CN115096433A - Wireless vibration sensor, diagnostic method for electric drive components, and an automobile - Google Patents
Wireless vibration sensor, diagnostic method for electric drive components, and an automobileDownload PDFInfo
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- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
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Abstract
Description
Translated fromChinese技术领域technical field
本发明涉及电驱部件振动故障诊断技术领域，具体提供一种无线振动传感器、电驱部件的诊断方法及一种汽车。The invention relates to the technical field of vibration fault diagnosis of electric drive components, and in particular provides a wireless vibration sensor, a diagnosis method of an electric drive component, and an automobile.
背景技术Background technique
随着汽车市场规模迅速扩大，特别是近年来，随着人们生活水平的提高，几乎家家户户都购买了汽车，汽车的电驱部件和功能的可靠性显得至关重要，因此，目前对汽车电驱部件的检测或者说是故障诊断变得十分重要。With the rapid expansion of the automobile market, especially in recent years, with the improvement of people's living standards, almost every household has purchased automobiles, and the reliability of electric drive components and functions of automobiles is very important. The inspection or fault diagnosis of components becomes very important.
现有的汽车电驱部件的诊断系统通常会引入振动传感器来对电驱部件的健康度进行实时监控，例如使用设置在车辆内部电驱安装线路内的振动传感器检测汽车电驱部件上的机械振动，并由该振动传感器产生的测量数据来确定汽车电驱部件的状态。但是该方案必须将振动传感器安装在车辆内部电驱线路内，并且需要采用有线技术将振动传感器与外部电路进行连接，该设计会存在如布线困难、改线工程大、不可移动、电缆容易磨损折断、开关接触不良以及难以校准等问题；此外，每辆汽车上至少要安装一个振动传感器，且该振动传感器需要服务于电驱系统的整个生命周期，会降低振动传感器的使用寿命，从而带来更多的成本。Existing diagnostic systems for automotive electric drive components usually introduce vibration sensors to monitor the health of the electric drive components in real time. For example, vibration sensors installed in the electric drive installation lines inside the vehicle are used to detect mechanical vibrations on the electric drive components of the vehicle. , and the measurement data generated by the vibration sensor to determine the state of the electric drive components of the car. However, in this solution, the vibration sensor must be installed in the electric drive circuit inside the vehicle, and the vibration sensor needs to be connected to the external circuit by using wired technology. This design will have problems such as difficult wiring, large wiring changes, immovability, easy wear and tear of cables, breakage, etc. Problems such as poor switch contact and difficult calibration; in addition, at least one vibration sensor must be installed in each car, and the vibration sensor needs to serve the entire life cycle of the electric drive system, which will reduce the service life of the vibration sensor and bring more the cost of.
相应地，本领域需要一种新的电驱部件的诊断方案来解决上述问题。Accordingly, there is a need in the art for a new diagnostic solution for electric drive components to solve the above problems.
发明内容SUMMARY OF THE INVENTION
本发明旨在解决上述技术问题，即，解决现有使用振动传感器对电驱部件的健康度进行监控时，需要采用有线技术将振动传感器与外部电路进行连接带来的布线困难、改线工程大、不可移动、电缆容易磨损折断、开关接触不良、难以校准以及高成本的问题，本发明提供了一种无线振动传感器、电驱部件的诊断方法及一种汽车。The present invention aims to solve the above-mentioned technical problems, that is, to solve the problems of wiring difficulties caused by the need to use wired technology to connect the vibration sensor with the external circuit when the existing vibration sensor is used to monitor the health of the electric drive components, the wiring modification project is large, In order to solve the problems of immovability, easy wear and tear of cables, poor switch contact, difficult calibration and high cost, the present invention provides a wireless vibration sensor, a diagnostic method for electric drive components and an automobile.
在第一方面，本发明提供一种无线振动传感器，包括：In a first aspect, the present invention provides a wireless vibration sensor, comprising:
外壳、设置在所述外壳内的振动传感模块、数据存储模块、微控制器和无线通讯模块，其中，a casing, a vibration sensing module, a data storage module, a microcontroller and a wireless communication module arranged in the casing, wherein,
所述振动传感模块，用于检测车辆电驱部件的振动信号；The vibration sensing module is used to detect the vibration signal of the electric drive components of the vehicle;
所述微控制器，用于对所述振动信号进行特征值提取，获得表征所述振动信号的特征值；the microcontroller, for extracting characteristic values of the vibration signal to obtain characteristic values representing the vibration signal;
所述数据存储模块，用于存储所述特征值；the data storage module, for storing the characteristic value;
所述无线通讯模块，用于将所述特征值传输给车载控制器，所述特征值用于供车载控制器进行所述电驱部件的诊断分析。The wireless communication module is used for transmitting the characteristic value to the vehicle-mounted controller, and the characteristic value is used for the vehicle-mounted controller to perform diagnosis and analysis of the electric drive component.
在上述无线振动传感器的一个技术方案中，还包括：In a technical solution of the above wireless vibration sensor, it also includes:
设置在外壳内的能量采集模块和能量存储模块，其中，The energy harvesting module and the energy storage module arranged in the shell, wherein,
所述能量采集模块，用于收集来自所述车辆的机械能并将收集到的机械能转变为电能存储在所述能量存储模块中；the energy collection module for collecting mechanical energy from the vehicle and converting the collected mechanical energy into electrical energy for storage in the energy storage module;
所述能量存储模块，用于给所述振动传感模块、所述数据存储模块、所述微控制器和所述无线通讯模块供电。The energy storage module is used to supply power to the vibration sensing module, the data storage module, the microcontroller and the wireless communication module.
在上述无线振动传感器的一个技术方案中，所述振动传感模块周期性地获取电驱部件的振动信号。In a technical solution of the above wireless vibration sensor, the vibration sensing module periodically acquires the vibration signal of the electric drive component.
在第二方面，本发明提供一种利用上述无线振动传感器进行电驱部件的诊断方法，包括：In a second aspect, the present invention provides a method for diagnosing an electric drive component using the above-mentioned wireless vibration sensor, comprising:
将所述无线振动传感器设置在电驱外壳上；disposing the wireless vibration sensor on the electric drive housing;
所述振动传感模块获取所述车辆的电驱部件上的振动信号；The vibration sensing module acquires vibration signals on the electric drive components of the vehicle;
所述微控制器对所述振动信号进行特征值提取，获得表征所述振动信号的特征值，并通过所述无线通讯模块传输给车载控制器；The microcontroller extracts the characteristic value of the vibration signal, obtains the characteristic value representing the vibration signal, and transmits it to the vehicle-mounted controller through the wireless communication module;
所述车载控制器根据所述特征值进行诊断分析，获得电驱部件的状态。The on-board controller performs diagnostic analysis according to the characteristic value to obtain the state of the electric drive components.
在上述利用上述无线振动传感器进行电驱部件的诊断方法的一个技术方案中，所述将所述无线振动传感器设置在电驱外壳上，包括：In a technical solution of the above-mentioned method for diagnosing electric drive components by using the above wireless vibration sensor, the method of disposing the wireless vibration sensor on the electric drive housing includes:
所述车载控制器根据车辆的历史使用数据提示车辆需要对电驱部件进行诊断的时机；The on-board controller prompts the vehicle according to the historical usage data of the vehicle when the electric drive component needs to be diagnosed;
根据所述时机将所述无线振动传感器设置在所述电驱外壳上。The wireless vibration sensor is arranged on the electric drive housing according to the timing.
在上述利用上述无线振动传感器进行电驱部件的诊断方法的一个技术方案中，所述将所述无线振动传感器设置在电驱外壳上，包括：In a technical solution of the above-mentioned method for diagnosing electric drive components by using the above wireless vibration sensor, the method of disposing the wireless vibration sensor on the electric drive housing includes:
所述车载控制器根据车辆的电驱部件发生故障的历史数据提示所述无线振动传感器的设置位置；The on-board controller prompts the setting position of the wireless vibration sensor according to the historical data of the failure of the electric drive components of the vehicle;
根据所述设置位置将所述无线振动传感器设置在电驱外壳上。The wireless vibration sensor is arranged on the electric drive housing according to the arrangement position.
在上述利用上述无线振动传感器进行电驱部件的诊断方法的一个技术方案中，当根据车辆的电驱部件发生故障的历史数据提示所述无线振动传感器的设置位置为单个时，所述车载控制器根据所述特征值进行诊断分析，获得电驱部件的状态，包括：In a technical solution of the above-mentioned method for diagnosing electric drive components by using the above wireless vibration sensor, when it is prompted that the setting position of the wireless vibration sensor is single according to the historical data of the failure of the electric drive component of the vehicle, the on-board controller Perform diagnostic analysis according to the eigenvalues to obtain the status of the electric drive components, including:
获得单个电驱部件的特征值包含的时域参数、频域参数或时频域参数；Obtain the time domain parameters, frequency domain parameters or time-frequency domain parameters contained in the eigenvalues of a single electric drive component;
将所述时域参数、频域参数或时频域参数与所述时域参数、频域参数或时频域参数对应的阈值进行比较，获得所述单个电驱部件的状态。The state of the single electric drive component is obtained by comparing the time domain parameter, the frequency domain parameter or the time-frequency domain parameter with the time domain parameter, the frequency domain parameter or the threshold value corresponding to the time-frequency domain parameter.
在上述利用上述无线振动传感器进行电驱部件的诊断方法的一个技术方案中，当根据车辆的电驱部件发生故障的历史数据提示所述无线振动传感器的设置位置为多个时，所述车载控制器根据所述特征值进行诊断分析，获得电驱部件的状态，包括：In one technical solution of the above-mentioned method for diagnosing electric drive components by using the above wireless vibration sensor, when a plurality of installation positions of the wireless vibration sensor are prompted according to historical data of the failure of the electric drive components of the vehicle, the on-board control The controller performs diagnostic analysis according to the characteristic values to obtain the status of the electric drive components, including:
获得多个电驱部件的特征值包含的时域参数、频域参数或时频域参数，并对多个时域参数、频域参数或时频域参数进行数据拟合，获得表征多个电驱部件的综合特征值的数据；Obtain the time domain parameters, frequency domain parameters or time-frequency domain parameters contained in the eigenvalues of multiple electric drive components, and perform data fitting on the multiple time domain parameters, frequency domain parameters or time-frequency domain parameters to obtain the characteristics of multiple electric drive components. The data of the comprehensive eigenvalues of the drive components;
将所述表征多个电驱部件的综合特征值的数据与时域参数、频域参数或时频域参数的阈值进行比较；comparing the data representing the comprehensive characteristic values of the plurality of electric drive components with a time domain parameter, a frequency domain parameter or a time-frequency domain parameter threshold;
若所述表征多个电驱部件的综合特征值的数据小于所述阈值，则多个电驱部件无故障；If the data representing the comprehensive characteristic value of the plurality of electric drive components is less than the threshold, the plurality of electric drive components are not faulty;
若所述表征多个电驱部件的综合特征值的数据大于所述阈值，则多个电驱部件中存在故障，根据多个电驱部件的设置位置、传递效率以及传递距离，获得故障电驱部件的位置。If the data representing the comprehensive eigenvalues of the plurality of electric drive components is greater than the threshold value, there is a fault in the plurality of electric drive components, and the faulty electric drive components are obtained according to the location, transmission efficiency and transmission distance of the plurality of electric drive components the location of the part.
在上述利用上述无线振动传感器进行电驱部件的诊断方法的一个技术方案中，还包括：In a technical solution of the above-mentioned method for diagnosing an electric drive component using the above-mentioned wireless vibration sensor, it also includes:
当使用所述无线振动传感器监控车辆的电驱部件状态的时间达到第一时间阈值后，对所述无线振动传感器进行校准。When the time for using the wireless vibration sensor to monitor the state of the electric drive components of the vehicle reaches a first time threshold, the wireless vibration sensor is calibrated.
在第三方面，提供一种汽车，所述汽车包括：In a third aspect, an automobile is provided, the automobile comprising:
根据本发明第一方面所述的无线振动传感器；以及The wireless vibration sensor according to the first aspect of the present invention; and
车载控制器，用于接收所述特征值，并根据所述特征值进行故障诊断分析，获得电驱部件的状态。The vehicle-mounted controller is used for receiving the characteristic value, and performing fault diagnosis and analysis according to the characteristic value to obtain the state of the electric drive components.
本发明上述一个或多个技术方案，至少具有如下一种或多种有益效果：The above-mentioned one or more technical solutions of the present invention have at least one or more of the following beneficial effects:
在实施本发明的技术方案中，提出一种无线振动传感器，旨在将传感振动模块、数据存储模块、微控制器和无线通讯模块整合到无线振动传感器中，直接将无线振动传感器放置在电驱外壳上即可使用无线振动传感器进行电驱部件的诊断，不需要将无线振动传感器安装在车辆内部电驱线路内，也不需要采用有线技术将振动传感器与外部电路连接，实现了无线振动传感器与电驱系统的解耦。进一步地，本发明还提供了一种利用上述无线振动传感器进行电驱部件的诊断方法，一方面，可以根据车辆的实际使用情况使用无线振动传感器进行电驱部件的诊断；另一方面，还可以对同一车辆合理选择多个无线振动传感器布置点，从而提高采集的振动信号的质量，进一步提高诊断效果。In implementing the technical solution of the present invention, a wireless vibration sensor is proposed, which aims to integrate a sensing vibration module, a data storage module, a microcontroller and a wireless communication module into the wireless vibration sensor, and directly place the wireless vibration sensor on the electrical The wireless vibration sensor can be used on the drive housing to diagnose the electric drive components. It is not necessary to install the wireless vibration sensor in the electric drive circuit inside the vehicle, nor to use wired technology to connect the vibration sensor to the external circuit, realizing the wireless vibration sensor. Decoupling from the electric drive system. Further, the present invention also provides a method for diagnosing electric drive components using the above-mentioned wireless vibration sensor. On the one hand, the wireless vibration sensor can be used to diagnose electric drive components according to the actual use of the vehicle; Reasonably select multiple wireless vibration sensor placement points for the same vehicle, thereby improving the quality of the collected vibration signals and further improving the diagnosis effect.
附图说明Description of drawings
参照附图，本发明的公开内容将变得更易理解。本领域技术人员容易理解的是：这些附图仅仅用于说明的目的，而并非意在对本发明的保护范围组成限制。此外，图中类似的数字用以表示类似的部件，其中：The disclosure of the present invention will become more easily understood with reference to the accompanying drawings. It can be easily understood by those skilled in the art that these drawings are only for the purpose of illustration, and are not intended to limit the protection scope of the present invention. In addition, like numerals in the figures are used to designate like parts, where:
图1是根据本发明的一个实施例的无线振动传感器的主要结构示意图；1 is a schematic diagram of the main structure of a wireless vibration sensor according to an embodiment of the present invention;
图2是根据本发明的又一个实施例的利用上述无线振动传感器进行电驱部件的诊断方法的主要步骤示意图。FIG. 2 is a schematic diagram of main steps of a method for diagnosing an electric drive component by using the above wireless vibration sensor according to still another embodiment of the present invention.
具体实施方式Detailed ways
下面参照附图来描述本发明的一些实施方式。本领域技术人员应当理解的是，这些实施方式仅仅用于解释本发明的技术原理，并非旨在限制本发明的保护范围。Some embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principle of the present invention, and are not intended to limit the protection scope of the present invention.
在本发明的描述中，“模块”可以包括硬件、软件或者两者的组合。一个模块可以包括硬件电路，各种合适的感应器，通信端口，存储器，也可以包括软件部分，比如程序代码，也可以是软件和硬件的组合。In the description of the present invention, a "module" may include hardware, software, or a combination of both. A module may include hardware circuits, various suitable sensors, communication ports, memory, and may also include software parts, such as program codes, or a combination of software and hardware.
基于背景技术中提出的技术问题，本发明提供了一种无线振动传感器，旨在将传感振动模块、数据存储模块、微控制器和无线通讯模块整合到无线振动传感器中，直接将无线振动传感器放置在电驱外壳上即可使用无线振动传感器进行电驱部件的诊断，不需要将无线振动传感器安装在车辆内部电驱线路内，也不需要采用有线技术将振动传感器与外部电路连接，实现了无线振动传感器与电驱系统的解耦。进一步地，本发明还提供了一种利用上述无线振动传感器进行电驱部件的诊断方法，一方面，可以根据车辆的实际使用情况使用无线振动传感器进行电驱部件的诊断；另一方面，还可以对同一车辆合理选择多个无线振动传感器布置点，从而提高采集的振动信号的质量，进一步提高诊断效果。Based on the technical problems raised in the background art, the present invention provides a wireless vibration sensor, which aims to integrate a sensing vibration module, a data storage module, a microcontroller and a wireless communication module into the wireless vibration sensor, and directly integrate the wireless vibration sensor The wireless vibration sensor can be used to diagnose the electric drive components by placing it on the electric drive housing. It is not necessary to install the wireless vibration sensor in the electric drive circuit inside the vehicle, nor to use wired technology to connect the vibration sensor to the external circuit. Decoupling of wireless vibration sensor and electric drive system. Further, the present invention also provides a method for diagnosing electric drive components using the above-mentioned wireless vibration sensor. On the one hand, the wireless vibration sensor can be used to diagnose electric drive components according to the actual use of the vehicle; Reasonably select multiple wireless vibration sensor placement points for the same vehicle, thereby improving the quality of the collected vibration signals and further improving the diagnosis effect.
参阅附图1，图1是根据本发明的一个实施例的无线振动传感器的主要结构示意图。如图1所示，本发明实施例提供一种无线振动传感器，该无线振动传感器包括：外壳1、设置在所述外壳1内的振动传感模块10、微控制器20、数据存储模块30和无线通讯模块40，其中，所述振动传感模块10，用于检测车辆电驱部件的振动信号；所述微控制器20，用于对所述振动信号进行特征值提取，获得表征所述振动信号的特征值；所述数据存储模块30，用于存储所述特征值；所述无线通讯模块40，用于将所述特征值传输给车载控制器，所述特征值用于供车载控制器进行所述电驱部件的诊断分析。Referring to FIG. 1, FIG. 1 is a schematic diagram of the main structure of a wireless vibration sensor according to an embodiment of the present invention. As shown in FIG. 1 , an embodiment of the present invention provides a wireless vibration sensor. The wireless vibration sensor includes: a casing 1 , a vibration sensing module 10 disposed in the casing 1 , a
一个实施方式中，无线振动传感器应用于车辆的电驱部件的诊断，根据车辆的实际使用情况，具体包括车辆的使用年龄，车辆行驶里程和通过大数据获得的车辆的过往工况以及维修情况，当判断到车辆需要进行电驱部件的诊断时，将无线振动传感器安装在车辆对应的电驱外壳的预留安装位置，无线振动传感器的振动传感模块10开始采集对应的电驱部件的振动信号，之后，无线振动传感器的微控制器20先获取振动传感模块10检测的车辆电驱部件的振动信号，再对所述振动信号进行特征值提取，获得表征所述振动信号的特征值。In one embodiment, the wireless vibration sensor is applied to the diagnosis of the electric drive components of the vehicle, according to the actual usage of the vehicle, specifically including the age of use of the vehicle, the mileage of the vehicle, and the past operating conditions and maintenance conditions of the vehicle obtained through big data, When it is determined that the vehicle needs to diagnose the electric drive components, the wireless vibration sensor is installed in the reserved installation position of the electric drive housing corresponding to the vehicle, and the vibration sensing module 10 of the wireless vibration sensor starts to collect the vibration signals of the corresponding electric drive components Then, the
其中，微控制器20获取振动传感模块10检测的车辆电驱部件的振动信号有很多种方式，例如，一种方式为振动传感模块10将振动信号发送给微控制器20，另一种方式为振动传感模块10将检测的车辆电驱部件的振动信号给了读卡器，微控制器20从读卡器中读取振动信号，本发明对于微控制器20获取振动信号的具体方式不作限定。There are many ways for the
同样地，本发明对于数据存储模块30获取特征值的方式和无线通讯模块40获取特征值的方式也不作限定，一种方式为微控制器20将特征值发送给数据存储模块30，数据存储模块30除了将特征值进行存储外，还将特征值发送给无线通讯模块40。Similarly, the present invention does not limit the way in which the data storage module 30 obtains the characteristic value and the way in which the wireless communication module 40 obtains the characteristic value. One way is that the
无线通讯模块40用于将所述特征值传输给车载控制器，所述特征值用于供车载控制器进行所述电驱部件的诊断分析，其中，特征值可以为时域参数、频域参数或者时频域参数，时域参数例如可以为：均方根、峰值因子、脉冲因子、裕度因子、峭度因子、波形因子和偏度等；频域参数例如可以为：频谱、能量谱、功率谱和倒频谱等；时频域参数例如可以为：瀑布图，短时傅里叶变换频率，小波时频谱和鞘度谱等。The wireless communication module 40 is used for transmitting the eigenvalues to the on-board controller, and the eigenvalues are used for the on-board controller to perform diagnostic analysis of the electric drive components, wherein the eigenvalues can be time domain parameters, frequency domain parameters Or time-frequency domain parameters, such as time domain parameters can be: root mean square, crest factor, impulse factor, margin factor, kurtosis factor, shape factor and skewness, etc.; frequency domain parameters can be, for example, spectrum, energy spectrum, Power spectrum and cepstrum, etc.; time-frequency domain parameters can be, for example, waterfall diagram, short-time Fourier transform frequency, wavelet time spectrum and sheath spectrum, etc.
一个实施方式中，所述微控制器20对所述振动信号进行特征值提取之前，还包括对所述振动信号进行信号前处理，例如对振动信号进行无用信号判定、信号归一化以及信号降噪等处理。In one embodiment, before the
一个实施方式中，无线振动传感器还包括：设置在外壳1内的能量采集模块50和能量存储模块60，其中，所述能量采集模块50，用于收集来自所述车辆的机械能并将收集到的机械能转变为电能存储在所述能量存储模块60中；所述能量存储模块60，用于给所述振动传感模块10、所述微控制器20、所述数据存储模块30和所述无线通讯模块40供电。In one embodiment, the wireless vibration sensor further includes: an energy collection module 50 and an energy storage module 60 disposed in the housing 1, wherein the energy collection module 50 is used to collect mechanical energy from the vehicle and store the collected The mechanical energy is converted into electrical energy and stored in the energy storage module 60; the energy storage module 60 is used for the vibration sensing module 10, the
一个实施方式中，能量采集模块50例如为e-peas AEM30940振动能量收集IC，能量存储模块60例如为电池，e-peas AEM30940振动能量收集IC例如根据振动信号采集车辆的机械能，并转换为电能后，将电能存储在电池内，电池给振动传感模块10、所述微控制器20、所述数据存储模块30和所述无线通讯模块40供电。In one embodiment, the energy collection module 50 is, for example, an e-peas AEM30940 vibration energy collection IC, the energy storage module 60 is, for example, a battery, and the e-peas AEM30940 vibration energy collection IC, for example, collects the mechanical energy of the vehicle according to the vibration signal, and converts it into electrical energy. , store electric energy in a battery, and the battery supplies power to the vibration sensing module 10 , the
由于能量采集模块50受到能量回收效率的影响，电池的容量会有限制，为了节约无线振动传感器的电能，本实施例中的无线振动传感器10周期性地获取电驱部件的振动信号。Since the energy collection module 50 is affected by the energy recovery efficiency, the capacity of the battery will be limited. In order to save the power of the wireless vibration sensor, the wireless vibration sensor 10 in this embodiment periodically acquires vibration signals of the electric drive components.
一个实施方式中，例如在微控制器20中设置时钟，振动传感模块10以时钟周期获取电驱部件的振动信号，该设计可以让无线振动传感器每隔一段时间唤醒一次，以采集电驱部件的振动信号并对其进行处理，从而达到省电的效果。In one embodiment, for example, a clock is set in the
本发明实施例提供的无线振动传感器封装在可拆卸外壳内，便于携带，旨在将传感振动模块、数据存储模块、微控制器和无线通讯模块整合到无线振动传感器中，直接将无线振动传感器放置在电驱外壳上即可使用无线振动传感器进行电驱部件的诊断，不需要将无线振动传感器安装在车辆内部电驱线路内，也不需要采用有线技术将振动传感器与外部电路连接，实现了无线振动传感器与电驱系统的解耦。The wireless vibration sensor provided by the embodiment of the present invention is packaged in a detachable casing, which is easy to carry, and aims to integrate a sensing vibration module, a data storage module, a microcontroller and a wireless communication module into the wireless vibration sensor, and directly integrate the wireless vibration sensor The wireless vibration sensor can be used to diagnose the electric drive components by placing it on the electric drive housing. It is not necessary to install the wireless vibration sensor in the electric drive circuit inside the vehicle, nor to use wired technology to connect the vibration sensor to the external circuit. Decoupling of wireless vibration sensor and electric drive system.
参阅附图2，图2是根据本发明的又一个实施例的利用上述无线振动传感器进行电驱部件的诊断方法的主要步骤流程示意图。如图2所示，本发明实施例中的利用上述无线振动传感器进行电驱部件的诊断方法主要包括下列步骤S101-步骤S104。Referring to FIG. 2 , FIG. 2 is a schematic flowchart of main steps of a method for diagnosing an electric drive component by using the above wireless vibration sensor according to another embodiment of the present invention. As shown in FIG. 2 , the method for diagnosing an electrically driven component by using the above wireless vibration sensor in an embodiment of the present invention mainly includes the following steps S101 to S104 .
步骤S101：将所述无线振动传感器设置在电驱外壳上。Step S101: Disposing the wireless vibration sensor on the electric drive casing.
一个实施方式中，所述将所述无线振动传感器设置在电驱外壳上，包括：In one embodiment, the method of disposing the wireless vibration sensor on the electric drive housing includes:
所述车载控制器根据车辆的历史使用数据提示车辆需要对电驱部件进行诊断的时机；The on-board controller prompts the vehicle according to the historical usage data of the vehicle when the electric drive component needs to be diagnosed;
根据所述时机将所述无线振动传感器设置在所述电驱外壳上。The wireless vibration sensor is arranged on the electric drive housing according to the timing.
一个实施方式中，车载控制器根据车辆的历史使用数据判断车辆是否需要对电驱部件进行诊断，例如历史数据中显示当车辆行驶里程达到两万公里时，电机的轴承容易出现故障，当未被检测过的车辆行驶里程达到两万公里时，车载控制器判断到需要对该车辆的电机的轴承进行诊断，此时车辆的车内显示屏上弹出提示窗口，提醒车主及时对电机的轴承进行诊断。当车主看到提醒信息时需要在一段时间内例如一周之内将所述无线振动传感器设置在所述电驱外壳上，从而对电机的轴承进行诊断。In one embodiment, the on-board controller determines whether the vehicle needs to diagnose the electric drive components according to the historical usage data of the vehicle. For example, the historical data shows that when the mileage of the vehicle reaches 20,000 kilometers, the bearing of the motor is prone to failure. When the mileage of the detected vehicle reaches 20,000 kilometers, the on-board controller determines that it is necessary to diagnose the bearing of the motor of the vehicle. At this time, a prompt window pops up on the in-vehicle display of the vehicle to remind the owner to diagnose the bearing of the motor in time. . When the vehicle owner sees the reminder message, the wireless vibration sensor needs to be set on the electric drive housing within a period of time, for example, within a week, so as to diagnose the bearing of the motor.
需要说明的是，电机的轴承是电驱部件的举例，电驱部件还可以为电机的绕组、电机的永磁体、电机的油封、控制器、电容、功率半导体和齿轮箱等，本发明对此不作限定。It should be noted that the bearing of the motor is an example of the electric drive component, and the electric drive component can also be the winding of the motor, the permanent magnet of the motor, the oil seal of the motor, the controller, the capacitor, the power semiconductor and the gear box, etc. Not limited.
一个实施方式中，车载控制器根据车辆的历史使用数据判断车辆是否需要对电驱部件进行诊断时，包括判断需要对单个电驱部件进行诊断，或者需要对多个电驱部件进行诊断。例如，当车辆行驶在稳定工况下，且车辆行驶里程在一个阈值范围内，假设阈值为六万公里，车载控制器根据车辆的历史使用数据判断需要对车辆的单个电驱部件进行诊断；当车辆行驶在复杂工况下，结合车辆的历史使用数据以及该复杂工况下车辆本身的其它数据，例如速度、加速度、电驱部件的温度等，车载控制器判断该车辆的多个电驱部件均可能发生故障，此时需要对车辆的多个电驱部件进行诊断。In one embodiment, when the on-board controller determines whether the vehicle needs to diagnose the electric drive components according to the historical usage data of the vehicle, it includes judging that a single electric drive component needs to be diagnosed, or a plurality of electric drive components need to be diagnosed. For example, when the vehicle is running under stable operating conditions and the vehicle mileage is within a threshold range, assuming that the threshold is 60,000 kilometers, the on-board controller determines that a single electric drive component of the vehicle needs to be diagnosed based on the historical usage data of the vehicle; when The vehicle is driven in complex working conditions, combined with the historical usage data of the vehicle and other data of the vehicle itself under the complex working conditions, such as speed, acceleration, temperature of the electric drive components, etc., the on-board controller determines the multiple electric drive components of the vehicle. Failure may occur, and at this time, multiple electric drive components of the vehicle need to be diagnosed.
当对单个电驱部件进行诊断时，将对应电驱部件的电驱外壳上放置一个无线振动传感器，以判断该电驱部件是否出现故障；当对多个电驱部件进行诊断时，将对应多个电驱部件的多个电驱外壳上分别放置一个无线振动传感器，以判断多个电驱部件中是否出现故障以及出现故障的具体是多个电驱部件中的哪些电驱部件。When diagnosing a single electric drive part, a wireless vibration sensor is placed on the electric drive shell of the corresponding electric drive part to judge whether the electric drive part is faulty; when diagnosing multiple electric drive parts, the corresponding A wireless vibration sensor is respectively placed on a plurality of electric drive housings of each electric drive component to determine whether a fault occurs in the multiple electric drive components and which electric drive components of the multiple electric drive components are faulted.
一个实施方式中，所述将所述无线振动传感器设置在电驱外壳上，包括：In one embodiment, the method of disposing the wireless vibration sensor on the electric drive housing includes:
所述车载控制器根据车辆的电驱部件发生故障的历史数据提示所述无线振动传感器的设置位置；The on-board controller prompts the setting position of the wireless vibration sensor according to the historical data of the failure of the electric drive components of the vehicle;
根据所述设置位置将所述无线振动传感器设置在电驱外壳上。The wireless vibration sensor is arranged on the electric drive housing according to the arrangement position.
一个实施方式中，根据车辆的电驱部件发生故障的历史数据可以获得诊断结果更精确的电驱部件对应的无线振动传感器的设置位置，将电驱部件对应的无线振动传感器的设置位置通过提前设置磁铁或者设置螺丝孔等方式进行预留，当车辆控制器检测到电驱部件(包括单个或多个)需要进行诊断时，车内显示屏弹出的提示窗口中也显示有无线振动传感器的设置位置(对应电驱部件，包括单个或多个)，之后车主将无线振动传感器以吸磁或者螺丝钉等的方式安装至车辆预留安装设置位置处的电驱外壳上。In one embodiment, the setting position of the wireless vibration sensor corresponding to the electric drive part with a more accurate diagnosis result can be obtained according to the historical data of the failure of the electric drive part of the vehicle, and the setting position of the wireless vibration sensor corresponding to the electric drive part is set in advance. Magnets or screw holes are reserved. When the vehicle controller detects that the electric drive components (including single or multiple) need to be diagnosed, the prompt window that pops up on the in-vehicle display also shows the setting position of the wireless vibration sensor. (corresponding to electric drive components, including single or multiple), and then the car owner installs the wireless vibration sensor on the electric drive housing at the reserved installation location of the vehicle by means of magnetism or screws.
需要说明的是，本发明对于无线振动传感器的安装方式不作限定，只要能在车载控制器检测到电驱部件需要进行诊断时，便于将无线振动传感器安装在对应电驱部件预留的安装设置位置处的电驱外壳上即可。It should be noted that the present invention does not limit the installation method of the wireless vibration sensor, as long as the on-board controller detects that the electric drive component needs to be diagnosed, it is convenient to install the wireless vibration sensor in the installation location reserved for the corresponding electric drive component. on the electric drive housing.
步骤S102：所述振动传感模块获取所述车辆的电驱部件上的振动信号。Step S102: the vibration sensing module acquires vibration signals on the electric drive components of the vehicle.
一个实施方式中，所述振动传感模块周期性的获取车辆的对应电驱部件上的振动信号，以使得微控制器根据振动传感模块采集的振动信号获得表征振动信号的特征值。其中，在微控制器根据振动传感模块采集的振动信号获得表征振动信号的特征值之前，还包括对所述振动信号进行信号前处理，例如对振动信号进行无用信号判定、信号归一化以及信号降噪等处理。In one embodiment, the vibration sensing module periodically acquires vibration signals on the corresponding electric drive components of the vehicle, so that the microcontroller obtains characteristic values representing the vibration signals according to the vibration signals collected by the vibration sensing module. Wherein, before the microcontroller obtains the characteristic value representing the vibration signal according to the vibration signal collected by the vibration sensing module, it also includes performing signal preprocessing on the vibration signal, for example, performing useless signal determination on the vibration signal, signal normalization and Signal noise reduction, etc.
步骤S103：所述微控制器对所述振动信号进行特征值提取，获得表征所述振动信号的特征值，并通过所述无线通讯模块传输给车载控制器。Step S103: The microcontroller extracts the characteristic value of the vibration signal, obtains the characteristic value representing the vibration signal, and transmits the characteristic value to the vehicle-mounted controller through the wireless communication module.
一个实施方式中，特征值提取包括提取该振动信号的时域参数、频域参数或者时频域参数，其中，时域参数例如可以为：均方根、峰值因子、脉冲因子、裕度因子、峭度因子、波形因子和偏度等；频域参数例如可以为：频谱、能量谱、功率谱和倒频谱等；时频域参数例如可以为：瀑布图，短时傅里叶变换频率，小波时频谱和鞘度谱等，根据时域参数、频域参数或者时频域参数获得表征振动信号的特征值，无线通讯模块通过蓝牙、5G或者WIFI的无线网关将表征振动信号的特征值传输给车载控制器。In one embodiment, the feature value extraction includes extracting time domain parameters, frequency domain parameters or time-frequency domain parameters of the vibration signal, wherein the time domain parameters may be, for example, root mean square, crest factor, impulse factor, margin factor, kurtosis factor, shape factor, skewness, etc.; frequency domain parameters can be, for example, spectrum, energy spectrum, power spectrum, and cepstrum, etc.; time-frequency domain parameters can be, for example, waterfall plot, short-time Fourier transform frequency, wavelet Time spectrum and sheath spectrum, etc., according to the time domain parameters, frequency domain parameters or time-frequency domain parameters to obtain the characteristic value of the vibration signal, the wireless communication module transmits the characteristic value of the vibration signal to the wireless gateway through Bluetooth, 5G or WIFI. On-board controller.
步骤S104：所述车载控制器根据所述特征值进行诊断分析，获得电驱部件的状态。Step S104: The on-board controller performs diagnostic analysis according to the characteristic value to obtain the state of the electric drive components.
一个实施方式中，当根据车辆的电驱部件发生故障的历史数据提示所述无线振动传感器的设置位置为单个时，所述车载控制器根据所述特征值进行诊断分析，获得电驱部件的状态，包括：In one embodiment, when it is prompted that the setting position of the wireless vibration sensor is single according to the historical data of the failure of the electric drive components of the vehicle, the on-board controller performs diagnostic analysis according to the characteristic values, and obtains the status of the electric drive components. ,include:
获得单个电驱部件的特征值包含的时域参数、频域参数或时频域参数；Obtain the time domain parameters, frequency domain parameters or time-frequency domain parameters contained in the eigenvalues of a single electric drive component;
将所述时域参数、频域参数或时频域参数与所述时域参数、频域参数或时频域参数对应的阈值进行比较，获得所述单个电驱部件的状态。The state of the single electric drive component is obtained by comparing the time domain parameter, the frequency domain parameter or the time-frequency domain parameter with the time domain parameter, the frequency domain parameter or the threshold value corresponding to the time-frequency domain parameter.
一个实施方式中，使用时域参数诊断单个电驱部件的方法为：对应时域参数中的均方根、峰值因子、脉冲因子、裕度因子、峭度因子、波形因子和偏度等分别有一个阈值，当使用时域参数作为判断单个电驱部件的状态的依据时，将无线振动传感器获取的振动信号的特征值对应的均方根、峰值因子、脉冲因子、裕度因子、峭度因子、波形因子或偏度的数据与所述对应的阈值进行比较，得出单个电驱部件的状态，若获取的振动信号的特征值对应的均方根、峰值因子、脉冲因子、裕度因子、峭度因子、波形因子或偏度的数据小于对应的阈值，则单个电驱部件无故障，若获取的振动信号的特征值对应的均方根、峰值因子、脉冲因子、裕度因子、峭度因子、波形因子或偏度的数据大于对应的阈值，则单个电驱部件有故障，距离该无线振动传感器设置位置处最近的电驱部件即为故障电驱部件。In one embodiment, the method for diagnosing a single electric drive component using time domain parameters is as follows: the root mean square, crest factor, pulse factor, margin factor, kurtosis factor, shape factor, and skewness of the corresponding time domain parameters are respectively as follows: A threshold, when the time domain parameters are used as the basis for judging the state of a single electric drive component, the root mean square, crest factor, pulse factor, margin factor, and kurtosis factor corresponding to the eigenvalues of the vibration signal obtained by the wireless vibration sensor are used. , the data of the shape factor or skewness are compared with the corresponding threshold to obtain the state of a single electric drive component. If the RMS, crest factor, pulse factor, margin factor, If the data of kurtosis factor, shape factor or skewness is less than the corresponding threshold value, then a single electric drive component is not faulty. If the data of factor, form factor or skewness is greater than the corresponding threshold, a single electric drive component is faulty, and the electric drive component closest to the location where the wireless vibration sensor is installed is the faulty electric drive component.
需要说明的是，使用频域参数或时频域参数诊断单个电驱部件的方法与使用时域参数诊断单个电驱部件的方法类似，本发明在此不作赘述。It should be noted that the method for diagnosing a single electric drive component using frequency domain parameters or time-frequency domain parameters is similar to the method for diagnosing a single electric drive component using time domain parameters, which will not be described in detail herein.
为了进一步精确地判断故障电驱部件的具体位置，本发明还包括将无线振动传感器的位置设置为多个。In order to further accurately determine the specific position of the faulty electric drive component, the present invention also includes setting the positions of the wireless vibration sensors to multiple.
一个实施方式中，当根据车辆的电驱部件发生故障的历史数据提示所述无线振动传感器的设置位置为多个时，所述车载控制器根据所述特征值进行诊断分析，获得电驱部件的状态，包括：In one embodiment, when it is prompted that there are multiple installation positions of the wireless vibration sensor according to the historical data of the failure of the electric drive components of the vehicle, the on-board controller performs diagnostic analysis according to the characteristic values, and obtains the information of the electric drive components. status, including:
获得多个电驱部件的特征值包含的时域参数、频域参数或时频域参数，并对多个时域参数、频域参数或时频域参数进行数据拟合，获得表征多个电驱部件的综合特征值的数据；Obtain the time domain parameters, frequency domain parameters or time-frequency domain parameters contained in the eigenvalues of multiple electric drive components, and perform data fitting on the multiple time domain parameters, frequency domain parameters or time-frequency domain parameters to obtain the characteristics of multiple electric drive components. The data of the comprehensive eigenvalues of the drive components;
将所述表征多个电驱部件的综合特征值的数据与时域参数、频域参数或时频域参数的阈值进行比较；comparing the data representing the comprehensive characteristic values of the plurality of electric drive components with a time domain parameter, a frequency domain parameter or a time-frequency domain parameter threshold;
若所述表征多个电驱部件的综合特征值的数据小于所述阈值，则多个电驱部件无故障；If the data representing the comprehensive characteristic value of the plurality of electric drive components is less than the threshold, the plurality of electric drive components are not faulty;
若所述表征多个电驱部件的综合特征值的数据大于所述阈值，则多个电驱部件中存在故障，根据多个电驱部件的设置位置、传递效率以及传递距离，获得故障电驱部件的位置。If the data representing the comprehensive eigenvalues of the plurality of electric drive components is greater than the threshold value, there is a fault in the plurality of electric drive components, and the faulty electric drive components are obtained according to the location, transmission efficiency and transmission distance of the plurality of electric drive components the location of the part.
一个实施方式中，多个无线振动传感器分别获取车辆电驱部件的振动信号，对应每个无线振动传感器中的微控制器提取出每个振动信号对应的特征值，再将多个特征值包含的时域参数、频域参数或时频域参数进行数据拟合，其中，数据拟合的方式有很多种，例如直线拟合、曲线拟合和分段拟合等，获得表征多个电驱部件的综合特征值的数据，将表征多个电驱部件的综合特征值的数据与对应时域参数、频域参数或时频域参数的阈值比较，若小于，则多个电驱部件均无故障，若大于，则需要判断多个电驱部件出现故障的具体电驱部件。In one embodiment, a plurality of wireless vibration sensors obtain vibration signals of the electric drive components of the vehicle, respectively, and the microcontroller in each wireless vibration sensor extracts the eigenvalue corresponding to each vibration signal, and then extracts the eigenvalues contained in the plurality of eigenvalues. Data fitting is performed on time domain parameters, frequency domain parameters or time-frequency domain parameters. Among them, there are many ways of data fitting, such as straight line fitting, curve fitting and segmental fitting, etc., to obtain and characterize multiple electric drive components. Compare the data representing the comprehensive eigenvalues of multiple electric drive components with the corresponding time domain parameters, frequency domain parameters, or thresholds of time-frequency domain parameters. If it is less than that, then multiple electric drive components are fault-free. , if it is greater than , then it is necessary to determine the specific electric drive components that are faulty in multiple electric drive components.
一个实施方式中，在不同传递距离和传递效率下，同一个振动源与传递效率成正比，与传递距离成反比，利用这一特性，车载控制器对多个无线振动传感器的设置位置设置不同的位置标签，并且对多个电驱部件的设置位置、传递效率以及传递距离进行建模和存储，获得故障电驱部件的位置。In one embodiment, under different transmission distances and transmission efficiencies, the same vibration source is proportional to the transmission efficiency and inversely proportional to the transmission distance. Using this feature, the vehicle-mounted controller sets different positions for the multiple wireless vibration sensors. Position labels, and model and store the setting positions, transmission efficiencies and transmission distances of multiple electric drive components to obtain the location of the faulty electric drive components.
一个实施方式中，所述方法还包括：In one embodiment, the method further includes:
当使用所述无线振动传感器诊断车辆的电驱部件状态的时间达到第一时间阈值后，对所述无线振动传感器进行校准。When the time for using the wireless vibration sensor to diagnose the state of the electric drive components of the vehicle reaches a first time threshold, the wireless vibration sensor is calibrated.
一个实施方式中，无线振动传感器与车辆的电驱系统的解耦，当检测到车辆需要进行检测时，将无线振动传感器用于电驱部件的检测，当车辆不再需要进行检测时，将已经安装在电驱外壳上的无线振动传感器拆卸下来，拆卸后的无线振动传感器可以继续用于下一辆需要进行电驱部件诊断的车辆，当无线振动传感器用于诊断车辆的电驱部件状态的时间达到第一时间阈值后，例如第一时间阈值为30天，对无线振动传感器进行一次校准，该设计可以对无线振动传感器进行定期校准，不仅可以提高无线振动传感器采集振动信号的准确度，还可以增加无线振动传感器的使用寿命，降低成本。In one embodiment, the wireless vibration sensor is decoupled from the electric drive system of the vehicle. When it is detected that the vehicle needs to be tested, the wireless vibration sensor is used for the detection of the electric drive components. When the vehicle no longer needs to be tested, the The wireless vibration sensor installed on the electric drive housing is removed, and the disassembled wireless vibration sensor can continue to be used for the next vehicle that needs to be diagnosed with electric drive components. When the wireless vibration sensor is used to diagnose the state of the electric drive components of the vehicle After the first time threshold is reached, for example, the first time threshold is 30 days, the wireless vibration sensor is calibrated once. This design can calibrate the wireless vibration sensor regularly, which can not only improve the accuracy of the vibration signal collected by the wireless vibration sensor, but also Increase the service life of wireless vibration sensors and reduce costs.
基于上述步骤S101-步骤S104，本发明提供了一种利用上述无线振动传感器进行电驱部件的诊断方法，一方面，可以根据车辆的实际使用情况使用无线振动传感器进行电驱部件的诊断；另一方面，还可以对同一车辆合理选择多个无线振动传感器布置点，从而提高采集的振动信号的质量，进一步提高诊断效果。Based on the above steps S101 to S104, the present invention provides a method for diagnosing electric drive components using the above wireless vibration sensor. On the one hand, the wireless vibration sensor can be used to diagnose electric drive components according to the actual use of the vehicle; In one aspect, it is also possible to reasonably select multiple wireless vibration sensor placement points for the same vehicle, thereby improving the quality of the collected vibration signals and further improving the diagnosis effect.
需要指出的是，尽管上述实施例中将各个步骤按照特定的先后顺序进行了描述，但是本领域技术人员可以理解，为了实现本发明的效果，不同的步骤之间并非必须按照这样的顺序执行，其可以同时(并行)执行或以其他顺序执行，这些变化都在本发明的保护范围之内。It should be pointed out that, although the steps in the above embodiments are described in a specific sequence, those skilled in the art can understand that in order to achieve the effect of the present invention, different steps do not necessarily need to be executed in such an order. It may be performed simultaneously (in parallel) or in other sequences, and these variations are within the scope of the present invention.
进一步，本发明还提供了一种汽车，所述汽车包括：根据上述实施例的无线振动传感器；以及Further, the present invention also provides an automobile comprising: the wireless vibration sensor according to the above-mentioned embodiment; and
车载控制器，用于接收所述特征值，并根据所述特征值进行故障诊断分析，获得电驱部件的状态。The vehicle-mounted controller is used for receiving the characteristic value, and performing fault diagnosis and analysis according to the characteristic value to obtain the state of the electric drive components.
上述车载控制器以用于执行图2所示的利用上述无线振动传感器进行电驱部件的诊断方法实施例，两者的技术原理、所解决的技术问题及产生的技术效果相似，本技术领域技术人员可以清楚地了解到，为了描述的方便和简洁，车载控制器的具体工作过程及有关说明，可以参考利用上述无线振动传感器进行电驱部件的诊断方法的实施例所描述的内容，此处不再赘述。The above-mentioned vehicle-mounted controller is used to execute the embodiment of the method for diagnosing electric drive components using the above-mentioned wireless vibration sensor shown in FIG. Personnel can clearly understand that, for the convenience and conciseness of the description, the specific working process of the vehicle-mounted controller and related instructions can be referred to the content described in the embodiment of the method for diagnosing electric drive components by using the above-mentioned wireless vibration sensor. Repeat.
本领域技术人员能够理解的是，本发明实现上述利用无线振动传感器进行电驱部件的诊断方法实施例的方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，所述计算机程序包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读存储介质可以包括：能够携带所述计算机程序代码的任何实体或装置、介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器、随机存取存储器、电载波信号、电信信号以及软件分发介质等。需要说明的是，所述计算机可读存储介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读存储介质不包括电载波信号和电信信号。It can be understood by those skilled in the art that, in the present invention, all or part of the process in the method embodiment of the above-mentioned method for diagnosing an electric drive component by using a wireless vibration sensor can also be completed by instructing the relevant hardware through a computer program. The computer program of the invention can be stored in a computer-readable storage medium, and when executed by the processor, the computer program can implement the steps of the above-mentioned method embodiments. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form, and the like. The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, medium, U disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electrical carrier Signals, telecommunication signals, and software distribution media, etc. It should be noted that the content contained in the computer-readable storage medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, computer-readable Storage media exclude electrical carrier signals and telecommunications signals.
进一步，应该理解的是，由于各个模块的设定仅仅是为了说明本发明的装置的功能单元，这些模块对应的物理器件可以是处理器本身，或者处理器中软件的一部分，硬件的一部分，或者软件和硬件结合的一部分。因此，图中的各个模块的数量仅仅是示意性的。Further, it should be understood that since the setting of each module is only for describing the functional units of the apparatus of the present invention, the physical device corresponding to these modules may be the processor itself, or a part of software in the processor, a part of hardware, or Part of the combination of software and hardware. Therefore, the numbers of the various modules in the figures are merely schematic.
本领域技术人员能够理解的是，可以对装置中的各个模块进行适应性地拆分或合并。对具体模块的这种拆分或合并并不会导致技术方案偏离本发明的原理，因此，拆分或合并之后的技术方案都将落入本发明的保护范围内。Those skilled in the art can understand that each module in the device can be split or combined adaptively. Such splitting or merging of specific modules will not cause the technical solutions to deviate from the principles of the present invention, and therefore, the technical solutions after splitting or combining will fall within the protection scope of the present invention.
至此，已经结合附图所示的优选实施方式描述了本发明的技术方案，但是，本领域技术人员容易理解的是，本发明的保护范围显然不局限于这些具体实施方式。在不偏离本发明的原理的前提下，本领域技术人员可以对相关技术特征作出等同的更改或替换，这些更改或替换之后的技术方案都将落入本发明的保护范围之内。So far, the technical solutions of the present invention have been described with reference to the preferred embodiments shown in the accompanying drawings, however, those skilled in the art can easily understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.
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