CN115782681B - Positioning system and method applied to new energy heavy-duty battery box - Google Patents
Positioning system and method applied to new energy heavy-duty battery box Download PDFInfo
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- CN115782681B CN115782681B CN202310036776.8A CN202310036776A CN115782681B CN 115782681 B CN115782681 B CN 115782681B CN 202310036776 A CN202310036776 A CN 202310036776A CN 115782681 B CN115782681 B CN 115782681B
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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-duty battery box, wherein the positioning system comprises the steps of collecting vehicle information for heavy-duty electric vehicles which drive into a target area each time to change positioning batteries; collecting and extracting working parameter information generated on the electric replacing mechanical arm when the electric replacing station correspondingly completes the electric replacing work of the positioning battery of the heavy truck electric vehicle; calculating total attitude switching degrees correspondingly generated on all mechanical joints when the battery replacement mechanical arm finishes battery replacement work every time; based on the same evaluation standard, performing difficulty level evaluation on battery replacement work of each positioning battery completed by the battery replacement mechanical arm, and generating a state monitoring data comparison library; and carrying out state monitoring on the electric replacement mechanical arm in the electric replacement station in real time, and carrying out abnormal joint investigation on the electric replacement mechanical arm when the state monitoring is abnormal, and reminding a worker to arrange maintenance based on the abnormal joint investigation result.
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-duty battery box.
Background
The heavy truck dynamism is an important component part of the development of new energy automobiles, and is an important break for realizing energy conservation and emission reduction in China; in recent years, the trend of changing the power of a new energy electric heavy truck is that the problem of long battery charging time is well solved, the self weight of a battery box in the prior art is about 3 tons, when the battery box is installed, the specific position of the battery box needs to be positioned, the battery box is installed according to a set standard by means of a manipulator, the diameters of contact pins of positive and negative terminals of a battery are only a few millimeters, and the butting precision of a connector terminal head directly influences the reliability of the power change.
Because the manipulator or the mechanical arm for completing battery replacement in the new energy heavy truck belongs to mechanical equipment, the problems of abrasion of parts in the machine, increase of gaps and the like often occur in the long-term use process of the mechanical equipment; once the performance of mechanical equipment for completing the power change of the new energy heavy truck is reduced, the installation position of the battery box is deviated, so that the higher the accuracy requirement for the installation of the battery box is, the higher the performance requirement for the mechanical equipment for completing the power change is in the battery power change work; therefore, the maintenance and overhaul of the mechanical equipment for completing battery charging and power changing in the new energy heavy truck are necessary requirements for ensuring that a battery box in battery charging and power changing work in a power changing station can be accurately positioned.
Disclosure of Invention
The invention aims to provide a positioning system and a positioning method applied to a new energy heavy-duty battery box, so as to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: the method for positioning the new energy heavy-duty battery box comprises the following steps:
step S100: collecting vehicle information of the heavy-duty electric vehicle which enters the target area each time and performs positioning battery power change, and collecting the vehicle information into an attribute information set of the corresponding heavy-duty electric vehicle; collecting and extracting working parameter information generated on the electric replacing mechanical arm when the electric replacing station correspondingly completes the electric replacing work of the positioning battery of the heavy truck electric vehicle;
step S200: calculating total attitude switching degrees correspondingly generated on all mechanical joints when the battery replacement mechanical arm finishes battery replacement work every time;
step S300: based on the same evaluation standard, classifying the battery power switching operation of each positioning completed by the power switching mechanical arm according to the total attitude switching degree, and collecting and summarizing all historical power switching operation data to generate a state monitoring data comparison library;
step S400: and carrying out state monitoring on the electric replacement mechanical arm in the electric replacement station in real time, and carrying out abnormal joint investigation on the electric replacement mechanical arm when the state monitoring is abnormal, and reminding a worker to arrange maintenance based on the abnormal joint investigation result.
Further, step S100 includes:
step S101: whenever a heavy-duty electric vehicle to be subjected to battery replacement for positioning is driven into a battery replacement station, the heavy-duty electric vehicle is ready for battery replacement for positioning, relative to the vehicle parking position of the battery replacement mechanical armData extraction and storage are carried out on the pressure difference between the front tire and the rear tire and the load, and the data are collected into an attribute information set of the heavy truck electric vehicle
The method comprises the steps of carrying out a first treatment on the surface of the Wherein x corresponds to the vehicle parking position of the heavy truck electric vehicle relative to the battery changing mechanical arm when the positioning battery is ready for battery changing; y correspondingly detects the front-rear tire pressure difference of the heavy truck electric vehicle when the positioning battery is ready for power change; z corresponds to the detection of the load of the heavy truck electric vehicle when the positioning battery is ready for battery replacement;
the above 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 the subsequent battery replacement, and can reflect the working difficulty of the battery replacement mechanical arm when the battery positioning replacement is completed each time;
step S102: acquiring a mechanical driving instruction set generated by a battery-replacing mechanical arm of a battery-replacing station after unlocking the vehicle-mounted base position of a heavy-duty electric vehicle and positioning the battery
；
Step S103: while the electromechanical arm is being exchanged to execute the mechanical driving instruction set
The related kinematic parameter information generated during various instructions is collected and stored; the relevant kinematic parameter information comprises the corresponding duration and speed of the electromechanical arm when executing various instructions.
Further, step S200 includes:
step S201: the sensor is arranged on the opposite-changing electric mechanical arm, and the collection of the mechanical driving instruction set of the opposite-changing electric mechanical arm is carried out
When the driving instructions are corresponding to the positions of the mechanical joints on the electric mechanical arm, catchSwitching Distance and switching Angle which are needed to be completed in transition when each mechanical joint executes two adjacent driving instructions;
step S202: corresponding attitude switching degree of each joint when executing two adjacent driving instructions
And (3) performing calculation:
wherein a represents a weight value set by the system for switching distance, b represents a weight value set for switching Angle, and t represents a corresponding interval duration of each joint when executing two adjacent driving instructions; wherein, the liquid crystal display device comprises a liquid crystal display device,
；
in the above, if the interval time is longer, under the condition that the switching distance and the switching angle are similar, the corresponding difficulty level is higher, which means that the machinery is required to complete the gesture switching with the same difficulty in a shorter time, and the requirement on the performance of the machinery is higher;
step S203: mechanical driving instruction set executed by mechanical arm
The total number of the driving instructions contained in the driving instruction is N; setting the number of mechanical joints on the electromechanical arm to be M; calculating the total attitude switching degree Q corresponding to the completion of the current positioning battery power-changing work of the power-changing mechanical arm:
wherein, the liquid crystal display device comprises a liquid crystal display device,
representing the i-th joint executing a set of mechanical drive instructions
The j-th attitude switching degree generated at that time.
Further, step S300 includes:
step S301: switching the corresponding total attitude switching degree Q generated by the battery power change operation of each history positioning battery and the attribute information set of the corresponding heavy-duty electric vehicle
Generating corresponding working condition matching links therebetween
The method comprises the steps of carrying out a first treatment on the surface of the Setting a grade distinguishing line for the total attitude switching degree, and classifying the battery electricity change records of each historical positioning battery according to the corresponding total attitude switching degree Q;
step S302: extracting all the driving instructions appearing in the electric change records of all the historical batteries with the total attitude switching degree belonging to the same level, and obtaining a time interval and a speed interval when the electric change mechanical arm executes the corresponding driving instructions 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 library is established and generated along with the initial operation of the electric-changing mechanical arm in the electric-changing station, and in the patent, the electric-changing mechanical arm is always completed in an optimal use state when the electric-changing mechanical arm is initially operated; the condition monitoring data comparison library is established because the problem of performance degradation of the electromechanical arm possibly occurs in the process of increasing the service time of the electromechanical arm, so that the electromechanical arm needs to be monitored in a condition, and the electromechanical arm is overhauled in real time.
Further, step S400 includes:
step S401: acquiring vehicle information of a heavy-duty truck electric vehicle to be subjected to positioning battery replacement, which enters a power replacement station, in real time to obtain an attribute information set of the heavy-duty truck electric vehicle to be subjected to positioning battery replacement
Simultaneously collecting mechanical drive generated by a power conversion mechanical arm of a current opposite power conversion stationDynamic instruction set
Calculating the total attitude switching degree
Obtaining the current working condition matching link
Matching links based on operating conditions
Extracting corresponding information from a state monitoring data comparison library of the mechanical arm
A duration interval and a speed interval of each driving instruction;
step S402: when the number of abnormal driving instructions with the instruction execution duration not being in the corresponding duration interval or the speed corresponding to the instruction not being in the corresponding speed interval is larger than or equal to a number threshold value, displaying state monitoring abnormality;
because the instructions which are continuously executed 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, the more the affected execution instructions are, the greater the possibility of abnormal current working state of the mechanical arm is, the greater the possibility of performance reduction is, and the greater the necessity of overhauling the mechanical arm is;
step S403: when the display state is monitored abnormally, capturing an instruction section with abnormal driving instructions continuously, locking mechanical joints related to each driving instruction in the instruction section, and prompting a worker to conduct fault investigation and maintenance on the mechanical joints.
When the power exchange station receives the fault investigation and maintenance of the mechanical joint, the fact that the battery positioning and power exchange of the heavy truck electric vehicle which is finished or to be finished at present possibly has errors in the finally-achieved battery positioning precision is meant, and meanwhile, the fact that workers are prompted to finish the fault investigation and maintenance of the power exchange mechanical arm can be achieved, and then the battery positioning and power exchange of the heavy truck electric vehicle is finished once again.
The positioning system for the new energy heavy-duty battery box is also provided for better realizing the method, and comprises the following steps: the system comprises an information acquisition processing module, a gesture switching degree calculation module, a positioning execution work evaluation module, a positioning state monitoring data comparison library construction module, a real-time state monitoring module, an abnormality investigation module and an overhaul notification module;
the information acquisition processing module is used for acquiring vehicle information of the heavy-duty electric vehicle which enters the target area for carrying out positioning battery power change every time, and acquiring and extracting working parameter information generated on the electric-motor-changing mechanical arm when the positioning battery power change work of the heavy-duty electric vehicle is correspondingly completed by each power change station;
the attitude switching degree calculating module is used for calculating the total attitude switching degree correspondingly generated on all mechanical joints when the battery replacement work of the battery is completed by the battery replacement mechanical arm every time;
the positioning execution work evaluation module is used for setting the difficulty level evaluation on each positioning battery power change work completed by the power change mechanical arm based on the same evaluation standard;
the positioning state monitoring data comparison library construction module is used for collecting and summarizing all the historical power conversion working data to construct a state monitoring data comparison library;
the real-time state monitoring module is used for monitoring the state of the 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 replacement manipulator when the state monitoring is abnormal;
and the overhaul notification module is used for receiving the data in the abnormal investigation module and sending overhaul reminding to the staff based on the abnormal joint investigation result.
Further, the attitude switching degree calculating module comprises an attitude switching degree calculating unit and a total attitude switching degree converting unit;
the attitude switching degree calculating unit is used for calculating the attitude switching degree of each mechanical joint according to the switching distance and the switching angle of each mechanical joint which are required to be completed in transition when each two adjacent driving instructions are executed according to the position of each mechanical joint on the power conversion mechanical arm;
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 current positioning battery power-changing work of the power-changing mechanical arm.
Further, 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 gesture switching degree generated by the operation of each history positioning battery replacement and the attribute information set of the corresponding heavy-duty electric vehicle; setting a grade distinguishing line for the total attitude switching degree, and classifying the battery power change records of each historical positioning battery 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, and extracting all the driving instructions appearing in the electric change records of all the historical batteries belonging to the same level to obtain a duration interval and a speed interval when the electric 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 and generating 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 monitor the working state of the battery box replacement operation of the battery box replacement mechanical arm in real time based on the data when the battery box replacement operation is completed in history, obtain the accurate positioning prejudgment result of the battery box replacement mechanical arm based on the monitoring result, and effectively detect the faults of the positioning deviation in the final battery replacement caused by mechanical abrasion on the battery replacement mechanical arm for a long time, and timely check and cope with the problems on the battery box replacement mechanical arm, thereby ensuring accurate replacement and installation of the battery box.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic flow chart of a positioning method applied to a new energy heavy-duty battery box;
fig. 2 is a schematic structural diagram of a positioning system applied to a new energy heavy-duty battery box.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-2, the present invention provides the following technical solutions: the method for positioning the new energy heavy-duty battery box comprises the following steps:
step S100: collecting vehicle information of the heavy-duty electric vehicle which enters the target area each time and performs positioning battery power change, and collecting the vehicle information into an attribute information set of the corresponding heavy-duty electric vehicle; collecting and extracting working parameter information generated on the electric replacing mechanical arm when the electric replacing station correspondingly completes the electric replacing work of the positioning battery of the heavy truck electric vehicle;
wherein, step S100 includes:
step S101: when the heavy-duty electric vehicle to be subjected to battery power conversion is driven into the power conversion station, the data of the heavy-duty electric vehicle is extracted and stored relative to the vehicle parking position, front-rear tire pressure difference and load of the power conversion mechanical arm when the heavy-duty electric vehicle is ready to be subjected to battery power conversion, and the heavy-duty electric vehicle is assembled into a heavy vehicleAttribute information set of card electric vehicle
The method comprises the steps of carrying out a first treatment on the surface of the Wherein x corresponds to the vehicle parking position of the heavy truck electric vehicle relative to the battery changing mechanical arm when the positioning battery is ready for battery changing; y correspondingly detects the front-rear tire pressure difference of the heavy truck electric vehicle when the positioning battery is ready for power change; z corresponds to the detection of the load of the heavy truck electric vehicle when the positioning battery is ready for battery replacement;
step S102: acquiring a mechanical driving instruction set generated by a battery-replacing mechanical arm of a battery-replacing station after unlocking the vehicle-mounted base position of a heavy-duty electric vehicle and positioning the battery
；
Step S103: while the electromechanical arm is being exchanged to execute the mechanical driving instruction set
The related kinematic parameter information generated during various instructions is collected and stored; the relevant kinematic parameter information comprises the corresponding duration and speed of the power conversion mechanical arm when executing various instructions;
step S200: calculating total attitude switching degrees correspondingly generated on all mechanical joints when the battery replacement mechanical arm finishes battery replacement work every time;
wherein, step S200 includes:
step S201: the sensor is arranged on the opposite-changing electric mechanical arm, and the collection of the mechanical driving instruction set of the opposite-changing electric mechanical arm is carried out
Capturing a switching Distance and a switching Angle which are needed to be completed in transition when each two adjacent driving instructions are executed by each mechanical joint corresponding to the position of each mechanical joint on the electric mechanical arm;
step S202: every two adjacent driving fingers are executed for each jointCorresponding gesture switching degree when the command is issued
And (3) performing calculation:
wherein a represents a weight value set by the system for switching distance, b represents a weight value set for switching Angle, and t represents a corresponding interval duration of each joint when executing two adjacent driving instructions; wherein, the liquid crystal display device comprises a liquid crystal display device,
；
for example, the electromechanical arm involves the mechanical joints 1, 2, 3, 4 when executing the mechanical driving instruction set D; wherein D comprises:
then means
，N=10；
The method comprises the steps that switching distance of the mechanical joint 1, which is detected to be completed in a transition mode between each execution instruction 1 and each execution instruction 2, is 3m, switching angle is 60 degrees, and corresponding interval duration is 30s when each execution instruction 1 and each execution instruction 2; the mechanical joint 1 corresponds to the attitude switching degree P when executing the instructions 1 and 2:
step S203: mechanical driving instruction set executed by mechanical arm
The total number of the driving instructions contained in the driving instruction is N; setting the number of mechanical joints on the electromechanical arm to be M; calculating the total attitude switching degree Q corresponding to the completion of the current positioning battery power-changing work of the power-changing mechanical arm:
wherein, the liquid crystal display device comprises a liquid crystal display device,
representing the i-th joint executing a set of mechanical drive instructions
The j-th attitude switching degree generated at the time
Step S300: based on the same evaluation standard, classifying the battery power switching operation of each positioning completed by the power switching mechanical arm according to the total attitude switching degree, and collecting and summarizing all historical power switching operation data to generate a state monitoring data comparison library;
wherein, step S300 includes:
step S301: switching the corresponding total attitude switching degree Q generated by the battery power change operation of each history positioning battery and the attribute information set of the corresponding heavy-duty electric vehicle
Generating corresponding working condition matching links therebetween
The method comprises the steps of carrying out a first treatment on the surface of the Setting a grade distinguishing line for the total attitude switching degree, and classifying the battery electricity change records of each historical positioning battery according to the corresponding total attitude switching degree Q;
step S302: extracting all the driving instructions appearing in the electric change records of all the historical batteries with the total attitude switching degree belonging to the same level, and obtaining a time interval and a speed interval when the electric change mechanical arm executes the corresponding driving instructions in the level; collecting interval data corresponding to all levels to generate a state monitoring data comparison library of the mechanical arm;
step S400: the method comprises the steps of monitoring the state of a power conversion mechanical arm in a power conversion station in real time, and when the state is abnormal, performing abnormal joint investigation on the power conversion mechanical arm, and reminding a worker to arrange maintenance based on an abnormal joint investigation result;
wherein, step S400 includes:
step S401: acquiring vehicle information of a heavy-duty truck electric vehicle to be subjected to positioning battery replacement, which enters a power replacement station, in real time to obtain an attribute information set of the heavy-duty truck electric vehicle to be subjected to positioning battery replacement
Simultaneously collecting a mechanical driving instruction set generated by a battery-changing mechanical arm of a current battery-changing station
Calculating the total attitude switching degree
Obtaining the current working condition matching link
Matching links based on operating conditions
Extracting corresponding information from a state monitoring data comparison library of the mechanical arm
A duration interval and a speed interval of each driving instruction;
step S402: when the number of abnormal driving instructions with the instruction execution duration not being in the corresponding duration interval or the speed corresponding to the instruction not being in the corresponding speed interval is larger than or equal to a number threshold value, displaying state monitoring abnormality;
step S403: when the display state is monitored abnormally, capturing an instruction section with abnormal driving instructions continuously, locking mechanical joints related to each driving instruction in the instruction section, and prompting a worker to conduct fault investigation and maintenance on the mechanical joints.
The positioning system for the new energy heavy-duty battery box is also provided for better realizing the method, and comprises the following steps: the system comprises an information acquisition processing module, a gesture switching degree calculation module, a positioning execution work evaluation module, a positioning state monitoring data comparison library construction module, a real-time state monitoring module, an abnormality investigation module and an overhaul notification module;
the information acquisition processing module is used for acquiring vehicle information of the heavy-duty electric vehicle which enters the target area for carrying out positioning battery power change every time, and acquiring and extracting working parameter information generated on the electric-motor-changing mechanical arm when the positioning battery power change work of the heavy-duty electric vehicle is correspondingly completed by each power change station;
the attitude switching degree calculating module is used for calculating the total attitude switching degree correspondingly generated on all mechanical joints when the battery replacement work of the battery is completed by the battery replacement mechanical arm every time;
the attitude switching degree calculating module comprises an attitude switching degree calculating unit and a total attitude switching degree converting unit;
the attitude switching degree calculating unit is used for calculating the attitude switching degree of each mechanical joint according to the switching distance and the switching angle of each mechanical joint which are required to be completed in transition when each two adjacent driving instructions are executed according to the position of each mechanical joint on the power conversion mechanical arm;
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 current positioning battery power switching operation of the power switching mechanical arm;
the positioning execution work evaluation module is used for setting the difficulty level evaluation on each positioning battery power change work completed by the power change mechanical arm based on the same evaluation standard;
the positioning state monitoring data comparison library construction module is used for collecting and summarizing all the historical power conversion working data to construct a state monitoring data comparison library;
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 gesture switching degree generated by the operation of each history positioning battery replacement and the attribute information set of the corresponding heavy-duty electric vehicle; setting a grade distinguishing line for the total attitude switching degree, and classifying the battery power change records of each historical positioning battery 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, and extracting all the driving instructions appearing in the electric change records of all the historical batteries belonging to the same level to obtain a duration interval and a speed interval when the electric change 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 and generating a state monitoring data comparison library of the mechanical arm;
the real-time state monitoring module is used for monitoring the state of the 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 replacement manipulator when the state monitoring is abnormal;
and the overhaul notification module is used for receiving the data in the abnormal investigation module and sending overhaul reminding to the staff based on the abnormal joint investigation result.
It is noted that 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. Moreover, 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: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The positioning method applied to the new energy heavy-duty battery box is characterized by comprising the following steps of:
step S100: collecting vehicle information of a heavy-truck electric vehicle which enters a target area each time and performs positioning battery power change, and converging the vehicle information into an attribute information set corresponding to the heavy-truck electric vehicle; collecting and extracting working parameter information generated on a battery replacement mechanical arm when each battery replacement station correspondingly completes the battery replacement work of the positioning battery of the heavy truck electric vehicle;
the step S100 includes:
step S101: when a heavy-truck electric vehicle to be subjected to positioning battery power conversion is driven into a power conversion station, extracting and storing data of the vehicle parking position, front-rear tire pressure difference and load of the heavy-truck electric vehicle relative to a power conversion mechanical arm when the heavy-truck electric vehicle is ready to be subjected to positioning battery power conversion, and collecting the data into an attribute information set of the heavy-truck electric vehicle
The method comprises the steps of carrying out a first treatment on the surface of the Wherein x corresponds to the vehicle parking position of the heavy truck electric vehicle relative to the battery changing mechanical arm when the positioning battery is ready for battery changing; y correspondingly detects the front-rear tire pressure difference of the heavy truck electric vehicle when the positioning battery is ready for power change; z corresponds to the detection of the load of the heavy truck electric vehicle when the positioning battery is ready for battery replacement;
step S102: acquiring a mechanical driving instruction set generated by a battery replacement mechanical arm of the battery replacement station after unlocking the vehicle-mounted base position of the heavy truck electric vehicle and positioning the battery
；
Step S103: while the electromechanical arm is being exchanged for executing the set of mechanical driving instructions
The related kinematic parameter information generated during various instructions is collected and stored; the relevant kinematic parameter information comprises the duration and the speed corresponding to the power conversion mechanical arm when executing various instructions;
step S200: calculating total attitude switching degrees correspondingly generated on all mechanical joints when the battery replacement mechanical arm finishes battery replacement work every time;
the step S200 includes:
step S201: mounting a sensor on the electromechanical arm, and collecting the mechanical driving instruction set of the electromechanical arm when the electromechanical arm is executed
Corresponding to the position of each mechanical joint on the power conversion mechanical arm, capturing the switching Distance and the switching Angle which are required to be completed in a transition mode when each two adjacent driving instructions are executed by each mechanical joint;
step S202: corresponding attitude switching degree of each joint when executing two adjacent driving instructions
And (3) performing calculation:
wherein a represents a weight value set by the system for switching distance, b represents a weight value set for switching Angle, and t represents a corresponding interval duration of each joint when executing two adjacent driving instructions; wherein (1)>
；
Step S203: providing the mechanical drive performed by the electromechanical armInstruction set
The total number of the driving instructions contained in the driving instruction is N; setting the number of mechanical joints on the power conversion mechanical arm as M; calculating the total attitude switching degree Q corresponding to the completion of the current positioning battery power change operation of the power change mechanical arm: />
Wherein (1)>
Indicating that the ith joint is executing the set of mechanical driving instructions +.>
The j-th attitude switching degree generated in the process;
step S300: based on the same evaluation standard, classifying the battery power switching operation of each positioning completed by the power switching mechanical arm according to the total attitude switching degree, and collecting and summarizing all historical power switching operation data to generate a state monitoring data comparison library;
step S400: and carrying out state monitoring on the electric replacement mechanical arm in the electric replacement station in real time, and carrying out abnormal joint investigation on the electric replacement mechanical arm when the state monitoring is abnormal, and reminding a worker to arrange maintenance based on the abnormal joint investigation result.
2. The positioning method for the new energy heavy-duty battery box according to claim 1, wherein the step S300 includes:
step S301: switching the corresponding total attitude switching degree Q generated by the battery power change operation of each history positioning battery and the attribute information set of the corresponding heavy-duty electric vehicle
Generating a corresponding working condition matching link between +.>
The method comprises the steps of carrying out a first treatment on the surface of the For a pair ofSetting a grade distinguishing line for the total attitude switching degree, and classifying the battery power change records of each historical positioning battery according to the corresponding total attitude switching degree Q;
step S302: extracting all the driving instructions appearing in the electric change records of all the historical batteries with the total attitude switching degree belonging to the same level, and obtaining a time interval and a speed interval when the electric change 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.
3. The positioning method for the new energy heavy-duty battery box according to claim 2, wherein the step S400 includes:
step S401: acquiring vehicle information of a heavy-duty truck electric vehicle to be subjected to positioning battery replacement, which enters a power replacement station, in real time to obtain an attribute information set of the heavy-duty truck electric vehicle to be subjected to positioning battery replacement
Simultaneously collecting a set of mechanical drive instructions currently generated for a battery-exchange mechanical arm of said battery-exchange station>
Calculate the total attitude switching degree +.>
Obtaining the current working condition matching link +.>
Matching the link based on said working conditions>
Extracting corresponding ++in a comparison library of state monitoring data of the mechanical arm>
A duration interval and a speed interval of each driving instruction;
step S402: when the number of abnormal driving instructions with the instruction execution duration not being in the corresponding duration interval or the speed corresponding to the instruction not being in the corresponding speed interval is larger than or equal to a number threshold value, displaying state monitoring abnormality;
step S403: when the display state is monitored abnormally, capturing an instruction section with abnormal driving instructions continuously, locking mechanical joints related to each driving instruction in the instruction section, and prompting a worker to conduct fault investigation and maintenance on the mechanical joints.
4. A positioning system applied to a new energy heavy-duty battery box, the system being operable to perform the positioning method applied to a new energy heavy-duty battery box as set forth in any one of claims 1 to 3, the system comprising: the system comprises an information acquisition processing module, a gesture switching degree calculation module, a positioning execution work evaluation module, a positioning state monitoring data comparison library construction module, a real-time state monitoring module, an abnormality investigation module and an overhaul notification module;
the information acquisition processing module is used for acquiring vehicle information of the heavy-duty electric vehicle which enters the target area for carrying out positioning battery power change every time, and acquiring and extracting working parameter information generated on the electric-changing mechanical arm when the positioning battery power change work of the heavy-duty electric vehicle is correspondingly completed by each power change station;
the attitude switching degree calculating module is used for calculating the total attitude switching degree correspondingly generated on all mechanical joints when the battery replacement operation of each positioning battery is completed by the battery replacement mechanical arm;
the positioning execution work evaluation module is used for setting the difficulty level evaluation for each positioning battery power change work completed by the power change mechanical arm based on the same evaluation standard;
the positioning state monitoring data comparison library construction module is used for collecting and summarizing all the historical power conversion work data to construct a state monitoring data comparison library;
the real-time state monitoring module is used for monitoring the state of the 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 power conversion mechanical arm when the state monitoring is abnormal;
the overhaul notification module is used for receiving the data in the abnormal investigation module and sending overhaul reminding to staff based on the abnormal joint investigation result.
5. The system of claim 4, wherein the attitude switching degree calculation module comprises an attitude switching degree calculation unit, a total attitude switching degree conversion unit;
the attitude switching degree calculating unit is used for calculating the attitude switching degree of each mechanical joint according to the position of each mechanical joint on the power conversion mechanical arm and the switching distance and the switching angle which are required to be completed in a transition mode when each two adjacent driving instructions are executed by each mechanical joint;
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 current positioning battery power-switching work of the power-switching mechanical arm.
6. The system according to claim 4, 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 gesture switching degree generated by the battery power conversion operation of each history positioning battery and the attribute information set of the corresponding heavy-duty electric vehicle; setting a grade distinguishing line for the total attitude switching degree, and classifying the battery power change records of each historical positioning battery 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 electric change records of all the historical batteries belonging to the same level, and obtaining a duration interval and a speed interval when the electric change 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 and generating a state monitoring data comparison library of the mechanical arm.
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