user of correctly using the stair climbing machine in different environments, and the above problems are finally caused. In order to solve the problems existing in the above situations, the present embodiment provides scientific use suggestions in different application scenarios by analyzing the relationship between the stair climbing angle and the load of the stair climbing machine.
Specifically, current stair climbers include a crawler-type stair climber and a step-type stair climber.
The stepping stair climbing machine is characterized in that the motor drives the supporting arm to rotate so that the supporting arm can go up and down stairs one by one, and stair climbing operation is achieved. Because the step-type stair climbing machine has a large vibration amplitude when climbing stairs, manual holding operation is more needed, for example, downward pressure is applied to the stair climbing machine to prevent the stair climbing machine from tipping.
As shown in fig. 10, when the supporting arm presses the steps upstairs with one end as a fulcrum at any time, the driving force of the motor, the gravity of the whole machine (loaded goods and the self weight of the stair climbing machine) and the downward pressure of the user on the stair climbing machine satisfy the following relations according to the principle of lever balance:
F1·L1＝(G+F2)·L2 (1)
in the formula, F1For the driving force applied by the motor to the support arm, F2Down force applied to the stair climbing machine by the user, G being the gravity of the whole machine, L1Is F1Arm of force to fulcrum O, L2The force arm from the resultant force of the downward pressure and the gravity to the pivot point O.
Wherein, when the motor works, the driving force F of the motor1The position of the arm is not changed (the motor always applies a driving force to rotate the arm during operation), so L1Is constant, assuming G and F2Is also constant, then L2The size of (D) directly affects F1The size of (2). It can be understood that when the slope of the stairs is increased, the center of gravity of the whole machine will be gradually shifted away from the stairs, so that the L is enabled to be2Increase, in turn, leads to F1I.e. the driving force of the motor increases. Obviously, following the driving force F of the motor1The operating current increases with an increase in the amount of heat generated, and the heat loss increases with the increase in the amount of heat generated. Therefore, when the climbing slope is increased, if the user continues to climb the building according to the loading habit or the climbing posture which is the same as the standard range, the probability of the motor failure is increased.
The execution structure of the crawler-type stair climbing machine comprises a crawler, and the crawler is relatively long, so that the crawler can be simultaneously covered on at least 2 steps to move up and down stairs. Wherein, the frictional force of crawler-type stair climbing machine during operation is mainly for rolling frictional force, and the size of rolling frictional force is less than sliding friction power far away, consequently, for convenient understanding, under the condition of not counting frictional force, carries out the analysis to the atress of crawler-type stair climbing machine during operation at any moment:
as shown in FIG. 11, the crawler-type stair climbing machine climbs stairs at a constant speed, and the driving force F of the motor in the upward direction parallel to the stairs is known from Newton's second law3The relationship satisfied by the gravity G of the whole machine (the load goods and the self weight of the stair climbing machine) and the gradient theta of the stairs is as follows:
F3＝Gsinθ (2)
according to the formula, when theta changes from 0 degree to 90 degrees (the gradient threshold value of the stair does not exceed 90 degrees), along with the increase of the gradient theta of the stair, the driving force F of the motor in the upward direction along the parallel stair surface3It will also increase. This in turn leads to an increase in the operating current of the motor and a consequent increase in the heat losses. Thus, the needleTo the crawler-type machine of climbing building, when climbing the increase of building slope, if the user continues to climb the building operation according to the load custom that is the same with the standard range or the gesture of climbing the building, also can increase the probability that the motor broke down.
In summary, no matter the stair climbing machine is a stepping stair climbing machine or a crawler-type stair climbing machine, when the climbing gradient exceeds the normal use gradient range of the stair climbing machine, the loss degree of the motor can be increased along with the increase of the gradient.
In order to ensure the normal use of the motor under different slopes, namely, the motor is not overloaded, in the step-type stair climbing machine, according to the formula (1), G and F are reduced2To reduce the driving force F of the motor1. However, the user presses down on the stair climbing machine by F2Is usually limited and it is difficult to grasp specific numerical values, so that the weight of the whole machine can be reduced by reducing the weight of the loaded goods, and further, the F can be reduced1The value of (c). Aiming at the crawler-type stair climbing machine, the formula (2) shows that the weight of the loaded goods can be directly reduced to reduce F3The value of (c).
In one embodiment, if the stair climbing gradient data of the stair climbing machine exceed the normal stair climbing gradient range, a corresponding load suggestion is given according to the difference value of the two. Specifically, the following several scenarios illustrate the load recommendation that should be adopted when the climbing slope of the stair climbing machine is larger than the normal slope range.
The rated climbing gradient range of the stair climbing machine is 20-45 degrees, but a user can often meet abnormal conditions, for example, the space of a physical distribution destination actual site is too narrow, when the user in a physical distribution center backs a car and enters a garage, the space formed by the final position where a truck stops and the wall surface of the garage is too narrow, and at the moment, the user can only carry goods by means of stairs with abnormal (for example, 50 degrees or more than 50 degrees) gradient. In order to ensure that the motor is not overloaded when transporting goods, the weight of the goods transported by the stair climbing machine at one time can be reduced by a proper amount, for example, the threshold value of the stair climbing machine for transporting goods at one time in a normal slope range is 200kg, and the threshold value of the goods transported at one time can be adjusted to 190kg under the stair climbing environment, namely, the weight of the goods transported at one time does not exceed 190 kg. Assuming a total cargo weight of 1000kg, according to the prior-art transportation manner of "a few times", for example, typically 100kg of cargo is transported once, the transportation times are directly doubled, i.e. from 5 times to 10 times, which will seriously affect the transportation efficiency and the user experience. In the embodiment, the operation can be completed only by changing the original 5 times into 6 times, and the motor is ensured not to be overloaded. Obviously, the carrying suggestion given in the embodiment can compromise the stair climbing efficiency and the normal operation of the motor.
Application scenario 5
In order to increase the available area, some shops generally adopt a 'duplex' building structure, namely, one or more layers are added on the original area to improve the space utilization rate. In this way, in order to save space occupied by the stairs, the stairs are narrow in width and steep in slope, usually between 50 ° and 60 °. While the slope of the stairs outside the shop is still 30 degrees which is common. In this case, the user needs to pass the goods through the stairs of 30 ° and the stairs of 60 ° in sequence to complete the transporting operation. In the prior art, in order to ensure the normal working state of the motor, two types of stair climbing machines are generally adopted for alternate use. Namely, the conveying is carried out by adopting a stair climbing machine suitable for 30 degrees, and then the conveying is carried out by adopting a stair climbing machine suitable for 60 degrees. Obviously, the purchase of two kinds of stair climbing machines increases the cost of users, and the replacement of two kinds of stair climbing machines also increases the operation difficulty. In the embodiment, one set of stair climbing machine equipment can finish the stair climbing operation at two angles only by giving different load suggestions at different angles.
Specifically, suppose that the user has only one stair climbing machine, the applicable gradient range of the stair climbing machine is 20-45 degrees, the maximum load-bearing capacity at one time is not more than 300kg, and the total weight of the goods which the user needs to carry is 900 kg. When climbing stairs, a user can firstly transport 900kg of goods to the first floor of a shop through 3 times of transportation, then when facing 60-degree stairs, the once-transported goods can be lowered to 270kg, and then the goods are transported to the second floor of the shop through 4 times of non-uniform transportation. Therefore, the carrying of different stair slopes can be realized through one device, and the operation of a user is facilitated. In this embodiment, other load methods may be used to perform the work. For example, when the stair climbing machine has to climb up a 60 ° stair at least 4 times, 900kg of the stair climbing machine may be divided into 4 parts and transported 225kg each time to enhance the comfort of the user. It should be noted that, under the condition of ensuring the normal load of the motor, the load suggestion can adjust the carrying times and the setting of the one-time load-bearing amount according to the total carried cargo weight of the user, and no limitation is made herein.
In summary, according to the schemes provided in the application scenarios 4 and 5, if the historical climbing slope data exceeds the normal climbing slope range of the climbing machine, a corresponding load suggestion can be given according to the difference between the historical climbing slope data and the normal climbing slope range of the climbing machine, so as to avoid overload of the motor. For example, the load calculation principle is: every time the angle is increased by 5 degrees, the weight of the primary load is reduced by 10 kg. According to the load suggestion that this embodiment provided, can be so that the user normally accomplishes the operation of climbing the building under the different slope environment, the load suggestion can guarantee the normal use of motor, can compromise again and climb building efficiency, finally brings better use for the user and experiences.
Referring to fig. 12, in an embodiment, the terminal device 03 is further configured to:
s01, further acquiring second historical working condition data of the stair climbing machine according to the fault diagnosis result;
s02, comparing the second historical working condition data with the maximum rated working data of the stair climbing machine, and determining whether the second historical working condition data is larger than the maximum rated working data;
s03, when the second historical working condition data are determined to be larger than the maximum rated working data, calculating the difference value between the second historical working condition data and the maximum rated working data;
s031, when the difference is less than or equal to a first preset threshold, judge as the first order trouble, produce first order trouble prompt message and maintenance operation guide corresponding to said first order trouble prompt message;
s032, when the difference value is larger than a first preset threshold value and smaller than or equal to a second preset threshold value, determining that the fault is a secondary fault, and generating secondary fault prompt information and a maintenance operation guide corresponding to the secondary fault prompt information;
and S033, when the difference is larger than a second preset threshold, determining that the fault is a third-level fault, and generating third-level fault prompt information and maintenance operation guide corresponding to the third-level fault prompt information.
In practical application, when the acquired historical operating condition data is out of the rated operating data range, it can be determined that the stair climbing machine has a fault due to a user's wrong use behavior. However, the degree of the user's wrong use behavior is large or small, for example, the time for some users to continuously use the stair climbing machine exceeds the specified time range by only a few minutes, and some users exceed a few tens of minutes, and the degree of the failure caused by the wrong use behavior in different degrees is also different. If the user behavior data is not distinguished and the fault grade is set, the problem that maintenance guide is not matched with the fault scene easily occurs, and further resource waste is caused. The present embodiment is therefore directed to ranking faults based on data of user usage behavior and providing corresponding, more applicable maintenance guidelines based on different fault rankings.
In a certain embodiment, the second historical operating condition data includes operating current data or operating voltage data of the stair climbing machine within a preset time period.
Specifically, taking the motor failure of the stair climbing machine as an example, wherein the reason of the motor failure is preferably that the current is too large, and the reason of causing the motor current to be too large is that the motor load is too large, and the corresponding maintenance direction is to reduce the motor load.
In this embodiment, it is assumed that the stair climbing machine employs a 1KW three-phase motor, and the maximum rated current I is 1.9A. The first preset threshold is set to 0.1A, and the second preset threshold is set to 0.2A.
Specifically, the operator obtains the working current of the motor of the stair climbing machine for nearly 3 days of the user and takes the average value of 3 days
Then calculate
The size of (c):
when I is0When the current fault is less than or equal to 0.1A, judging the current fault as a primary fault, wherein the primary fault prompt message displayed by the terminal equipment 03 can be that the motor is in the primary fault, and the corresponding maintenance operation guide can be that the motor load is reduced by 10%;
when 0.1A<I0When the current time is less than or equal to 0.2A, judging that the current time is a secondary fault, wherein the secondary fault prompt message displayed by the terminal equipment 03 can be that the motor is the secondary fault, and the corresponding maintenance operation guide can be that the motor load is reduced by 20%;
when I0>At 0.2A, it is determined that the three-stage fault occurs, and at this time, the three-stage fault notification information displayed by the terminal device 03 may be "the motor has a three-stage fault", and the corresponding maintenance operation guidance may be "reduce the motor load by 30% or more".
It can be understood that, if the fault grade is not classified, the existing method can only give maintenance guidance of "reducing the load of the motor" roughly when the fault of the motor caused by the overlarge current is diagnosed, which may cause inaccurate reduction degree and greatly reduce the working efficiency of the motor. Therefore, the fault grade can be refined by providing the fault grade division, and more targeted fault prompt information and maintenance operation guidance suitable for specific scenes are provided, so that the most reasonable maintenance scheme is ensured, and the resource waste is avoided.
An embodiment of the present invention further provides a stair climbing machine, including:
stair climbing machine body and as in any embodiment above stair climbing machine fault diagnosis device, stair climbing machine fault diagnosis device is used for carrying out fault diagnosis to stair climbing machine body.
Optionally, the fault diagnosis circuit and/or the diagnosis control module are/is detachably mounted on the stair climbing machine body;
or the fault diagnosis circuit and/or the diagnosis control module are/is integrated on the stair climbing machine body.
The stair climbing machine that this embodiment provided through fault diagnosis device, can fix a position the fault reason of stair climbing machine fast accurately to correspond and provide the maintenance scheme, both shortened maintenance cycle, also reduced cost of maintenance. In addition, the maintenance scheme is displayed on the terminal equipment, so that the maintenance of a user can be more intuitively guided, the operation of the user is facilitated, and the user experience is enhanced.
It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. In addition, for convenience of description, only a part of structures related to the present invention, not all of the structures, is shown in the drawings. Step numbers used herein are also for convenience of description only and are not intended as limitations on the order in which steps may be performed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "comprising" and "having," as well as any variations thereof, in the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The above description is only an 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 performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A stair climbing machine fault diagnosis device is characterized by comprising: the system comprises a fault diagnosis circuit, a diagnosis control module and terminal equipment;
the fault diagnosis circuit is used for responding to the detection instruction and troubleshooting the stair climbing machine;
the diagnosis control module is used for acquiring the detection signal output by the fault diagnosis circuit, positioning a fault component of the stair climbing machine and sending a fault diagnosis result to the terminal equipment;
the terminal equipment is used for displaying the fault diagnosis result and providing maintenance operation guide corresponding to the fault diagnosis result; the system is also used for further acquiring first historical working condition data of the stair climbing machine according to the fault diagnosis result; comparing the first historical working condition data with a rated working data range of the stair climbing machine, and determining whether the first historical working condition data is in the rated working data range; when the first historical working condition data is determined to be out of the rated working data range, generating fault prompt information and maintenance operation guide corresponding to the fault prompt information; the fault prompt information comprises stair climbing machine type number information and a fault reason; the first historical operating condition data comprises: load data, working time length data or stair climbing gradient data of the stair climbing machine in a preset time period; when the climbing gradient data exceed the normal climbing gradient range, giving a corresponding load suggestion according to the difference value between the climbing gradient data and the maximum normal climbing gradient; the load is recommended to be set according to the total load weight of the transported goods, the transporting times and the first load bearing amount.
2. The stair climbing machine fault diagnosis device according to claim 1, wherein the fault diagnosis circuit includes:
and the input detection circuit is used for acquiring a voltage signal of a key input circuit of the stair climbing machine and a voltage signal of a switch input circuit of the stair climbing machine.
3. The stair climbing machine fault diagnosis device according to claim 2, wherein the fault diagnosis circuit further comprises:
and the output detection circuit is used for simulating actual switch operation or actual key operation through the analog switch and judging whether the switch failure, the key failure or the control unit failure of the stair climbing machine exists according to the response of the stair climbing machine.
4. The stair climbing machine fault diagnosis device according to claim 1, wherein the fault diagnosis circuit further comprises:
the brushless motor detection circuit is used for acquiring three-phase Hall signals of a brushless motor of the stair climbing machine so as to judge whether the brushless motor fails;
and the voltage detection circuit is used for acquiring voltage signals of detected components of the stair climbing machine so as to judge whether the detected components are in fault.
5. The stair climbing machine fault diagnosis device according to claim 1, wherein the fault diagnosis circuit further comprises:
and the communication detection circuit is used for judging whether the communication between the diagnosis control module and the input components of the terminal equipment and the stair climbing machine is in fault or not.
6. The stair climbing machine fault diagnosis device according to claim 5, wherein the communication detection circuit includes:
and the serial port communication monitoring circuit is used for judging whether a serial port between an input component of the stair climbing machine and the diagnosis control module is in fault or not.
7. The stair climbing machine fault diagnosis device according to any one of claims 1 to 6, wherein the terminal device is further configured to:
further acquiring second historical working condition data of the stair climbing machine according to the fault diagnosis result;
comparing the second historical working condition data with the maximum rated working data of the stair climbing machine, and determining whether the second historical working condition data is greater than the maximum rated working data;
when the second historical working condition data is determined to be larger than the maximum rated working data, calculating a difference value between the second historical working condition data and the maximum rated working data;
when the difference value between the second historical working condition data and the maximum rated working data is smaller than or equal to a first preset threshold value, judging that a primary fault occurs, and generating primary fault prompt information and maintenance operation guide corresponding to the primary fault prompt information;
when the difference value between the second historical working condition data and the maximum rated working data is larger than a first preset threshold value and smaller than or equal to a second preset threshold value, judging that the secondary fault occurs, and generating secondary fault prompt information and maintenance operation guide corresponding to the secondary fault prompt information;
and when the difference value between the second historical working condition data and the maximum rated working data is larger than a second preset threshold value, judging that the three-stage fault occurs, and generating three-stage fault prompt information and maintenance operation guide corresponding to the three-stage fault prompt information.
8. The stair climbing machine fault diagnosis device according to claim 7, wherein the second historical operating condition data comprises: and working current data or working voltage data of the stair climbing machine in a preset time period.
9. A stair climbing machine, comprising:
the stair climbing machine comprises a stair climbing machine body and a fault diagnosis device of the stair climbing machine according to any one of claims 1-8, wherein the fault diagnosis device of the stair climbing machine is used for carrying out fault diagnosis on the stair climbing machine body.
10. The stair climbing machine according to claim 9, wherein the fault diagnosis circuit and/or the diagnosis control module are detachably mounted on the stair climbing machine body;
or the fault diagnosis circuit and/or the diagnosis control module are/is integrated on the stair climbing machine body.
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| WO2008100524A2 (en) * | 2007-02-12 | 2008-08-21 | Sterraclimb Llc | Stair-climbing wheeled vehicle |
| CN102508065A (en) * | 2011-10-28 | 2012-06-20 | 中联重科股份有限公司 | Method, system and engineering machinery for electrical fault diagnosis |
| CN102508064A (en) * | 2011-10-28 | 2012-06-20 | 中联重科股份有限公司 | Method, equipment, system and engineering machinery for electrical equipment fault diagnosis |
| CN104730366B (en) * | 2013-12-23 | 2017-12-19 | 美的集团股份有限公司 | Fault diagnosis and auxiliary apparatus for repairing for household electrical appliance |
| CN106154098A (en) * | 2016-06-16 | 2016-11-23 | 徐州重型机械有限公司 | Method for diagnosing faults, device, system and engineering machinery |
| CN207650638U (en) * | 2017-10-09 | 2018-07-24 | 中山小神童创新科技有限公司 | A kind of trouble-shooter of climbing machine |
| CN207650588U (en) * | 2017-10-09 | 2018-07-24 | 中山小神童创新科技有限公司 | A kind of remote monitoring system of climbing machine |
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