A method, system, storage medium and intelligent terminal for self-checking function of excavator

Abstract

The present application relates to an excavator function self-check method, system, storage medium and intelligent terminal, and relates to the field of engineering machinery technology, which includes: if the current value corresponding to the joint current information is inconsistent with the current value corresponding to the joint reference information, a prompt is given to output the joint positioning information; if the current value corresponding to the connection line current information is inconsistent with the current value corresponding to the connection line reference information, it is defined as the connection line of the functional part corresponding to the function detection information is damaged, and a prompt is given to output the connection line positioning information; if the current value corresponding to the load current information is inconsistent with the current value corresponding to the load reference information, it is defined as the load of the functional part corresponding to the function detection information is damaged, and a prompt is given to output the load positioning information. The present application has the effect of improving the stability of the use of the excavator, pre-detecting the excavator function, improving the safety of use, and improving the overall operation efficiency.

Description

Technical Field

[0001] The present application relates to the field of engineering machinery technology, and in particular to an excavator function self-checking method, system, storage medium and intelligent terminal. Background Art

[0002] An excavator is an earth-moving machine that uses a bucket to dig materials above or below the surface and load them into transport vehicles or unload them to a stockpile.

[0003] In related technologies, with the development and innovation of construction machinery technology, controllers, power modules, air conditioners and other control devices are widely used in excavators. While improving the degree of intelligence, it can also improve the work efficiency and comfort of excavator owners.

[0004] With regard to the above-mentioned related technologies, the inventor believes that after the staff power on and start the vehicle, they will drive directly to the destination to carry out excavation operations. Once the functions on the excavator fail during the excavation operation, maintenance personnel will need to go for maintenance, which will increase the time of the excavation operation and affect efficiency. There is still room for improvement. Summary of the invention

[0005] In order to improve the stability of excavator use, pre-detect the excavator functions, improve the safety of use, and improve the overall operating efficiency, the present application provides an excavator function self-detection method, system, storage medium and intelligent terminal.

[0006] In a first aspect, the present application provides an excavator function self-checking method, which adopts the following technical solution:

[0007] A method for self-checking functions of an excavator, comprising:

[0008] Get the current power-on trigger information of the excavator;

[0009] Determine whether the power-on trigger information is consistent with the preset reference trigger information;

[0010] If the power-on trigger information is inconsistent with the preset reference trigger information, continue to detect;

[0011] If the power-on trigger information is consistent with the preset reference trigger information, the function detection information of the current function component is obtained, and at the function component corresponding to the function detection information, the current connector current information of the connector, the current connection line current information of the connection line, and the current load current information of the load are obtained in sequence;

[0012] Determine whether the current value corresponding to the joint current information is consistent with the current value corresponding to the preset joint reference information;

[0013] If the current value corresponding to the joint current information is inconsistent with the current value corresponding to the joint reference information, it is defined as the joint of the functional component corresponding to the function detection information is damaged, and a prompt is given to output the joint positioning information;

[0014] If the current value corresponding to the joint current information is consistent with the current value corresponding to the joint reference information, then determining whether the current value corresponding to the connection line current information is consistent with the current value corresponding to the preset connection line reference information;

[0015] If the current value corresponding to the connection line current information is inconsistent with the current value corresponding to the connection line reference information, it is defined that the connection line of the functional component corresponding to the function detection information is damaged, and a prompt is given to output the connection line positioning information;

[0016] If the current value corresponding to the connection line current information is consistent with the current value corresponding to the connection line reference information, determine whether the current value corresponding to the load current information is consistent with the current value corresponding to the preset load reference information;

[0017] If the current value corresponding to the load current information is inconsistent with the current value corresponding to the load reference information, it is defined as the load of the functional component corresponding to the function detection information is damaged, and a prompt is given to output the load positioning information;

[0018] If the current value corresponding to the load current information is consistent with the current value corresponding to the load reference information, the detection is completed;

[0019] According to the joint positioning information, the connection line positioning information or the load positioning information, current image detection information corresponding to the damage position is obtained;

[0020] Determining whether the image detection information is consistent with the preset reference image detection information;

[0021] If the image detection information is consistent with the reference image detection information, it is defined as the surface is not damaged, and the damaged position of the functional part corresponding to the functional detection information is displayed;

[0022] If the image detection information is inconsistent with the reference image detection information, it is defined as surface damage, and the damaged position of the functional part corresponding to the functional detection information is displayed.

[0023] By adopting the above technical solution, the power-on trigger information is obtained to understand whether the machine is powered on. When it is powered on, it is understood whether the circuit under the corresponding function is conductive, and distributed detection is performed to know the location of the problem, and positioning prompts are given according to the location. In addition, it is understood whether the shell is damaged, which further improves the overall display capability, improves the stability of the excavator, pre-detects the excavator function, improves the safety of use, and improves the overall operation efficiency.

[0024] Optionally, when the connecting line is damaged, the control method for disconnecting and reconnecting the connecting line includes:

[0025] Select the broken line feature and the current line number information from the image detection information;

[0026] Analyze and match the line number information, the wire length information and the load connection length information stored in the preset line database to determine the wire length information and the load connection length information corresponding to the line number information;

[0027] Analyze and match the disconnection characteristics stored in the preset disconnection database with the defective wire length information to calculate the defective wire length information corresponding to the disconnection characteristics;

[0028] Calculate the difference between the length value corresponding to the wire length information and the length value corresponding to the damaged wire length information, and define it as the repair length value;

[0029] Determine whether the repair length value is greater than the length value corresponding to the load connection length information;

[0030] If the repair length value is greater than the length value corresponding to the load connection length information, the preset connection device is controlled to connect the broken line;

[0031] If the repair length value is not greater than the length value corresponding to the load connection length information, a warning is issued.

[0032] By adopting the above technical solution, the line number information is obtained to know the situation of the corresponding line, and the total length of the wire and the length required for the corresponding load connection are determined according to the situation of the line. The loss length is understood to know the repair length value and determine whether the wire can be connected to improve the stability of the overall wiring.

[0033] Optionally, the verification method for the repair length value includes:

[0034] At the disconnection feature, current resistance detection information is obtained from the preset endpoints at both ends;

[0035] Analyze the resistance detection information and the virtual length value stored in the preset virtual length database to calculate the virtual length value corresponding to the resistance detection information;

[0036] Determine whether the preset incomplete features exist in the image detection information;

[0037] If there is no incomplete feature in the image detection information, the sum of the virtual length values ​​on both sides is calculated and defined as the complete length value;

[0038] If there are incomplete features in the image detection information, obtaining incomplete wire length information of the incomplete features in the image detection information;

[0039] Calculate the difference between the virtual length value and the length value corresponding to the incomplete wire length information, and define it as the repair length value;

[0040] Determine whether the repair length value is consistent with the complete length value or the repair length value;

[0041] If the repair length value is consistent with the complete length value or the repair length value, the verification is completed;

[0042] If the repair length value is inconsistent with the complete length value or the patch length value, a warning is issued.

[0043] By adopting the above technical solution, the resistance is detected to know the overall resistance value, and the resistance value is associated with the length of the entire wire to obtain a virtual length value, and then the complete length value is obtained by understanding whether the wire is incomplete. The complete length value is compared with the repaired length value to complete the overall length verification, further improving the overall safety and stability.

[0044] Optionally, the method for the connection device to connect the disconnected line includes:

[0045] Obtain the minimum distance detection information from the selected broken line feature to the preset endpoint;

[0046] According to the disconnection feature selected in the box, the connection device is controlled to move from the preset stop point to the disconnection feature at a preset moving speed, and the current moving distance information of the connection device is obtained;

[0047] Calculate the sum of the distance value corresponding to the moving distance information and the preset safety distance value, and define it as the stay distance value;

[0048] Determine whether the stay distance value is consistent with the distance value corresponding to the minimum distance detection information;

[0049] If the stay distance value is consistent with the distance value corresponding to the minimum distance detection information, the connecting device is controlled to stop moving;

[0050] If the stay distance value is inconsistent with the distance value corresponding to the minimum distance detection information, the connecting device is controlled to continue moving;

[0051] After the connecting device moves at the moving speed, it is determined whether the connecting devices on both sides stop moving;

[0052] If the connecting devices on both sides do not stop moving, continue testing;

[0053] If the connecting devices on both sides stop moving, the mechanical gripper preset on the connecting device is controlled to grab the wire of the preset length, the mechanical gripper is controlled to heat it at the preset heating temperature, and the removal gripper preset on the connecting device is controlled to remove the skin, the mechanical grippers on both sides are controlled to clamp the battery cells and overlap them, and the winding robot preset on the connecting device is controlled to wrap the overlapping battery cells to complete the disconnection connection.

[0054] By adopting the above technical solution, when a wire break occurs, the connecting device is moved to control the connecting device to move to and stay at the wire break feature, and the wires on both sides are grabbed, and the outer skin of the wires is removed by heating, and then the exposed battery cells are overlapped, and the battery cells on both sides are connected by winding and wrapping, which is highly practical.

[0055] Optionally, before the connection device connects the broken wire, the maintenance method for the wire includes:

[0056] Determine whether the disconnection feature contains the preset harness feature;

[0057] If the wire break feature does not include the wire harness feature, the cutting device preset on the connecting device is controlled to cut in sequence with the preset cutting length until the wire break feature includes the wire harness feature;

[0058] If the wire break feature contains the wire harness feature, the current position information of the wire in the battery cell is obtained;

[0059] Matching the location information stored in the preset coordinate database with the coordinate point to determine the coordinate point corresponding to the location information;

[0060] Calculate the difference between two coordinate points and define it as the coordinate difference;

[0061] Determine whether the coordinate difference is greater than the preset reference coordinate difference;

[0062] If the coordinate difference is greater than the reference coordinate difference, a minimum point is selected from the coordinate points, and a trimming device preset on the connection device is controlled to perform trimming at the minimum point, and the position information is updated;

[0063] If the coordinate difference is not greater than the reference coordinate difference, no trimming is performed;

[0064] Connect the coordinate points corresponding to the position information in sequence to obtain a harness graph;

[0065] Scale the harness graphics in sequence according to the preset scaling ratio until the coordinate points coincide with each other, and define the coincidence points as the operation points;

[0066] Analyze the line number information, reference tightening spacing and tightening direction stored in the preset tightening database to match the tightening direction and reference tightening spacing corresponding to the line number information;

[0067] According to the tightening direction, the robot arm preset on the connection device is controlled to clamp and tighten with the operation point as the center, and the current tightening image detection information of the current wire harness is obtained;

[0068] According to the tightening image detection information, tightening features are identified, and the spacing values ​​between adjacent tightening features are calculated;

[0069] Determine whether the spacing value is less than the reference tightening spacing;

[0070] If the spacing value is smaller than the reference tightening spacing, the robot is controlled to continue tightening;

[0071] If the spacing value is not less than the reference tightening spacing, the robot is controlled to stop tightening and complete the maintenance of the wires.

[0072] By adopting the above technical solution, the scattered wires are trimmed to make them regular, and the positions of the wires are understood to determine the coordinate points, and finally the smallest coordinate points are used as the main points for trimming, so as to obtain neat wires. When tightening is required, the wire harness pattern is scaled to obtain the operation point for tightening. At the same time, the degree of tightening is also detected to reduce the situation of scattered wires.

[0073] Optionally, if the repair length value is not greater than the length value corresponding to the load connection length information, the connection method of the connection device for the broken line includes:

[0074] Calculate the difference between the repair length value and the length value corresponding to the load connection length information, and define it as the repair length value;

[0075] Matching the repair length value stored in the preset repair database with the trimming length to determine the trimming length corresponding to the repair length value;

[0076] According to the cutting length, the traction device preset on the connection device is controlled to pull out the spare wire, the clamping device preset on the connection device is controlled to clamp the spare wire, and the cutting device preset on the traction device is controlled to cut the spare wire;

[0077] The broken wire feature is selected according to the frame to control the clamping device to reach the location of the broken wire feature, and the preset connecting device is controlled to connect the broken wire.

[0078] By adopting the above technical solution, once the wires cannot be directly connected, spare wires are used for pulling, and spare wires of corresponding lengths are selected to complete the connection of the wires at both ends, thereby compensating for the problem of insufficient wire length, which is highly practical.

[0079] Optionally, when the connecting line is damaged, the early warning method for the connecting line includes:

[0080] When the connecting line is damaged, the current number of times is output and the amplitude detection information of the current connecting line is obtained;

[0081] Determine whether the number of times corresponding to the number of times information is greater than the number of times corresponding to the preset reference number of times information;

[0082] If the number of times corresponding to the frequency information is not greater than the number of times corresponding to the reference frequency information, continue testing;

[0083] If the number of times corresponding to the frequency information is greater than the number of times corresponding to the reference frequency information, a warning is issued, and it is determined whether the amplitude corresponding to the amplitude detection information before the connecting line is damaged exceeds the preset reference amplitude range;

[0084] If the amplitude corresponding to the amplitude detection information does not exceed the reference amplitude range, continue to detect;

[0085] If the amplitude corresponding to the amplitude detection information exceeds the reference amplitude range, a prompt will be given.

[0086] By adopting the above technical solution, the number of times the connecting line is damaged is recorded, so as to know the damage situation, and by detecting the amplitude, it is known whether it was started before the damage, thereby further improving the overall detection capability.

[0087] In the second aspect, the present application provides an excavator function self-checking system, which adopts the following technical solution:

[0088] An excavator function self-checking system, comprising:

[0089] An acquisition module is used to acquire power-on trigger information, function detection information, connector current information, connection line current information, load current information, image detection information, resistance detection information, incomplete wire length information, minimum distance detection information, moving distance information, position information, tightening image detection information, and amplitude detection information;

[0090] A memory for storing a program of any of the above excavator function self-checking methods;

[0091] The program in the processor and the memory can be loaded and executed by the processor to implement any of the above-mentioned excavator function self-check methods.

[0092] By adopting the above technical solution, the power-on trigger information is obtained to understand whether the machine is powered on. When it is powered on, it is understood whether the circuit under the corresponding function is conductive, and distributed detection is performed to know the location of the problem, and positioning prompts are given according to the location. In addition, it is understood whether the shell is damaged, which further improves the overall display capability, improves the stability of the excavator, pre-detects the excavator function, improves the safety of use, and improves the overall operation efficiency.

[0093] In a third aspect, the present application provides a smart terminal, which adopts the following technical solution:

[0094] An intelligent terminal comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute any one of the above-mentioned excavator function self-checking methods.

[0095] By adopting the above technical solution, the power-on trigger information is obtained to understand whether the machine is powered on. When it is powered on, it is understood whether the circuit under the corresponding function is conductive, and distributed detection is performed to know the location of the problem, and positioning prompts are given according to the location. In addition, it is understood whether the shell is damaged, which further improves the overall display capability, improves the stability of the excavator, pre-detects the excavator function, improves the safety of use, and improves the overall operation efficiency.

[0096] In a fourth aspect, the present application provides a computer storage medium capable of storing corresponding programs, which is convenient for achieving high stability in the use of excavators, pre-detecting the functions of excavators, improving the safety of use, and improving the overall operating efficiency, and adopts the following technical solutions:

[0097] A computer-readable storage medium stores a computer program that can be loaded by a processor and execute any of the above-mentioned excavator function self-checking methods.

[0098] By adopting the above technical solution, the power-on trigger information is obtained to understand whether the machine is powered on. When it is powered on, it is understood whether the circuit under the corresponding function is conductive, and distributed detection is performed to know the location of the problem, and positioning prompts are given according to the location. In addition, it is understood whether the shell is damaged, which further improves the overall display capability, improves the stability of the excavator, pre-detects the excavator function, improves the safety of use, and improves the overall operation efficiency.

[0099] In summary, the present application includes at least one of the following beneficial technical effects:

[0100] 1. Improve the stability of excavator use, pre-detect the excavator function, improve the safety of use, and improve the overall operation efficiency;

[0101] 2. Reconnect the disconnected line to improve security. BRIEF DESCRIPTION OF THE DRAWINGS

[0102] Figure 1 It is a flow chart of the excavator function self-check method.

[0103] Figure 2 It is a flow chart of the control method for reconnecting a disconnected connecting line.

[0104] Figure 3 It is a flow chart of the verification method for repairing the length value.

[0105] Figure 4 The invention is a flow chart of a method for connecting a disconnected line by a connecting device.

[0106] Figure 5 It is a flow chart of the maintenance method of electric wires.

[0107] Figure 6 The present invention is a flow chart of a method for connecting a disconnected line of a connecting device.

[0108] Figure 7 It is a flow chart of the early warning method of the connection line. DETAILED DESCRIPTION

[0109] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-7 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0110] The embodiment of the present application discloses a method for self-checking the functions of an excavator. By detecting the current, it is known whether the function of the position can be used normally, and the damaged position is also detected to know whether the connecting wire is disconnected. The disconnected wire is reconnected through a connecting device, thereby repairing the wire.

[0111] Reference Figure 1 , a method for self-checking the function of an excavator, comprising the following steps:

[0112] Step 100: Obtain current power-on trigger information of the excavator.

[0113] The power-on trigger information is the trigger state of the overall output when the excavator is started by a key or other method. The power-on trigger information is detected and identified by the sensor, mainly to identify its current trigger condition.

[0114] Step 101: Determine whether the power-on trigger information is consistent with the preset reference trigger information.

[0115] The reference trigger information is a preset current condition, which is set by the staff according to the actual situation and will not be described in detail here. By comparing whether the power-on trigger information is consistent with the reference trigger information, it is known whether the excavator is started.

[0116] Step 1020: If the power-on trigger information is inconsistent with the preset reference trigger information, continue detecting.

[0117] If the power-on trigger information is inconsistent with the reference trigger information, it means that the excavator is not powered on and is not in use at this time, so continue to detect.

[0118] Step 1021: If the power-on trigger information is consistent with the preset reference trigger information, the function detection information of the current functional component is obtained, and at the functional component corresponding to the function detection information, the current connector current information of the connector, the current connection line current information of the connection line, and the current load current information of the load are obtained in sequence.

[0119] If the power-on trigger information is consistent with the reference trigger information, it means that the excavator is powered on successfully and is in the starting state. At this time, the function detection information of the current function parts is obtained, and the function parts are the functions required to be used on the corresponding excavator, such as lights, horns, etc.

[0120] The function detection information can be obtained by scanning the QR code with a camera, or by image recognition. It is set by the staff according to the actual situation and will not be elaborated here.

[0121] At the functional component corresponding to the function detection information, the current connector current information of the connector, the current connection line current information of the connection line and the current load current information of the load are acquired in sequence through the current sensor, so as to know the current flow condition of the current functional component.

[0122] Step 103: Determine whether the current value corresponding to the joint current information is consistent with the current value corresponding to the preset joint reference information.

[0123] By judging whether the current value corresponding to the joint current information is consistent with the current value corresponding to the joint reference information, it is possible to understand whether the joint has a fault, such as a circuit break or a circuit break.

[0124] Among them, the joint reference information is preset information, which is set by the staff according to the actual situation and will not be elaborated here.

[0125] Step 1040: If the current value corresponding to the joint current information is inconsistent with the current value corresponding to the joint reference information, it is defined that the joint of the functional component corresponding to the function detection information is damaged, and a prompt is given to output the joint positioning information.

[0126] If the current value corresponding to the connector current information is inconsistent with the current value corresponding to the connector reference information, it means that there is a problem with the connector current parameter at this time. Therefore, it is defined as the connector of the functional part corresponding to the functional detection information is damaged, and a prompt is given to output the connector positioning information. The connector positioning information is triggered and output by a single-chip microcomputer or other sensor, and is used to indicate the position of the connector to distinguish it from other connectors.

[0127] Step 1041: If the current value corresponding to the joint current information is consistent with the current value corresponding to the joint reference information, determine whether the current value corresponding to the connection line current information is consistent with the current value corresponding to the preset connection line reference information.

[0128] If the current value corresponding to the connector current information is consistent with the current value corresponding to the connector reference information, it means that the output current of the connector is normal.

[0129] At this time, it is determined whether the current value corresponding to the connecting line current information is consistent with the current value corresponding to the connecting line reference information, wherein the connecting line reference information is a preset information parameter, which is set by the staff according to the actual situation and will not be elaborated here.

[0130] Step 1050: If the current value corresponding to the connection line current information is inconsistent with the current value corresponding to the connection line reference information, it is defined that the connection line of the functional component corresponding to the function detection information is damaged, and a prompt is given to output the connection line positioning information.

[0131] If the current value corresponding to the connection line current information is inconsistent with the current value corresponding to the connection line reference information, it means that there is a problem with the connection line, which may be a short circuit or an open circuit. In this case, it is defined as the connection line of the functional component corresponding to the function detection information is damaged, and a prompt is given to output the connection line positioning information. The connection line positioning information is triggered and output by the single-chip microcomputer or other sensors, and is used to indicate the position of the connection line to distinguish it from other connection lines.

[0132] Step 1051: If the current value corresponding to the connection line current information is consistent with the current value corresponding to the connection line reference information, determine whether the current value corresponding to the load current information is consistent with the current value corresponding to the preset load reference information.

[0133] If the current value corresponding to the connection line current information is consistent with the current value corresponding to the connection line reference information, it means that the connection line is normal. At this time, it is determined whether the current value corresponding to the load current information is consistent with the current value corresponding to the load reference information, so as to know whether there is a problem with the load.

[0134] Among them, the load benchmark information is preset information, which is set by the staff according to the actual situation and will not be elaborated here.

[0135] Step 1060: If the current value corresponding to the load current information is inconsistent with the current value corresponding to the load reference information, it is defined that the load of the functional component corresponding to the function detection information is damaged, and a prompt is given to output the load positioning information.

[0136] If the current value corresponding to the load current information is inconsistent with the current value corresponding to the load reference information, it means that there is a problem with the load. In this case, it is defined as the load of the functional component corresponding to the function detection information is damaged, and a prompt is given to output the load positioning information.

[0137] The load positioning information is triggered and output by a single-chip microcomputer or other sensors and is used to indicate the position of the load in order to distinguish it from other loads.

[0138] Step 1061: If the current value corresponding to the load current information is consistent with the current value corresponding to the load reference information, the detection is completed.

[0139] If the current value corresponding to the load current information is consistent with the current value corresponding to the load reference information, it means that there is no problem with the load and the detection is completed at this time.

[0140] By detecting the connector, the connecting wire and the load in sequence, the connector, the connecting wire and the load can be judged in sequence according to the direction of the current, thereby improving the accuracy of the overall position.

[0141] Step 107: Acquire current image detection information corresponding to the damage position according to the joint positioning information or the connection line positioning information or the load positioning information.

[0142] Once the joint positioning information, the connection line positioning information, or the load positioning information is output, the current image detection information corresponding to the damage position is obtained according to the joint positioning information, the connection line positioning information, or the load positioning information.

[0143] By understanding the joint positioning information, the connection line positioning information, or the load positioning information, the position thereof is known, and the position of the corresponding joint, the connection line, or the load is imaged through a camera, and image detection information is output.

[0144] Step 108: Determine whether the image detection information is consistent with the preset reference image detection information.

[0145] Determine whether the image detection information is consistent with the reference image detection information, wherein the reference image information is preset image information. According to the difference in joint positioning information, connecting line positioning information or load positioning information, the reference image information is collected in advance by a camera to facilitate subsequent comparison.

[0146] Step 1090: If the image detection information is consistent with the reference image detection information, it is defined as the surface is not damaged, and the damaged position of the functional component corresponding to the functional detection information is displayed.

[0147] If the image detection information is consistent with the reference image detection information, it is defined as the surface is not damaged. This means that image recognition has identified that there is no external abnormality. At this time, the damaged position of the functional component corresponding to the functional detection information is displayed, which means that the problem is not caused by a circuit breaker. Therefore, the staff needs to operate according to the actual situation.

[0148] Step 1091: If the image detection information is inconsistent with the reference image detection information, it is defined as surface damage, and the damaged position of the functional component corresponding to the functional detection information is displayed.

[0149] If the image detection information is inconsistent with the reference image detection information, it is defined as surface damage, that is, problems such as burnt black and broken circuits occur. At this time, the damaged position is displayed at the position of the functional part corresponding to the functional detection information to facilitate later maintenance.

[0150] Reference Figure 2 When the connecting line is damaged, the control method for disconnecting and reconnecting the connecting line includes the following steps:

[0151] Step 200: Select the disconnection feature and the current line number information from the image detection information.

[0152] After the image detection information is obtained, the broken line features are understood and selected. The broken line features are preset features, which are set by the staff according to the actual situation, and the recognition is completed through image comparison.

[0153] The line number information is the unique identification number of the line, which is obtained by scanning the identification code on the wire with a camera. The identification code can be a QR code or a bar code.

[0154] Step 201: Analyze and match the line number information, wire length information and load connection length information stored in a preset line database to determine the wire length information and load connection length information corresponding to the line number information.

[0155] The line database is a preset database, and the line database stores line number information, wire length information, and load connection length information. The line number information is the unique number of each line, and the connection status of the line can be known according to the number. The wire length information is the overall length of the wire when it is installed. Since the length of the wire is a constant length, the data is entered at the beginning of the installation. The load connection length information is the length required to connect the load. Since the distance between the load and the connector is a constant distance, the distance between the two can be preset and the load connection length information can be output.

[0156] After the line number information is input into the line database, the corresponding wire length information and load connection length information are matched from the line database.

[0157] Step 202: Analyze and match the disconnection characteristics stored in the preset disconnection database with the defective wire length information to calculate the defective wire length information corresponding to the disconnection characteristics.

[0158] The disconnection database is a preset database, which stores disconnection characteristics and lost wire length information. The lost wire length information is the lost length of the wire. Since the wire needs to be reconnected, a part of the length will be lost. The lost length is entered by the staff according to the actual disconnection characteristics for later retrieval and use.

[0159] Step 203: Calculate the difference between the length value corresponding to the wire length information and the length value corresponding to the damaged wire length information, and define it as the repair length value.

[0160] The difference between the length value corresponding to the wire length information and the length value corresponding to the damaged wire length information is calculated to obtain the actual length during connection and define it as the repair length value.

[0161] Step 204: Determine whether the repair length value is greater than the length value corresponding to the load connection length information.

[0162] By judging whether the repair length value is greater than the length value corresponding to the load connection length information, it is known whether the length of the wire is sufficient.

[0163] Step 2050: If the repair length value is greater than the length value corresponding to the load connection length information, control the preset connection device to connect the broken line.

[0164] If the repair length value is greater than the length value corresponding to the load connection length information, it means that the length of the wire is sufficient, so the connection device is controlled to connect the broken wire. The connection device is a preset device used to connect and repair the disconnected wire.

[0165] Step 2051: If the repair length value is not greater than the length value corresponding to the load connection length information, a warning is issued.

[0166] If the repair length value is not greater than the length value corresponding to the load connection length information, it means that the length of the wire is insufficient. At this time, a warning is issued to inform the staff.

[0167] Reference Figure 3 When the length of the wire is detected, the method for verifying the repair length value includes the following steps:

[0168] Step 300: Obtain current resistance detection information from the preset endpoints at both ends at the disconnection feature.

[0169] At the broken wire feature, the current resistance detection information is obtained from the endpoints at both ends, where the endpoints are the welding points on both sides, which are pre-set by the staff according to the actual situation and will not be described here. The resistance detection information is the resistance value of the wire, and the size of the resistance value is detected and identified by the sensor.

[0170] Step 301: Analyze the resistance detection information and the virtual length value stored in the preset virtual length database to calculate the virtual length value corresponding to the resistance detection information.

[0171] The virtual length database is a preset database, which stores resistance detection information and virtual length values. Different resistance values ​​correspond to different virtual length values. When the diameter is known, the overall length can be determined.

[0172] The resistance value corresponding to the resistance detection information is input into the virtual length database, so that the virtual length value corresponding to the resistance detection information is matched and calculated from the virtual length database.

[0173] Step 302: Determine whether there is a preset incomplete feature in the image detection information.

[0174] By judging whether there are incomplete features in the image detection information, the overall situation can be understood. Among them, the incomplete features are preset features, which are set by the staff according to the actual situation and will not be described in detail here.

[0175] Step 3030: If there is no incomplete feature in the image detection information, the sum of the virtual length values ​​on both sides is calculated and defined as the complete length value.

[0176] If there is no incomplete feature in the image detection information, it means that after the wire is disconnected, the wire end is relatively complete. Therefore, the virtual length values ​​on both sides are calculated respectively, and the sum of the virtual length values ​​on both sides is calculated, and the sum of the virtual length values ​​on both sides is defined as the complete length value.

[0177] Step 3031: If there are incomplete features in the image detection information, obtain the incomplete wire length information of the incomplete features in the image detection information.

[0178] If there is an incomplete feature in the image detection information, it means that after the wire is disconnected, the wire ends are scattered, so the incomplete wire length information of the incomplete feature in the image detection information is obtained. By analyzing the content identified after image recognition, the incomplete wire length information is determined from the incomplete features in the image detection information. The incomplete wire length information is an incomplete length value, and the length is determined by image recognition. Image recognition uses an intelligent learning algorithm or other algorithm to determine the length. It is set by those skilled in the art according to actual conditions and will not be repeated here.

[0179] Step 304: Calculate the difference between the virtual length value and the length value corresponding to the incomplete wire length information, and define it as the repair length value.

[0180] The difference between the virtual length value and the length value corresponding to the incomplete electric wire length information is calculated, and the difference between the virtual length value and the length value corresponding to the incomplete electric wire length information is defined as the repair length value.

[0181] Step 305: Determine whether the repair length value is consistent with the complete length value or the repair length value.

[0182] Determine whether the repair length value is consistent with the complete length value or the repair length value, so as to know whether the repair length value is accurate, so as to improve the overall detection accuracy.

[0183] Step 3060: If the repair length value is consistent with the complete length value or the patch length value, the verification is completed.

[0184] If the repaired length value is consistent with the complete length value or the patched length value, it indicates that the repaired length value is accurate, and thus the verification is completed.

[0185] Step 3061: If the repair length value is inconsistent with the complete length value or the patch length value, a warning is issued.

[0186] If the repair length value is inconsistent with the complete length value or the repair length value, it means that the repair length value detection is inaccurate, so a warning is issued.

[0187] Reference Figure 4 , the method for connecting the disconnected line by the connecting device comprises the following steps:

[0188] Step 400: Obtain the minimum distance detection information from the selected broken line feature to the preset endpoint.

[0189] Get the minimum distance detection information from the broken wire feature selected by the box to the endpoint, where the endpoint is a preset position point, usually the welding point of the wire.

[0190] By using image ranging, the distance between the broken wire feature and the endpoint is detected to output the minimum distance detection information. Since the wire is broken, it will be divided into two parts, so the minimum distance value obtained in the two sets of data is the minimum distance detection information.

[0191] Step 401: According to the selected disconnection feature, the connection device is controlled to move from the preset stop point to the disconnection feature at a preset moving speed, and the current moving distance information of the connection device is obtained.

[0192] According to the broken line feature selected in the box, the connecting device is controlled to move from the stop point to the broken line feature at a moving speed. The movement of the connecting device is carried out by a manipulator or by a slide rail. It is set by technical personnel in this field according to actual conditions and will not be elaborated here.

[0193] The docking point is the location where the connecting device is temporarily parked when it is not needed. The docking point is set by the staff according to the actual situation and will not be described in detail here. The moving speed is the speed value of the moving device, which is set by the staff according to the actual situation and will not be described in detail here.

[0194] When the connecting device is moving, the current moving distance information of the connecting device is obtained. The moving distance information is located by the positioning device to obtain data, and the distance can also be measured by the distance sensor. It is set by the staff according to the actual situation and will not be elaborated here.

[0195] Step 402: Calculate the sum of the distance value corresponding to the moving distance information and the preset safety distance value, and define it as the stay distance value.

[0196] The sum of the distance value corresponding to the moving distance information and the safety distance value is calculated to know whether the position of the connecting device is appropriate, and is defined as the staying distance value.

[0197] Step 403: Determine whether the stay distance value is consistent with the distance value corresponding to the minimum distance detection information.

[0198] Determine whether the stay distance value is consistent with the distance value corresponding to the minimum distance detection information.

[0199] By checking whether the stay distance value is consistent with the distance value corresponding to the minimum distance detection information, the distance of the connection device is known, so as to know the real-time position of the connection device.

[0200] Step 4040: If the stay distance value is consistent with the distance value corresponding to the minimum distance detection information, control the connection device to stop moving.

[0201] If the stay distance value is consistent with the distance value corresponding to the minimum distance detection information, it means that the position of the connecting device meets the requirement, and the connecting device is controlled to stop moving.

[0202] Step 4041: If the stay distance value is inconsistent with the distance value corresponding to the minimum distance detection information, control the connection device to continue moving.

[0203] If the stay distance value is inconsistent with the distance value corresponding to the minimum distance detection information, it means that the position of the connecting device has not reached the specified position, so the connecting device is controlled to continue moving.

[0204] Step 405: After the connecting device moves at the moving speed, it is determined whether the connecting devices on both sides stop moving.

[0205] The connecting devices move towards the broken wire position from both ends respectively. After the connecting devices move at the moving speed, it is determined whether the connecting devices on both sides stop moving, so as to determine whether the connecting devices can start to connect the broken wire.

[0206] Step 4060: If the connecting devices on both sides have not stopped moving, continue to detect.

[0207] If the connecting devices on both sides do not stop moving, it means that there are still connecting devices that have not reached the specified position, so continue to detect.

[0208] Step 4061: If the connecting devices on both sides stop moving, control the mechanical gripper preset on the connecting device to grab the wire of a preset length, control the mechanical gripper to heat it at a preset heating temperature, and control the removal gripper preset on the connecting device to remove the skin, control the mechanical grippers on both sides to clamp the battery cells and overlap them, and control the winding robot preset on the connecting device to wrap the overlapping battery cells to complete the disconnection connection.

[0209] If the connecting devices on both sides stop moving, it means that the connecting devices have reached the specified position. At this time, the mechanical gripper on the connecting device is controlled to grab the wire of a preset length to complete the preliminary fixation of the wire.

[0210] After the mechanical gripper grabs the wire, it is heated to melt the plastic shell at the grabbing position. The heating temperature is a preset temperature, which is set by technicians in this field according to actual conditions and will not be elaborated here.

[0211] After reheating, the preset removal claw on the control connection device removes the skin. The removal claw is also a kind of mechanical grasping claw. The heated mechanical claw can better separate the skin to expose the internal battery cell.

[0212] After the battery cells are exposed, they are overlapped by mechanically gripping the battery cells on both sides and moving them inward. Finally, the winding robot on the connection device is controlled to wrap the overlapping battery cells to complete the disconnection connection.

[0213] The winding robot is a type of mechanical grasping device. The overlapping battery cells are bundled with the electric tape on the winding robot to complete the connection of the wires at both ends.

[0214] Reference Figure 5 Before the connection device is connected to the broken wire, the maintenance method for the wire includes the following steps:

[0215] Step 500: Determine whether the disconnection feature includes the preset wire harness feature.

[0216] By judging whether the wire break feature contains the wiring harness feature, we can understand whether the battery cells in the wires are scattered. The wiring harness feature refers to the situation where the battery cells in the wires are scattered. It is set by the staff according to the actual situation and will not be elaborated here.

[0217] Step 5010: If the wire break feature does not include the wire harness feature, control the cutting device preset on the connecting device to cut in sequence with the preset cutting length until the wire break feature includes the wire harness feature.

[0218] If the wire break feature does not include the wire harness feature, it means that the wire is normal at this time, and it is not caused by the wire being pulled off, and the cutting device on the connection device is controlled to cut in sequence according to the cutting length. The cutting device is a device such as scissors that can cut the wire, and the wire break is trimmed by the cutting device. And an inclined trimming method is used until the wire break feature includes the wire harness feature.

[0219] Among them, the cutting length is a preset length, which is set by the staff according to the actual situation and will not be elaborated here.

[0220] Step 5011: If the wire break feature includes a wire harness feature, the current position information of the wires in the battery cell is obtained.

[0221] If the wire feature contains the wire harness feature, it means that the wire is in a scattered state, so the current position information of the wire in the battery cell is obtained. The position information is the position of each battery cell in each wire. The end of the battery cell is detected and identified by the camera to complete the positioning on the image.

[0222] Step 502: Matching the location information stored in the preset coordinate database with the coordinate point to determine the coordinate point corresponding to the location information.

[0223] The coordinate database is a preset database, and the coordinate database stores position information and coordinate points. By inputting the position information, the coordinate points corresponding to the position information are matched from the coordinate database.

[0224] Step 503: Calculate the difference between two coordinate points and define it as the coordinate difference.

[0225] Since the coordinates are coordinates in a two-dimensional interface, and detection and identification are performed along the length direction of the wire, the difference between the two coordinate points is obtained, and the difference between the two coordinate points is defined as the coordinate difference.

[0226] Step 504: Determine whether the coordinate difference is greater than a preset reference coordinate difference.

[0227] The reference coordinate difference is a preset parameter, which is set by the staff according to the actual situation and will not be described in detail here. By judging whether the coordinate difference is greater than the reference coordinate difference, it is known whether the length difference between the battery cells is too large.

[0228] Step 5050: If the coordinate difference is greater than the reference coordinate difference, a minimum point is selected from the coordinate points, and a trimming device preset on the connection device is controlled to perform trimming at the minimum point, and the position information is updated.

[0229] If the coordinate difference is greater than the reference coordinate difference, it means that the length change of the battery cell is relatively large. Therefore, the minimum point is selected from the coordinate points, and the trimming device preset on the connecting device is controlled to perform trimming based on the minimum point, so that the battery cell is trimmed to the same length and the position information is updated.

[0230] Step 5051: If the coordinate difference is not greater than the reference coordinate difference, no trimming is performed.

[0231] If the coordinate difference is not greater than the reference coordinate difference, it means that the distances between the cells are not much different, so no trimming is performed.

[0232] Step 5060: Connect the coordinate points corresponding to the position information in sequence to obtain a wiring harness diagram.

[0233] The coordinate points corresponding to the position information are connected in sequence to obtain a wiring harness diagram. When the coordinate points are connected in sequence, in order to improve the overall efficiency, the outermost coordinate points are removed and the second layer of coordinate points outside the outermost layer are connected in sequence to obtain a wiring harness diagram.

[0234] Step 5061: scaling the harness graph in sequence at a preset scaling ratio until the coordinate points coincide with each other, and defining the coincidence point as the operation point.

[0235] The wiring harness diagram is scaled in sequence according to the scaling ratio, wherein the scaling ratio is a preset ratio, which is set by the staff according to the actual situation and will not be elaborated here.

[0236] When scaling, when two points coincide, the secondary coordinate point is converted into a coordinate point, and this coordinate point continues to be scaled until all coordinate points coincide, that is, only one coordinate point remains, and the coincident point is defined as the operation point.

[0237] Step 5062: Analyze the line number information, reference tightening spacing, and tightening direction stored in the preset tightening database to match the tightening direction and reference tightening spacing corresponding to the line number information.

[0238] The tightening database is a preset database, which is set by the staff according to the actual situation and will not be described in detail here. The tightening database stores line number information, reference tightening spacing and tightening direction.

[0239] By inputting the line number information into the tightening database, the tightening direction and reference tightening spacing corresponding to the line number information are matched from the tightening database. The tightening direction is the rotation direction of the battery cell when it needs to be tightened, and the reference tightening spacing is the spacing between the spiral protrusions when the battery cell is tightened.

[0240] Step 5063: Control the manipulator preset on the connection device to clamp and tighten based on the tightening direction with the operation point as the center, and obtain the current tightening image detection information of the current wire harness.

[0241] According to the tightening direction, the robot preset on the connection device is controlled to clamp and rotate to tighten with the operation point as the center, and the current tightening image detection information of the current wire harness is obtained through the camera. The tightening image detection information is the image of the wire when the core of the wire is tightened.

[0242] Step 5064: Identify tightening features based on the tightening image detection information, and calculate the spacing values ​​between adjacent tightening features.

[0243] The tightening features are identified based on the tightening image detection information. The tightening features are the protrusions of the spiral when the wire is tightened, and the spacing values ​​between adjacent tightening features are calculated.

[0244] Step 507: Determine whether the spacing value is smaller than the reference tightening spacing.

[0245] By judging whether the spacing value is smaller than the reference tightening spacing, it is known whether the required tightening degree is achieved.

[0246] Step 5080: If the spacing value is smaller than the reference tightening spacing, the robot is controlled to continue tightening.

[0247] If the spacing value is smaller than the reference tightening spacing, it means that the tightening degree is not enough, so the robot is controlled to continue tightening.

[0248] Step 5081: If the spacing value is not less than the reference tightening spacing, the robot is controlled to stop tightening and complete the maintenance of the wires.

[0249] If the spacing value is not less than the reference tightening spacing, it means that the tightening degree meets the requirement, so the robot is controlled to stop tightening and complete the maintenance of the wires.

[0250] Reference Figure 6 If the repair length value is not greater than the length value corresponding to the load connection length information, that is, the length of the wire is insufficient, the method for connecting the broken wire by the connecting device includes the following steps:

[0251] Step 600: Calculate the difference between the repair length value and the length value corresponding to the load connection length information, and define it as the repair length value.

[0252] The difference between the repair length value and the length value corresponding to the load connection length information is calculated, and the difference is defined as the repair length value.

[0253] Step 601: Matching the repair length value stored in the preset repair database with the trimming length to determine the trimming length corresponding to the repair length value.

[0254] The repair database is a preset database, which stores repair length values ​​and cutting lengths. By inputting the repair length value into the repair database, the cutting length corresponding to the repair length value is matched from the repair database, thereby completing the length control of the wire to be extended.

[0255] Step 602: Control the traction device preset on the connection device to pull out the spare wire according to the cutting length, control the clamping device preset on the connection device to clamp the spare wire, and control the cutting device preset on the traction device to cut the spare wire.

[0256] According to the cutting length, the traction device preset in the connection device is controlled to pull out the spare wire. The traction device is an electrically controlled winding device, which is controlled to rotate by a motor to pull out the wire. And the clamping device preset on the connection device is controlled to clamp the spare wire. The clamping device is a clamping manipulator, and can also be operated by other clamping devices, which will not be described in detail here.

[0257] After the clamping device clamps the spare wire, it controls the cutting device preset on the traction device to cut the spare wire. The cutting device can be an electric scissors or other devices. It is set by the staff according to the actual situation and will not be elaborated here.

[0258] Step 603: Select the broken wire feature according to the frame to control the clamping device to reach the location of the broken wire feature, and control the preset connecting device to connect the broken wire.

[0259] The broken wire feature is selected according to the frame to control the clamping device to reach the location of the broken wire feature, and the preset connecting device is controlled to connect the broken wire. The connecting device is a robot used to wrap and connect the wires, so as to connect the broken wire as a whole.

[0260] Reference Figure 7 When the connecting line is damaged, the early warning method for the connecting line includes the following steps:

[0261] Step 700: When the connection line is damaged, output the current number information and obtain the amplitude detection information of the current connection line.

[0262] When the connecting line is damaged, the current number of times information is output, so as to count the number of times of damage, and the amplitude detection information of the current connecting line is obtained when the number of times information is output. The amplitude detection information is detected by a sensor, and can also be recognized by an image to complete the detection.

[0263] Step 701: Determine whether the number of times corresponding to the number of times information is greater than the number of times corresponding to the preset reference number of times information.

[0264] It is determined whether the number of times corresponding to the frequency information is greater than the number of times corresponding to the reference frequency information, so as to understand the overall status. The reference frequency information is preset information, representing the number of times that failures are allowed.

[0265] Step 7020: If the number of times corresponding to the frequency information is not greater than the number of times corresponding to the reference frequency information, continue detecting.

[0266] If the number of times corresponding to the frequency information is not greater than the number of times corresponding to the reference frequency information, it indicates that the current state is normal and the detection continues.

[0267] Step 7021: If the number of times corresponding to the frequency information is greater than the number of times corresponding to the reference frequency information, a warning is issued, and it is determined whether the amplitude corresponding to the amplitude detection information before the connecting line is damaged exceeds the preset reference amplitude range.

[0268] If the number of times corresponding to the frequency information is greater than the number of times corresponding to the reference frequency information, it means that the number of disconnections at this time is too many, and a warning is issued.

[0269] By judging whether the amplitude corresponding to the amplitude detection information before the connecting line is damaged exceeds the reference amplitude range, it is known whether the situation is caused by vibration wear. Among them, the reference amplitude range is preset data, which is set by the staff according to the actual situation and will not be described here.

[0270] Step 7030: If the amplitude corresponding to the amplitude detection information does not exceed the reference amplitude range, continue the detection.

[0271] If the amplitude corresponding to the amplitude detection information does not exceed the reference amplitude range, it means that the overall vibration amplitude is not large, so continue the detection.

[0272] Step 7031: If the amplitude corresponding to the amplitude detection information exceeds the reference amplitude range, a prompt is given.

[0273] If the amplitude corresponding to the amplitude detection information exceeds the reference amplitude range, it means that the overall vibration amplitude is too large. At this time, it is very likely that the wire is broken due to vibration, so a prompt is given to inform the staff.

[0274] Based on the same inventive concept, an embodiment of the present invention provides an excavator function self-checking system, comprising:

[0275] An acquisition module is used to acquire power-on trigger information, function detection information, connector current information, connection line current information, load current information, image detection information, resistance detection information, incomplete wire length information, minimum distance detection information, moving distance information, position information, tightening image detection information, and amplitude detection information;

[0276] A memory, used for storing a program of a function self-checking method of an excavator;

[0277] The program in the processor and the memory can be loaded and executed by the processor to realize the excavator function self-check method.

[0278] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0279] An embodiment of the present invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and execute an excavator function self-check method.

[0280] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0281] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes an excavator function self-test method.

[0282] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0283] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A method for self-checking the function of an excavator, characterized in that: include: Get the current power-on trigger information of the excavator; Determine whether the power-on trigger information is consistent with the preset reference trigger information; If the power-on trigger information is inconsistent with the preset reference trigger information, continue to detect; If the power-on trigger information is consistent with the preset reference trigger information, the function detection information of the current function component is obtained, and at the function component corresponding to the function detection information, the current connector current information of the connector, the current connection line current information of the connection line, and the current load current information of the load are obtained in sequence; Determine whether the current value corresponding to the joint current information is consistent with the current value corresponding to the preset joint reference information; If the current value corresponding to the joint current information is inconsistent with the current value corresponding to the joint reference information, it is defined as the joint of the functional component corresponding to the function detection information is damaged, and a prompt is given to output the joint positioning information; If the current value corresponding to the joint current information is consistent with the current value corresponding to the joint reference information, then determining whether the current value corresponding to the connection line current information is consistent with the current value corresponding to the preset connection line reference information; If the current value corresponding to the connection line current information is inconsistent with the current value corresponding to the connection line reference information, it is defined that the connection line of the functional component corresponding to the function detection information is damaged, and a prompt is given to output the connection line positioning information; If the current value corresponding to the connection line current information is consistent with the current value corresponding to the connection line reference information, determine whether the current value corresponding to the load current information is consistent with the current value corresponding to the preset load reference information; If the current value corresponding to the load current information is inconsistent with the current value corresponding to the load reference information, it is defined as the load of the functional component corresponding to the function detection information is damaged, and a prompt is given to output the load positioning information; If the current value corresponding to the load current information is consistent with the current value corresponding to the load reference information, the detection is completed; According to the joint positioning information, the connection line positioning information or the load positioning information, current image detection information corresponding to the damage position is obtained; Determining whether the image detection information is consistent with the preset reference image detection information; If the image detection information is consistent with the reference image detection information, it is defined as the surface is not damaged, and the damaged position of the functional part corresponding to the functional detection information is displayed; If the image detection information is inconsistent with the reference image detection information, it is defined as surface damage, and the damaged position of the functional part corresponding to the functional detection information is displayed.

2. The excavator function self-checking method according to claim 1, characterized in that: When the connecting wire is damaged, the control method for disconnecting and reconnecting the connecting wire includes: Select the broken line feature and the current line number information from the image detection information; Analyze and match the line number information, the wire length information and the load connection length information stored in the preset line database to determine the wire length information and the load connection length information corresponding to the line number information; Analyze and match the disconnection characteristics stored in the preset disconnection database with the defective wire length information to calculate the defective wire length information corresponding to the disconnection characteristics; Calculate the difference between the length value corresponding to the wire length information and the length value corresponding to the damaged wire length information, and define it as the repair length value; Determine whether the repair length value is greater than the length value corresponding to the load connection length information; If the repair length value is greater than the length value corresponding to the load connection length information, the preset connection device is controlled to connect the broken line; If the repair length value is not greater than the length value corresponding to the load connection length information, a warning is issued.

3. The excavator function self-checking method according to claim 2, characterized in that: The verification methods for repairing the length value include: At the disconnection feature, current resistance detection information is obtained from the preset endpoints at both ends; Analyzing the resistance detection information and the virtual length value stored in the preset virtual length database to calculate the virtual length value corresponding to the resistance detection information; Determine whether the preset incomplete features exist in the image detection information; If there is no incomplete feature in the image detection information, the sum of the virtual length values ​​on both sides is calculated and defined as the complete length value; If there are incomplete features in the image detection information, obtaining incomplete wire length information of the incomplete features in the image detection information; Calculate the difference between the virtual length value and the length value corresponding to the incomplete wire length information, and define it as the repair length value; Determine whether the repair length value is consistent with the complete length value or the repair length value; If the repair length value is consistent with the complete length value or the repair length value, the verification is completed; If the repair length value is inconsistent with the complete length value or the patch length value, a warning is issued.

4. The excavator function self-checking method according to claim 2, characterized in that: The method for connecting the disconnected connection by the connecting device includes: Obtain the minimum distance detection information from the selected broken line feature to the preset endpoint; According to the disconnection feature selected in the box, the connection device is controlled to move from the preset stop point to the disconnection feature at a preset moving speed, and the current moving distance information of the connection device is obtained; Calculate the sum of the distance value corresponding to the moving distance information and the preset safety distance value, and define it as the stay distance value; Determine whether the stay distance value is consistent with the distance value corresponding to the minimum distance detection information; If the stay distance value is consistent with the distance value corresponding to the minimum distance detection information, the connecting device is controlled to stop moving; If the stay distance value is inconsistent with the distance value corresponding to the minimum distance detection information, the connecting device is controlled to continue moving; After the connecting device moves at the moving speed, it is determined whether the connecting devices on both sides stop moving; If the connecting devices on both sides do not stop moving, continue testing; If the connecting devices on both sides stop moving, the mechanical gripper preset on the connecting device is controlled to grab the wire of the preset length, the mechanical gripper is controlled to heat it at the preset heating temperature, and the removal gripper preset on the connecting device is controlled to remove the skin, the mechanical grippers on both sides are controlled to clamp the battery cells and overlap them, and the winding robot preset on the connecting device is controlled to wrap the overlapping battery cells to complete the disconnection connection.

5. The excavator function self-checking method according to claim 2, characterized in that: Before the connection device is connected to the broken wire, the maintenance method for the wire includes: Determine whether the broken wire feature contains the preset wire harness feature; If the wire break feature does not include the wire harness feature, the cutting device preset on the connecting device is controlled to cut in sequence with the preset cutting length until the wire break feature includes the wire harness feature; If the wire break feature contains the wire harness feature, the current position information of the wire in the battery cell is obtained; Matching the location information stored in the preset coordinate database with the coordinate point to determine the coordinate point corresponding to the location information; Calculate the difference between two coordinate points and define it as the coordinate difference; Determine whether the coordinate difference is greater than the preset reference coordinate difference; If the coordinate difference is greater than the reference coordinate difference, a minimum point is selected from the coordinate points, and a trimming device preset on the connection device is controlled to perform trimming at the minimum point, and the position information is updated; If the coordinate difference is not greater than the reference coordinate difference, no trimming is performed; Connect the coordinate points corresponding to the position information in sequence to obtain a harness graph; Scale the harness graphics in sequence according to the preset scaling ratio until the coordinate points coincide with each other, and define the coincidence points as the operation points; Analyze the line number information, reference tightening spacing and tightening direction stored in the preset tightening database to match the tightening direction and reference tightening spacing corresponding to the line number information; According to the tightening direction, the robot arm preset on the connection device is controlled to clamp and tighten with the operation point as the center, and the current tightening image detection information of the current wire harness is obtained; According to the tightening image detection information, tightening features are identified, and the spacing values ​​between adjacent tightening features are calculated; Determine whether the spacing value is less than the reference tightening spacing; If the spacing value is smaller than the reference tightening spacing, the robot is controlled to continue tightening; If the spacing value is not less than the reference tightening spacing, the robot is controlled to stop tightening and complete the maintenance of the wires.

6. The excavator function self-checking method according to claim 2, characterized in that: If the repair length value is not greater than the length value corresponding to the load connection length information, the method for connecting the broken line of the connection device includes: Calculate the difference between the repair length value and the length value corresponding to the load connection length information, and define it as the repair length value; Matching the repair length value stored in the preset repair database with the trimming length to determine the trimming length corresponding to the repair length value; According to the cutting length, the traction device preset on the connection device is controlled to pull out the spare wire, the clamping device preset on the connection device is controlled to clamp the spare wire, and the cutting device preset on the traction device is controlled to cut the spare wire; The broken wire feature is selected according to the frame to control the clamping device to reach the location of the broken wire feature, and the preset connecting device is controlled to connect the broken wire.

7. The excavator function self-checking method according to claim 1, characterized in that: When the connecting line is damaged, the early warning methods for the connecting line include: When the connecting line is damaged, the current number of times is output and the amplitude detection information of the current connecting line is obtained; Determine whether the number of times corresponding to the number of times information is greater than the number of times corresponding to the preset reference number of times information; If the number of times corresponding to the frequency information is not greater than the number of times corresponding to the reference frequency information, continue testing; If the number of times corresponding to the frequency information is greater than the number of times corresponding to the reference frequency information, a warning is issued, and it is determined whether the amplitude corresponding to the amplitude detection information before the connecting line is damaged exceeds the preset reference amplitude range; If the amplitude corresponding to the amplitude detection information does not exceed the reference amplitude range, continue to detect; If the amplitude corresponding to the amplitude detection information exceeds the reference amplitude range, a prompt will be given.

8. An excavator function self-checking system, characterized in that: include: An acquisition module, used to acquire power-on trigger information, function detection information, connector current information, connection line current information, load current information, image detection information, resistance detection information, incomplete wire length information, minimum distance detection information, moving distance information, position information, tightening image detection information, and amplitude detection information; A memory for storing a program of the excavator function self-checking method according to any one of claims 1 to 7; The program in the memory can be loaded and executed by the processor to implement the excavator function self-checking method as claimed in any one of claims 1 to 7.

9. An intelligent terminal, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes the excavator function self-checking method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer program is stored which can be loaded by a processor and executes the excavator function self-checking method according to any one of claims 1 to 7.

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