CN115782681A - Positioning system and method applied to new energy heavy truck battery box - Google Patents
Positioning system and method applied to new energy heavy truck battery box Download PDFInfo
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- CN115782681A CN115782681A CN202310036776.8A CN202310036776A CN115782681A CN 115782681 A CN115782681 A CN 115782681A CN 202310036776 A CN202310036776 A CN 202310036776A CN 115782681 A CN115782681 A CN 115782681A
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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- Y02T10/00—Road transport of goods or passengers
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Abstract
The invention relates to the technical field of new energy vehicles, in particular to a positioning system and a method applied to a new energy heavy truck battery box, which comprises the steps of collecting vehicle information of a heavy truck electric vehicle which drives into a target area each time and performs positioning battery replacement; collecting and extracting working parameter information generated on a battery replacement mechanical arm when a battery replacement station correspondingly finishes the battery replacement work of a positioning battery of a heavy truck electric vehicle; calculating the total attitude switching degrees correspondingly generated on all mechanical joints when the motor-switching mechanical arm completes each time of positioning battery switching work; based on the same evaluation standard, performing difficulty level evaluation on each positioning battery replacement work completed by the motor replacement mechanical arm to generate a state monitoring data comparison library; the state monitoring is carried out on the power conversion mechanical arm in the power conversion station in real time, when the state monitoring is abnormal, abnormal joint troubleshooting is carried out on the power conversion mechanical arm, and based on abnormal joint troubleshooting results, workers are reminded to arrange maintenance.
Description
Technical Field
The invention relates to the technical field of new energy vehicles, in particular to a positioning system and a positioning method applied to a new energy heavy truck battery box.
Background
Heavy truck electromotion is an important component of new energy automobile development and is an important breakthrough for realizing energy conservation and emission reduction in China; in the prior art, the weight of a battery box is about 3 tons, when the battery box is installed, the specific position of the battery box needs to be positioned, and then the battery box is installed according to a set standard by a manipulator, and the diameters of positive and negative terminal pins of the battery are only a few millimeters, so the reliability of battery replacement is directly influenced by the butt joint precision of a connector terminal head.
Because the mechanical arm or the mechanical arm for completing battery charging and replacing in the new energy heavy truck belongs to mechanical equipment, the mechanical equipment often has the problems of abrasion of parts in the machinery, increase of gaps and the like in the long-term use process; once the performance of the mechanical equipment for completing the battery replacement of the new-energy heavy truck is reduced, the installation position of the battery box is deviated, so that the requirement on the performance of the mechanical equipment for completing the battery replacement is higher if the requirement on the accuracy degree of the installation of the battery box is higher in the battery replacement work; therefore, the maintenance and the overhaul of the mechanical equipment for completing the battery replacement in the new energy heavy truck are necessary requirements for ensuring that a battery box in the battery replacement work in the battery replacement station can be accurately positioned.
Disclosure of Invention
The present invention provides a positioning system and method for a new energy heavy truck battery box, so as to solve the problems in the background art.
In order to solve the technical problems, the invention provides the following technical scheme: a positioning method applied to a new energy heavy truck battery box comprises the following steps:
step S100: collecting vehicle information of heavy truck electric vehicles which are driven into a target area for positioning battery replacement each time, and converging the vehicle information into an attribute information set corresponding to the heavy truck electric vehicles; collecting and extracting working parameter information generated on a battery replacement mechanical arm when each battery replacement station correspondingly finishes the battery replacement work of a positioning battery of the heavy truck electric vehicle;
step S200: calculating the total attitude switching degrees correspondingly generated on all mechanical joints when the motor-switching mechanical arm finishes each time of battery switching work of positioning;
step S300: based on the same evaluation standard, conducting grade classification on each positioning battery replacement work completed by the replacement mechanical arm based on the total attitude switching degree, and collecting and summarizing all historical battery replacement work data to generate a state monitoring data comparison library;
step S400: the state monitoring is carried out on the power conversion mechanical arm in the power conversion station in real time, when the state monitoring is abnormal, abnormal joint troubleshooting is carried out on the power conversion mechanical arm, and based on abnormal joint troubleshooting results, workers are reminded to arrange maintenance.
Further, step S100 includes:
step S101: when a heavy truck electric vehicle to be positioned for battery replacement is driven into a replacement station, data of the heavy truck electric vehicle relative to a vehicle stopping position, a front tire pressure difference, a rear tire pressure difference and a load of a replacement mechanical arm are extracted and stored when the heavy truck electric vehicle is ready for positioning for battery replacement, and the data are compiled into an attribute information set of the heavy truck electric vehicle
(ii) a The x corresponds to a vehicle parking position of the heavy truck electric vehicle relative to the battery replacement mechanical arm when the battery replacement is ready to be positioned; y correspondingly detecting the pressure difference between front and rear tires of the heavy truck electric vehicle when the positioning battery is ready for replacing the battery; z correspondingly detects the load of the heavy truck electric vehicle when the positioning battery is prepared for replacing the battery;
the information in the attribute information set often determines the posture of the battery to be replaced on the heavy truck electric vehicle, plays a necessary reference role in accurate positioning during subsequent battery replacement, and can reflect the difficulty degree of work on a battery replacement mechanical arm when the battery positioning replacement is completed each time;
step S102: obtaining mechanical drive generated by a battery replacement mechanical arm of a battery replacement station after unlocking the position of a vehicle-mounted base of the heavy-duty electric vehicle and positioning the position of a batteryInstruction set
；
Step S103: simultaneous swapping of electromechanical arms in executing a set of mechanical drive instructions
Collecting and storing relevant kinematic parameter information generated during various instructions; the relevant kinematic parameter information comprises the corresponding duration and speed of the battery replacement mechanical arm when executing various instructions.
Further, step S200 includes:
step S201: the conversion mechanical arm is provided with a sensor and collects the set of mechanical driving instructions executed by the conversion mechanical arm
When each driving instruction is received, capturing a switching Distance and a switching Angle which need to be transited and finished when each mechanical joint executes two adjacent driving instructions corresponding to the position of each mechanical joint on the electricity exchanging mechanical arm;
step S202: the corresponding posture switching degree of each joint when executing two adjacent driving commands
And (3) calculating:
wherein, a represents a weight value set by the system for the switching distance Distanc, b represents a weight value set for the switching Angle, and t represents a corresponding interval duration when each joint executes two adjacent driving instructions; wherein, the first and the second end of the pipe are connected with each other,
；
in the above, if the interval time is longer, the corresponding difficulty level is higher under the condition that the switching path and the switching angle are similar, which indicates that the machine needs to complete the posture switching with the same difficulty in a shorter time, and the requirement on the performance of the machine is higher;
step S203: mechanical driving instruction set executed by battery replacement mechanical arm
The total number of the drive commands contained in the instruction list is N; setting the number of mechanical joints on the battery replacement mechanical arm as M; calculating the total attitude switching degree Q corresponding to the current positioning battery replacement work completed by the battery replacement mechanical arm:
wherein the content of the first and second substances,
indicates that the ith joint is executing a mechanical driving instruction set
The jth attitude switching degree generated.
Further, step S300 includes:
step S301: corresponding total attitude switching degree Q generated by each historical positioning battery replacement work and corresponding attribute information set of heavy truck electric vehicle
Generates corresponding working condition matching link
(ii) a Setting a grade distinguishing line for the total posture switching degree, and carrying out grade classification on each historical positioning battery replacement record according to the corresponding total posture switching degree Q;
step S302: extracting all appeared driving instructions from all historical battery switching records with the total attitude switching degree belonging to the same level to obtain a time length interval and a speed interval when the battery switching mechanical arm executes each corresponding driving instruction in the level; collecting interval data corresponding to all levels to generate a state monitoring data comparison library of the mechanical arm;
the generated state monitoring data comparison database is generated along with the initial putting into use of the power exchange mechanical arm in the power exchange station, and in the patent, when the default power exchange mechanical arm is put into use at the beginning, each power exchange work is always completed in an optimal use state; the reason for establishing the state monitoring data comparison library is that the performance of the battery replacement mechanical arm may be reduced in the process that the time for putting the battery replacement mechanical arm into use is continuously increased, so that the state monitoring is required to be carried out on the battery replacement mechanical arm, and the real-time maintenance of the battery replacement mechanical arm is realized.
Further, step S400 includes:
step S401: obtaining vehicle information in real time for a heavy truck electric vehicle which is driven into a power exchange station and is to be subjected to battery replacement positioning, and obtaining an attribute information set of the heavy truck electric vehicle to be subjected to battery replacement positioning
And simultaneously acquiring a mechanical driving instruction set generated by a current power conversion mechanical arm of the power conversion station
Calculating the total attitude switching degree
Obtaining the current working condition matching link
Matching links based on operating conditions
Extracting the corresponding data from the comparison library of the state monitoring data of the mechanical arm
The time length interval and the speed interval of each driving instruction are arranged in the system;
step S402: when the number of the abnormal driving instructions of which the instruction execution time length is not in the corresponding time length interval or the speed corresponding to the instruction is not in the corresponding speed interval is larger than or equal to the number threshold value, displaying the state monitoring abnormality;
because the continuously executed instructions have a mutual influence relationship, if an execution deviation occurs when one instruction is executed, the next instruction to be executed is influenced, similar to a butterfly effect, when the more the influenced execution instructions are, the higher the possibility of indicating that the current working state of the mechanical arm is abnormal is, the higher the possibility of performance reduction is, and the higher the necessity of overhauling the mechanical arm is;
step S403: when the display state monitoring is abnormal, capturing the instruction section with the continuous abnormal driving instructions, locking the mechanical joints related to the driving instructions in the instruction section, and prompting the working personnel to troubleshoot and overhaul the mechanical joints.
When the battery replacement station receives a condition that troubleshooting and maintenance are needed on a mechanical joint, the fact that the battery positioning replacement of the heavy truck electric vehicle which is finished or to be finished at present possibly has errors in the finally realized battery positioning accuracy is meant, and meanwhile, the fact that a worker is prompted to finish once more battery positioning replacement on the current heavy truck electric vehicle after completing troubleshooting and maintenance on the motor replacement mechanical arm can be achieved.
In order to better realize the method, a positioning system applied to the new energy heavy truck battery box is further provided, and the system comprises: the system comprises an information acquisition processing module, an attitude switching degree calculation module, a positioning execution work evaluation module, a positioning state monitoring data comparison base construction module, a real-time state monitoring module, an abnormal troubleshooting module and a maintenance notification module;
the information acquisition processing module is used for acquiring vehicle information of the heavy truck electric vehicle which is driven into the target area to perform positioning battery replacement each time, and acquiring and extracting working parameter information generated on a battery replacement mechanical arm when the battery replacement station completes positioning battery replacement work of the heavy truck electric vehicle correspondingly each time;
the attitude switching degree calculation module is used for calculating the total attitude switching degree correspondingly generated on all mechanical joints when the motor-changing mechanical arm completes each time of battery replacement work of positioning;
the positioning execution work evaluation module is used for setting the evaluation level of difficulty of each positioning battery replacement work completed by the motor replacement mechanical arm based on the same evaluation standard;
the positioning state monitoring data comparison base building module is used for collecting and summarizing all historical battery replacement working data to build a state monitoring data comparison base;
the real-time state monitoring module is used for monitoring the state of a power conversion mechanical arm in the power conversion station in real time;
the abnormal investigation module is used for receiving the data in the real-time state monitoring module and carrying out abnormal joint investigation on the electric mechanical arm to be changed when the state monitoring is abnormal;
and the overhaul notification module is used for receiving the data in the abnormal troubleshooting module and sending overhaul reminding to the working personnel based on the abnormal joint troubleshooting result.
Further, the attitude switching degree calculation module comprises an attitude switching degree calculation unit and a total attitude switching degree conversion unit;
the attitude switching degree calculation unit is used for calculating the attitude switching degree of each mechanical joint according to the position of each mechanical joint on the electricity switching mechanical arm and the switching distance and the switching angle of each mechanical joint which need to be transited when each mechanical joint executes two adjacent driving instructions;
and the total attitude switching degree conversion unit is used for receiving the data in the attitude switching degree calculation unit and calculating the corresponding total attitude switching degree of the battery swapping mechanical arm when the current positioning battery swapping work is finished.
Furthermore, the positioning state monitoring data comparison library construction module comprises a working condition matching link construction unit, a driving instruction corresponding information extraction unit and a data collection unit;
the working condition matching link construction unit is used for generating a corresponding working condition matching link between the corresponding total attitude switching degree generated by each historical positioning battery replacement work and the corresponding attribute information set of the heavy truck electric vehicle; setting a grade distinguishing line for the total attitude switching degree, and carrying out grade classification on each historical positioning battery replacement record according to the corresponding total attitude switching degree;
the driving instruction corresponding information extraction unit is used for receiving the data in the working condition matching link construction unit, extracting all the driving instructions appearing in the historical battery switching records belonging to the same level, and obtaining a duration interval and a rate interval when the battery switching mechanical arm executes the corresponding driving instructions in the level;
and the data collection unit is used for collecting the interval data contained in all the levels to generate a state monitoring data comparison library of the mechanical arm.
Compared with the prior art, the invention has the following beneficial effects: the invention can realize monitoring of the working state of the battery box replacing operation of the replacing mechanical arm when the battery box replacing operation is carried out in real time based on historical data when the battery box replacing operation is finished, obtain the positioning accuracy pre-judging result of the replacing mechanical arm based on the monitoring result, and simultaneously can effectively detect the fault of positioning deviation caused by long-term completion of the battery replacing operation on the replacing mechanical arm so as to check and deal with the problem on the replacing mechanical arm in time, thereby ensuring accurate replacing and mounting of the battery box.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flowchart of a positioning method applied to a new energy heavy truck battery box according to the present invention;
fig. 2 is a schematic structural diagram of a positioning system applied to a new energy heavy truck battery box according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1-2, the present invention provides a technical solution: a positioning method applied to a new energy heavy truck battery box comprises the following steps:
step S100: collecting vehicle information of heavy truck electric vehicles which are driven into a target area for positioning battery replacement every time and converging the vehicle information into an attribute information set corresponding to the heavy truck electric vehicles; collecting and extracting working parameter information generated on a battery replacement mechanical arm when each battery replacement station correspondingly finishes the battery replacement work of a positioning battery of the heavy truck electric vehicle;
wherein, step S100 includes:
step S101: when a heavy truck electric vehicle to be positioned for battery replacement is driven into a replacement station, data of the heavy truck electric vehicle relative to a vehicle stopping position, a front tire pressure difference, a rear tire pressure difference and a load of a replacement mechanical arm are extracted and stored when the heavy truck electric vehicle is ready for positioning for battery replacement, and the data are compiled into an attribute information set of the heavy truck electric vehicle
(ii) a The x corresponds to a vehicle parking position of the heavy truck electric vehicle relative to the battery replacement mechanical arm when the battery replacement is ready to be positioned; y correspondingly detecting the pressure difference between front and rear tires of the heavy truck electric vehicle when the battery replacement is ready to be positioned; z correspondingly detects the load of the heavy truck electric vehicle when the positioning battery is prepared for replacing the battery;
step S102: acquiring a mechanical drive instruction set generated by a battery replacement mechanical arm of a battery replacement station after unlocking the position of a vehicle-mounted base of the heavy truck electric vehicle and positioning a battery
；
Step S103: simultaneous swapping of electromechanical arms in executing a set of mechanical drive instructions
Collecting and storing relevant kinematic parameter information generated during various instructions; correlation ofThe kinematic parameter information comprises corresponding duration and speed when the battery replacement mechanical arm executes various instructions;
step S200: calculating the total attitude switching degrees correspondingly generated on all mechanical joints when the motor-switching mechanical arm finishes each time of battery switching work of positioning;
wherein, step S200 includes:
step S201: a sensor is arranged on the electric-switching mechanical arm, and the electric-switching mechanical arm is collected to execute a mechanical driving instruction set
When each driving instruction is received, capturing the Distance and the Angle of the mechanical joint to be transited when each mechanical joint executes two adjacent driving instructions corresponding to the position of each mechanical joint on the battery replacing mechanical arm;
step S202: the corresponding posture switching degree of each joint when executing two adjacent driving commands
And (3) calculating:
wherein, a represents a weight value set by the system for the switching distance, b represents a weight value set for the switching Angle, and t represents a corresponding interval duration when each joint executes two adjacent driving instructions; wherein, the first and the second end of the pipe are connected with each other,
；
for example, the battery replacement mechanical arm relates to the mechanical joint 1, the mechanical joint 2, the mechanical joint 3, and the mechanical joint 4 when executing the mechanical drive command set D; wherein D comprises:
it means that
，N=10；
The switching distance of the mechanical joint 1 needing to be completed in a transition mode between the execution of the instruction 1 and the execution of the instruction 2 is detected to be 3m, the switching angle is 60 degrees, and the corresponding interval duration is 30s when the execution of the instruction 1 and the execution of the instruction 2 are performed; the posture switching degree P corresponding to the mechanical joint 1 when executing the instruction 1 and the instruction 2 is:
step S203: mechanical driving instruction set executed by battery replacement mechanical arm
The total number of the drive commands contained in the instruction list is N; setting the number of mechanical joints on the battery replacement mechanical arm as M; calculating a total attitude switching degree Q corresponding to the battery replacement mechanical arm completing the current positioning battery replacement work:
wherein the content of the first and second substances,
indicating that the ith joint is executing the mechanical drive instruction set
The j-th attitude switching degree generated
Step S300: based on the same evaluation standard, conducting grade classification on each positioning battery replacement work completed by the replacement mechanical arm based on the total attitude switching degree, and collecting and summarizing all historical battery replacement work data to generate a state monitoring data comparison library;
wherein, step S300 includes:
step S301: corresponding total attitude switching degree Q generated by each historical positioning battery replacement work and corresponding attribute information set of heavy truck electric vehicle
Generate corresponding working condition matching link
(ii) a Setting a grade distinguishing line for the total posture switching degree, and carrying out grade classification on each historical positioning battery replacement record according to the corresponding total posture switching degree Q;
step S302: extracting all appeared driving instructions from all historical battery switching records with the total attitude switching degree belonging to the same level to obtain a time length interval and a speed interval when the battery switching mechanical arm executes each corresponding driving instruction in the level; collecting the interval data corresponding to all the levels to generate a state monitoring data comparison library of the mechanical arm;
step S400: the state monitoring is carried out on the power change mechanical arm in the power change station in real time, when the state monitoring is abnormal, abnormal joint troubleshooting is carried out on the power change mechanical arm, and based on the troubleshooting result of the abnormal joint, a worker is reminded to arrange maintenance;
wherein, step S400 includes:
step S401: obtaining vehicle information in real time for a heavy truck electric vehicle which is driven into a power exchange station and needs to be positioned for battery replacement, and obtaining an attribute information set of the heavy truck electric vehicle which needs to be positioned for battery replacement
And simultaneously acquiring a mechanical driving instruction set generated by a current power conversion mechanical arm of the power conversion station
Calculating the total attitude switching degree
Obtaining the current working condition matching link
Matching links based on operating conditions
Extracting the corresponding data from the comparison library of the state monitoring data of the mechanical arm
The time length interval and the speed interval of each driving instruction are arranged in the system;
step S402: when the number of abnormal driving instructions of which the instruction execution time length is not in the corresponding time length interval or the speed corresponding to the instruction is not in the corresponding speed interval is larger than or equal to the number threshold value, displaying that the state monitoring is abnormal;
step S403: when the display state monitoring is abnormal, capturing the instruction section with the continuous abnormal driving instructions, locking the mechanical joints related to the driving instructions in the instruction section, and prompting the working personnel to troubleshoot and overhaul the mechanical joints.
In order to better realize the method, a positioning system applied to the new energy heavy truck battery box is further provided, and the system comprises: the system comprises an information acquisition processing module, an attitude switching degree calculation module, a positioning execution work evaluation module, a positioning state monitoring data comparison base construction module, a real-time state monitoring module, an abnormal troubleshooting module and an overhaul notification module;
the information acquisition processing module is used for acquiring vehicle information of the heavy truck electric vehicle which is driven into the target area to perform positioning battery replacement each time, and acquiring and extracting working parameter information generated on a battery replacement mechanical arm when the battery replacement station completes positioning battery replacement work of the heavy truck electric vehicle correspondingly each time;
the attitude switching degree calculation module is used for calculating the total attitude switching degree correspondingly generated on all mechanical joints when the motor-changing mechanical arm completes each time of battery replacement work of positioning;
the attitude switching degree calculation module comprises an attitude switching degree calculation unit and a total attitude switching degree conversion unit;
the attitude switching degree calculation unit is used for calculating the attitude switching degree of each mechanical joint according to the position of each mechanical joint on the battery replacement mechanical arm and the switching distance and the switching angle of each mechanical joint which need to be transited and completed when each mechanical joint executes two adjacent driving instructions;
the total attitude switching degree conversion unit is used for receiving the data in the attitude switching degree calculation unit and calculating the corresponding total attitude switching degree of the battery swapping mechanical arm when the current positioning battery swapping work is finished;
the positioning execution work evaluation module is used for setting the difficulty grade evaluation of each positioning battery replacement work completed by the replacement of the mechanical arm based on the same evaluation standard;
the positioning state monitoring data comparison base building module is used for collecting and summarizing all historical battery replacement work data to build a state monitoring data comparison base;
the positioning state monitoring data comparison library construction module comprises a working condition matching link construction unit, a driving instruction corresponding information extraction unit and a data collection unit;
the working condition matching link construction unit is used for generating a corresponding working condition matching link between the corresponding total attitude switching degree generated by each historical positioning battery replacement work and the corresponding attribute information set of the heavy truck electric vehicle; setting a grade distinguishing line for the total posture switching degree, and carrying out grade classification on each historical positioning battery replacement record according to the corresponding total posture switching degree;
the driving instruction corresponding information extraction unit is used for receiving the data in the working condition matching link construction unit, extracting all the driving instructions appearing in the historical battery power conversion records belonging to the same level, and obtaining a duration interval and a rate interval when the power conversion mechanical arm executes the corresponding driving instructions in the level;
the data collection unit is used for collecting the interval data contained in all the levels to generate a state monitoring data comparison library of the mechanical arm;
the real-time state monitoring module is used for monitoring the state of a power conversion mechanical arm in the power conversion station in real time;
the abnormal investigation module is used for receiving the data in the real-time state monitoring module and performing abnormal joint investigation on the electric mechanical arm when the state monitoring is abnormal;
and the maintenance notification module is used for receiving the data in the abnormal troubleshooting module and sending maintenance reminding to the working personnel based on the abnormal joint troubleshooting result.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A positioning method applied to a new energy heavy truck battery box is characterized by comprising the following steps:
step S100: collecting vehicle information of heavy truck electric vehicles which are driven into a target area to perform battery replacement positioning each time, and converging the vehicle information into an attribute information set corresponding to the heavy truck electric vehicles; collecting and extracting working parameter information generated on a battery replacement mechanical arm when each battery replacement station correspondingly finishes the battery replacement work of a positioning battery of the heavy truck electric vehicle;
step S200: calculating the total attitude switching degrees correspondingly generated on all mechanical joints when the motor-switching mechanical arm completes each time of positioning battery switching work;
step S300: based on the same evaluation standard, carrying out grade classification on each positioning battery replacement work completed by the motor replacement mechanical arm based on the total attitude switching degree, and collecting and summarizing all historical battery replacement work data to generate a state monitoring data comparison library;
step S400: the method comprises the steps of monitoring the state of a battery replacement mechanical arm in a battery replacement station in real time, when the state monitoring is abnormal, performing abnormal joint troubleshooting on the battery replacement mechanical arm, and reminding workers to arrange maintenance based on abnormal joint troubleshooting results.
2. The positioning method applied to the new energy heavy truck battery box according to claim 1, wherein the step S100 includes:
step S101: when a heavy truck electric vehicle to be positioned for battery replacement is driven into a replacement station, data of a vehicle stopping position, a front tire pressure difference, a rear tire pressure difference and a load of a replacement mechanical arm of the heavy truck electric vehicle are extracted and stored when the heavy truck electric vehicle is ready for positioning for battery replacement, and the data are compiled into an attribute information set of the heavy truck electric vehicle
(ii) a The x corresponds to a vehicle parking position of the heavy truck electric vehicle relative to the battery replacement mechanical arm when the battery replacement is ready to be positioned; y correspondingly detecting the pressure difference between front and rear tires of the heavy truck electric vehicle when the positioning battery is ready for replacing the battery; z correspondingly detecting the load of the heavy truck electric vehicle when the battery replacement is ready to be positioned;
step S102: acquiring a mechanical driving instruction set generated by a battery replacement mechanical arm of the battery replacement station after completing unlocking the position of the vehicle-mounted base of the heavy truck electric vehicle and positioning the position of a battery
；
Step S103: the mechanical arm is simultaneously switched to execute the mechanical driving instruction set
Collecting and storing relevant kinematic parameter information generated in various instructionsStoring; the relevant kinematic parameter information comprises the corresponding duration and speed of the battery replacement mechanical arm when executing various instructions.
3. The positioning method applied to the new energy heavy truck battery box according to claim 2, wherein the step S200 comprises:
step S201: a sensor is arranged on the electric conversion mechanical arm, and the electric conversion mechanical arm is used for acquiring the mechanical driving instruction set when the electric conversion mechanical arm executes
When each driving instruction is received, capturing a switching Distance and a switching Angle which need to be finished in a transition manner when each mechanical joint executes two adjacent driving instructions corresponding to the position of each mechanical joint on the electricity changing mechanical arm;
step S202: the corresponding posture switching degree of each joint when executing two adjacent driving commands
And (3) calculating:
wherein, a represents a weight value set by the system for the switching distance Distanc, b represents a weight value set for the switching Angle, and t represents a corresponding interval duration when each joint executes two adjacent driving instructions; wherein the content of the first and second substances,
；
step S203: the mechanical driving instruction set executed by the battery replacement mechanical arm is set
The total number of the drive commands contained in the instruction list is N; setting the number of mechanical joints on the battery replacement mechanical arm as M; calculating the total attitude switching corresponding to the current positioning battery replacement work completed by the battery replacement mechanical armDegree Q:
wherein, the first and the second end of the pipe are connected with each other,
indicating that the ith joint is executing the mechanical drive instruction set
The jth attitude switching degree generated in the process.
4. The positioning method applied to the new energy heavy truck battery box according to claim 3, wherein the step S300 comprises:
step S301: corresponding total attitude switching degree Q generated by each historical positioning battery replacement work and corresponding attribute information set of heavy truck electric vehicle
Generate corresponding working condition matching link
(ii) a Setting a grade distinguishing line for the total posture switching degree, and carrying out grade classification on each historical positioning battery replacement record according to the corresponding total posture switching degree Q;
step S302: extracting all driving instructions appearing in the historical battery switching records of which the total attitude switching degrees belong to the same level to obtain a time length interval and a speed interval when the switching mechanical arm executes the corresponding driving instructions in the level; and collecting the interval data corresponding to all the levels to generate a state monitoring data comparison library of the mechanical arm.
5. The positioning method applied to the new energy heavy truck battery box according to claim 4, wherein the step S400 comprises:
step S401: battery to be positioned for driving in power station in real timeObtaining vehicle information by the heavy truck electric vehicle for replacing the battery to obtain the attribute information set of the heavy truck electric vehicle for positioning the battery replacement
And simultaneously acquiring a mechanical driving instruction set generated by a current battery replacement mechanical arm of the battery replacement station
Calculating the total attitude switching degree to obtain the current working condition matching link
Matching links based on the operating conditions
Extracting the corresponding data from the comparison library of the state monitoring data of the mechanical arm
The time length interval and the speed interval of each driving instruction are arranged in the system;
step S402: when the number of the abnormal driving instructions of which the instruction execution time length is not in the corresponding time length interval or the speed corresponding to the instruction is not in the corresponding speed interval is larger than or equal to the number threshold value, displaying the state monitoring abnormality;
step S403: when the display state monitoring is abnormal, capturing an instruction section with continuous abnormal driving instructions, locking mechanical joints related to the driving instructions in the instruction section, and prompting workers to perform troubleshooting and overhaul on the mechanical joints.
6. A positioning system applied to a new energy heavy truck battery box is characterized by comprising: the system comprises an information acquisition processing module, an attitude switching degree calculation module, a positioning execution work evaluation module, a positioning state monitoring data comparison base construction module, a real-time state monitoring module, an abnormal troubleshooting module and an overhaul notification module;
the information acquisition and processing module is used for acquiring vehicle information of the heavy truck electric vehicle which is driven into a target area for positioning battery replacement each time, and acquiring and extracting working parameter information generated on a battery replacement mechanical arm when a battery replacement station completes positioning battery replacement work of the heavy truck electric vehicle correspondingly each time;
the attitude switching degree calculation module is used for calculating the total attitude switching degree correspondingly generated on all mechanical joints when the electric-changing mechanical arm finishes each time of battery-changing work of positioning batteries;
the positioning execution work evaluation module is used for setting the evaluation level of difficulty of each positioning battery replacement work completed by replacing the mechanical arm based on the same evaluation standard;
the positioning state monitoring data comparison base construction module is used for collecting and summarizing all historical battery replacement work data to construct a state monitoring data comparison base;
the real-time state monitoring module is used for monitoring the state of a power conversion mechanical arm in the power conversion station in real time;
the abnormality troubleshooting module is used for receiving the data in the real-time state monitoring module and performing abnormal joint troubleshooting on the electricity changing mechanical arm when the state monitoring is abnormal;
and the overhaul notification module is used for receiving the data in the abnormal troubleshooting module and sending overhaul reminders to workers based on abnormal joint troubleshooting results.
7. The positioning system applied to the new energy heavy truck battery box according to claim 6, wherein the attitude switching degree calculation module comprises an attitude switching degree calculation unit and a total attitude switching degree conversion unit;
the attitude switching degree calculation unit is used for calculating the attitude switching degree of each mechanical joint according to the position of each mechanical joint on the battery replacement mechanical arm and the switching distance and the switching angle of each mechanical joint which need to be transited and completed when each mechanical joint executes two adjacent driving instructions;
and the total attitude switching degree conversion unit is used for receiving the data in the attitude switching degree calculation unit and calculating the total attitude switching degree corresponding to the battery replacement mechanical arm when the current positioning battery replacement work is finished.
8. The positioning system applied to the new energy heavy truck battery box according to claim 6, wherein the positioning state monitoring data comparison library construction module comprises a working condition matching link construction unit, a driving instruction corresponding information extraction unit and a data collection unit;
the working condition matching link construction unit is used for generating a corresponding working condition matching link between the corresponding total attitude switching degree generated by each historical positioning battery replacement work and the corresponding attribute information set of the heavy truck electric vehicle; setting a grade distinguishing line for the total posture switching degree, and carrying out grade classification on each historical positioning battery replacement record according to the corresponding total posture switching degree;
the driving instruction corresponding information extraction unit is used for receiving the data in the working condition matching link construction unit, extracting all the driving instructions appearing in the historical battery power change records belonging to the same level, and obtaining a duration interval and a rate interval when the power change mechanical arm executes the corresponding driving instructions in the level;
and the data collection unit is used for collecting the interval data contained in all the levels to generate a state monitoring data comparison library of the mechanical arm.
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