Fault detection method, device and system and vehicle

The invention provides a fault detection method, device and system and a vehicle, and relates to the technical field of vehicle control, and the method comprises the steps: obtaining a first signal outputted by a valve core detection sensor and a second signal outputted by a stay wire encoder of each of a plurality of supporting legs; according to the first signal and a second signal output by the stay wire encoder of each supporting leg, whether the stay wire encoder arranged on each supporting leg breaks down or not is judged. According to the fault detection method, device and system and the vehicle, whether the stay wire encoder on the operation machine is damaged or not is detected in real time, and the reliability and safety of equipment are improved. 本申请提供一种故障检测方法、装置、系统及车辆，涉及车辆控制技术领域，该方法包括：获取所述阀芯检测传感器输出的第一信号以及所述多个支腿中每个支腿的拉线编码器输出的第二信号；根据所述第一信号以及每个支腿的拉线编码器输出的第二信号，判断每个支腿上设置的拉线编码器是否出现故障。本申请提供的故障检测方法、装置、系统及车辆，用于实时检测作业机械上拉线编码器是否损坏的技术方案，以提高设备的可靠性和安全性。