Most of the existing hydraulic cylinder internal leakage detection methods are laboratory testing methods, mainly the pressure-holding method, measurement of hydraulic cylinder settlement method, and measuring cup measurement method. The internal leakage of the hydraulic cylinder affects the damping characteristics of the control system. Therefore, real-time internal leakage detection plays an important role in the control characteristics. This paper first proposes a wavelet analysis-based

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... ction of hydraulic cylinder internal leakage fault eigenvalues for analysis, that is, data processing. A convolutional neural network-based detection method is also proposed, in which the pressure signal of a chamber of a hydraulic cylinder is first obtained through simulation under four operating conditions: no leakage, small leakage, medium leakage, and large leakage. Compared to traditional modelling methods, the method overcomes the difficulties in modelling nonlinear hydraulic systems, requires only pressure signal acquisition, is simple and reliable, and is compared with traditional BP neural networks to demonstrate its superiority.