CN-121979011-A - All-electric cleaning vehicle uploading integrated man-machine interaction control method and system

CN121979011ACN 121979011 ACN121979011 ACN 121979011ACN-121979011-A

Abstract

The invention discloses a loading integrated man-machine interaction control method and system for a pure electric cleaning vehicle, and relates to the technical field of loading control for sanitation special vehicles. The method comprises the steps of S1, collecting uploading operation data in real time, preprocessing the data, judging an action state, dividing a steady-state maintaining section, S2, constructing a channel environment correlation model, compensating and correcting temperature and humidity disturbance to form an equivalent resistance value, S3, carrying out critical margin assessment by combining the equivalent resistance value and an allowable section of the action state, calculating a resistance value residual by combining the channel environment correlation model, judging the residual persistence by utilizing the resistance value residual persistence, identifying a progressive degradation trend, S4, generating a man-machine early warning mark, and triggering a grading confirmation and limitation control strategy. The technical problem that a loading resistor sampling channel has slow resistance drift under a complex vehicle-mounted environment and is difficult to identify in time, faults can be judged only after crossing boundaries, and early warning cannot be carried out on progressive degradation is solved.

Inventors

XIA FUGEN
HUANG YUCHEN
WANG BO
CHEN YUZHU
SHI DAPENG
CHENG KUI

Assignees

成都壹为新能源汽车有限公司

Dates

Publication Date: 20260505
Application Date: 20260408

Claims (10)

1. The method for controlling the man-machine interaction of the upper assembly of the pure electric cleaning vehicle is characterized by comprising the following steps of: s1, collecting uplink data in real time, preprocessing the uplink data, judging the action state, and dividing a steady-state maintaining section consistent with the working condition by combining the uplink running data with the action state sequence; s2, constructing a channel environment correlation model based on uplink data in the steady-state holding section, and performing compensation correction on temperature and humidity disturbance by using the channel environment correlation model to form a comparable equivalent resistance value; S3, carrying out critical margin assessment by combining an equivalent resistance value and an allowable interval of an action state, calculating a resistance value residual by combining a channel environment correlation model, judging residual persistence by using the resistance value residual, and identifying a progressive degradation trend by combining the residual persistence and the critical margin; and S4, generating a man-machine early warning mark according to the progressive degradation trend recognition result, triggering a grading confirmation and limitation control strategy, and carrying out cooperative fault tolerance and safe interaction control of the uploading key action.
2. The method for controlling the interaction of the man-machine integrated with the loading of the pure electric cleaning vehicle according to claim 1, wherein the specific processes of collecting the data of the loading data in real time, preprocessing the data of the loading data, and judging the action state are as follows: the method comprises the steps of collecting uploading operation data in real time, wherein the uploading operation data comprise sampling resistance values of all channels of a six-hole module, sampling resistance values of all channels of a four-hole module, PCB temperature, relative humidity of a control box, rotating speed of a water pump motor and states of all water valves; Resampling uplink data to a unified time axis, respectively executing five-point median filtering aiming at the sampling resistance value of each channel of the six-hole module and the sampling resistance value of each channel of the four-hole module, and identifying and eliminating abnormal values by utilizing an abrupt change judging method based on amplitude and change gradient constraint; The method comprises the steps of reading corresponding sampling resistance values of all channels of a six-hole module and all channels of a four-hole module, reading a built-in resistance value state dictionary, comparing the sampling resistance values of the corresponding channels with allowed resistance value intervals of all the action states one by one, judging the corresponding sampling moment as the corresponding action state if the sampling resistance values of the channels fall into the allowed resistance value intervals of the action states, marking the corresponding sampling moment as the undetermined state if the sampling resistance values of the channels do not fall into the allowed resistance value intervals of any action states, outputting an action state sequence of each channel, executing minimum maximum normalization processing on uplink data, establishing an uplink control database, and storing uplink operation data and the corresponding action state sequence.
3. The method for controlling the interaction of man-machine interaction of the loading integration of the pure electric cleaning vehicle according to claim 1, wherein the specific process of dividing the steady-state maintaining section with the consistent working condition by combining the loading operation data and the action state sequence is as follows: And scanning sampling points on a unified time axis according to time sequence, constructing a continuous sampling interval, and if the continuous sampling interval simultaneously meets three conditions, including that the states of water valves of all the sampling points in the interval are kept unchanged, the action states of all channels of all the sampling points in the interval are kept unchanged, and the change rate of the rotation speed of a water pump motor between adjacent sampling points in the interval is smaller than a change rate threshold value, judging the continuous sampling interval as a steady-state holding section, and recording the start and stop time stamps of the steady-state holding section.
4. The method for controlling the interaction of man-machine interaction of the loading integration of the pure electric cleaning vehicle according to claim 1, wherein the specific process of constructing the channel environment association model based on the uplink data in the steady-state maintaining section is as follows: reading a sampling resistance value sequence, an action state sequence, a PCB temperature sequence and a control box relative humidity sequence of each channel in the steady-state holding section, and calculating a PCB temperature average value and a control box relative humidity average value in the steady-state holding section based on the PCB temperature sequence and the control box relative humidity sequence; For each channel in the current steady-state maintaining section, a linear relation model between the resistance and the temperature and humidity is constructed based on the sampling resistance sequence, the PCB temperature sequence and the control box relative humidity sequence, and the temperature coefficient and the humidity coefficient of the corresponding channel are calculated by using a least square method based on the linear relation model.
5. The method for controlling the interaction of man-machine integrated with the assembly of the pure electric cleaning vehicle according to claim 1, wherein the specific process of compensating and correcting the temperature and humidity disturbance by using the channel environment correlation model to form the comparable equivalent resistance value is as follows: The temperature deviation amount is obtained by making the corresponding control box relative humidity and the control box relative humidity average value different, the temperature deviation amount is multiplied by the temperature coefficient of the corresponding channel, the humidity deviation amount is multiplied by the humidity coefficient of the corresponding channel, and the temperature and humidity influence compensation amount is obtained by summing the two product results; and calculating the compensated equivalent resistance of each channel in the current steady-state holding section at all sampling moments, and writing the compensated equivalent resistance into an uploading control database.
6. The method for controlling the interaction of man-machine interaction of the loading integration of the pure electric cleaning vehicle according to claim 1, wherein the specific process of carrying out critical margin assessment by combining the equivalent resistance value and the allowable range of the action state is as follows: For each channel in the steady-state maintaining section, reading an equivalent resistance sequence after compensation and an allowable resistance interval of the channel in the action state corresponding to the current steady-state maintaining section; For each sampling time in the steady-state holding section, subtracting the lower boundary of the allowable resistance interval from the compensated equivalent resistance value as a lower boundary margin value, and subtracting the current compensated equivalent resistance value from the upper boundary of the allowable resistance interval as an upper boundary margin; And carrying out natural logarithmic transformation on the distances from all sampling moments in the current steady-state holding section to the nearest interval boundary, and then obtaining the median to obtain the critical approximation margin value of the corresponding channel in the current steady-state holding section.
7. The method for controlling the man-machine interaction of the loading integration of the pure electric cleaning vehicle according to claim 1, wherein the specific process of calculating the resistance residual by combining the channel environment correlation model and judging the persistence of the residual by using the resistance residual is as follows: calculating a predicted resistance value of each sampling moment in the steady-state holding section by using a linear relation model between the resistance value and the temperature and humidity for each channel in the current steady-state holding section, and subtracting the predicted resistance value from the sampling resistance value of the corresponding channel to obtain a residual value of the corresponding sampling moment; And subtracting the residual reference value from the corresponding residual value at each sampling time in the steady-state holding section to calculate a single-side accumulated statistic, wherein if the difference value is positive, the difference value is accumulated into the single-side accumulated statistic, and if the difference value is negative, the single-side accumulated statistic is set to be zero to obtain the final single-side accumulated statistic of the steady-state holding section.
8. The method for controlling the man-machine interaction of the loading integration of the pure electric cleaning vehicle according to claim 1, wherein the specific process of combining the residual persistence and the critical margin to identify the progressive degradation trend is as follows: for each channel, sequentially reading critical approximation margin values and unilateral accumulated statistics of each steady-state holding section of the corresponding channel from an uploading control database according to time sequence; And when the critical approximation margin value is met at the same time and has a gradual decreasing trend in the continuous N steady-state maintaining sections and the unilateral accumulated statistic has a gradual increasing trend in the continuous N steady-state maintaining sections, judging that the channel has a gradual degradation trend.
9. The method for controlling the interaction of man-machine interaction of the loading integration of the pure electric cleaning vehicle according to claim 1, wherein the specific process of generating the man-machine early warning mark according to the progressive degradation trend recognition result and triggering the classification confirmation and limitation control strategy to perform the cooperative fault tolerance and the safe interaction control of the loading key action is as follows: When the channel has progressive degradation trend and the compensated equivalent resistance values at all sampling moments in the current steady-state maintaining section are in the allowable resistance value interval of the corresponding action state, generating a progressive degradation early warning state mark for the corresponding channel; Triggering a fault-tolerant control mechanism when each channel is marked as a progressive degradation early warning state and the continuous K steady-state holding sections are all in the progressive degradation early warning state, wherein the critical approximation margin value and the unilateral accumulation statistic of the channel are again estimated based on the last steady-state holding section, and if the progressive degradation trend judgment condition is still met, the channel is judged to be in a confirmation early warning state; If the channel of the early warning state is confirmed to participate in the key control logic, a confirmation prompt is output to the operation interface, and the corresponding control action can be continuously executed only after the operator finishes the confirmation operation; meanwhile, the channel for confirming the early warning state is forbidden to participate in unnecessary interaction actions, safety related actions are reserved, and the current action state is kept from being switched automatically.
10. Pure electronic cleaning vehicle facial make-up integration man-machine interaction control system, its characterized in that includes: The data acquisition processing module is used for acquiring uplink data in real time, preprocessing the uplink data, judging the action state, and dividing a steady-state maintaining section consistent with the working condition by combining the uplink operation data with the action state sequence; the channel temperature and humidity compensation module is used for constructing a channel environment association model based on the uplink data in the steady-state maintaining section, and compensating and correcting the temperature and humidity disturbance by utilizing the channel environment association model to form a comparable equivalent resistance value; The progressive degradation identification module is used for carrying out critical margin assessment by combining an equivalent resistance value and an allowable interval of an action state, calculating a resistance value residual by combining a channel environment correlation model, judging residual persistence by using the resistance value residual, and identifying a progressive degradation trend by combining the residual persistence and the critical margin; And the interactive fault-tolerant control module is used for generating a man-machine early warning mark according to the progressive degradation trend recognition result, triggering a grading confirmation and limitation control strategy and carrying out cooperative fault-tolerant and safe interactive control of the uploading key action.

Description

All-electric cleaning vehicle uploading integrated man-machine interaction control method and system Technical Field The invention relates to the technical field of assembly control of special vehicles for environmental sanitation, in particular to an assembly integrated man-machine interaction control method and system for a pure electric cleaning vehicle. Background Along with the wide application of pure electric cleaning vehicles in municipal sanitation, park cleaning and industrial scenes, the uploading control system gradually develops from traditional mechanical control to electrification and intelligent direction. The loading part generally integrates the functions of multi-channel input detection, valve control execution, water pump driving and man-machine interaction, and realizes action recognition and operation management through resistance codes or state signals. In a complex vehicle-mounted environment, the system needs to bear the influences of vibration, temperature and humidity change, electric load fluctuation and the like for a long time, so that higher requirements are put on real-time acquisition of operation data, state identification and stable control. The intelligent development of the pure electric cleaning vehicle has become an important direction around the cooperative processing of multi-source operation data, the identification of the action state and the safe interactive control, and the construction of an upper-loading integrated control system with clear structure and reliable operation. For example, chinese patent CN116256990a discloses an sanitation truck and a loading control method thereof, which belong to the field of sanitation truck loading control. When the automatic driving sanitation truck executes the operation task, the automatic driving controller sends the operation task to the upper packaging controller, the upper packaging controller extracts the working mode of the operation mechanism according to the operation task mapping relation, and forms a working mode instruction, the upper packaging controller sends the working mode instruction to the upper packaging system controller, and the upper packaging system controller controls the operation mechanism to be opened or closed according to the working mode instruction, so that the opened operation mechanism executes the current operation task. When the automatic driving controller is used for controlling the loading system, the automatic driving controller only needs to issue the current operation task to the loading packaging controller, and does not need to issue a plurality of working mode instructions to the loading system controller, so that a software design development company can conveniently and rapidly develop an automatic driving program, and the development period of the automatic driving sanitation vehicle is shortened. For example, chinese patent CN117471971a discloses a loading control device and a control method thereof, and a vehicle, by setting a remote control module, a control module and a loading module, connecting the control module with the remote control module and the loading module respectively, sending a control signal to the control module by the remote control module according to a control instruction, outputting a radio frequency signal by the control module according to the control signal, where the radio frequency signal includes a cylinder type and an operation type, and the loading module controls a corresponding cylinder to execute an operation action corresponding to the operation type according to the cylinder type in the radio frequency signal, so as to realize remote control on the loading equipment located at the rear of the vehicle frame, thereby directly adjusting the state of the loading equipment while observing the state of the loading equipment, avoiding frequent separation of operators from the cab to perform blind adjustment after observing the loading equipment, and improving the working efficiency of the loading control. However, the resistance sampling channel of the existing upper control box is in vehicle environments such as vibration, temperature circulation, humidity and dust for a long time, and the sampling resistance value can be slowly deviated from the nominal interval due to factors such as contact resistance change of the plug-in connector, ageing of welding spots and temperature drift of the resistance. The traditional method is to judge line fault or no input after the sampling value exceeds a fixed threshold value, and the progressive degradation of the resistance gradually approaching the critical interval is lack of identification and early warning, so intermittent false triggering or functional failure is easy to generate. Therefore, to solve the above problems, a method and a system for controlling the man-machine interaction of the loading and assembly integration of the pure electric cleaning vehicle are needed. Disclosure of Invention In or