Wire harness signal transmission efficiency evaluation system based on multi-dimensional analysis

Abstract

The invention discloses a wire harness signal transmission efficiency evaluation system based on multi-dimensional analysis, and relates to the field of data analysis, and the main scheme is as follows: calculating a signal quality to resistance change ratio ZAa, an electrical signal consistency index ZBa, an electromagnetic compatibility electrical efficiency index ZCa, an electrical communication performance index ZDa and an aging risk degree index ZGa according to different types of indexes; and the evaluation value Ya of the wire harness signal transmission rate is further calculated, and the relevance among various types of data is comprehensively considered, so that the problem that the wire harness signal transmission rate is evaluated by adopting a single type of indexes or various types of indexes are ignored to influence each other is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of data analysis, and in particular to a wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis. Background Art

[0002] In the field of robotics, evaluating the efficiency of wire harness signal transmission is not only a technical requirement, but also the key to ensuring high system performance, high reliability and good user experience. By evaluating the efficiency of wire harness signal transmission, the overall performance of the robot can be comprehensively improved, making it work more reliably and efficiently. This not only helps to improve the market competitiveness of the product, but also provides users with better experience and services.

[0003] The traditional method of evaluating the signal transmission efficiency of the wiring harness is to install sensors on the robot wiring harness, measure electrical parameters such as current, voltage and resistance in real time, and feed the data back to the evaluation system. The evaluation system measures the signal transmission efficiency of the wiring harness by calculating the consistency of various parameters.

[0004] The prior art still has the following deficiencies: the prior art often uses a single type of indicator to evaluate the wiring harness signal transmission rate or ignores the problem that various types of indicators can affect each other, resulting in reduced evaluation accuracy. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In view of the shortcomings of the prior art, the present invention provides a wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis, which calculates the signal quality and resistance change ratio ZA according to different types of indicators. a , Electrical signal consistency index ZB a , Electromagnetic compatibility electrical efficiency index ZC a , Electrical communication performance index ZD a and aging risk index ZG a , and further calculate the wiring harness signal transmission rate evaluation value Y a , comprehensively considering the correlation between various types of data, it solves the problem of using a single type of indicator to evaluate the wiring harness signal transmission rate or ignoring the mutual influence of various types of indicators.

[0007] (II) Technical solution

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions: A wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis, comprising:

[0009] Data acquisition module, used to collect electrical characteristic data, signal quality data, communication performance data, electromagnetic data, fault data and aging data of each wiring harness of the robot;

[0010] Index calculation module, which can calculate the distortion THD based on the electrical characteristic data a ; Calculate the signal-to-noise ratio SNR based on the signal quality data a ; According to the distortion THD a and signal-to-noise ratio SNR a Calculate the average signal quality index AA a ; Calculate the average resistance variation index AB based on the electrical characteristics data a , and further calculate the signal quality and resistance change ratio ZA a ; Calculate the electrical signal consistency index ZB based on the electrical characteristic data and signal quality data a ; Calculate signal stability CK based on signal quality data a and bit error rate BER a ; According to the signal-to-noise ratio SNR a , signal stability CK a and bit error rate BER a Calculation of signal transmission indicator CQ a ; Based on electromagnetic data, electrical characteristics data and signal transmission index CQ a Calculation of electromagnetic compatibility electrical efficiency index ZC a ; Calculate the electrical communication performance index ZD based on the communication performance data and electrical characteristic data a ; Calculate the fault recovery time index FG based on the fault data a and recovery success rate FH a , and further calculate the fault index ZE a ; Calculate the aging index ZF based on the aging data a ; According to the fault indicator ZE a and aging index ZF a Calculate the failure aging risk index ZG a ;

[0011] The judgment module can determine the signal quality and resistance change ratio ZA a , Electrical signal consistency index ZB a , Electromagnetic compatibility electrical efficiency index ZC a , Electrical communication performance index ZD a and aging risk index ZG a Calculate the estimated value Y of the signal transmission rate of the wiring harness a ; Preset transmission rate threshold set; Based on the wiring harness signal transmission rate evaluation value Y a and a transmission rate threshold set to determine different transmission states of the wiring harness signal transmission rate;

[0012] The adjustment module can adjust according to different transmission states of the wiring harness signal transmission rate.

[0013] In the above preferred solution of the wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis: calculating the signal quality and resistance change ratio ZA a The method is:

[0014] The electrical characteristics data at least include the harmonic voltage amplitude VC na , fundamental voltage amplitude VD a , working time T a , initial resistance value R a and the resistance value R ta ;

[0015] According to the harmonic voltage amplitude VC na And the fundamental voltage amplitude VD a Calculating THD a , the formula based on is:

[0016]

[0017] Among them, THD a is the distortion of the ath wire bundle, a is the serial number corresponding to different wire bundles, and its value is a positive integer; VC na is the voltage amplitude of the nth harmonic of the ath harness; n is the serial number corresponding to different harmonics, and its value is [2,w]; w is the number of occurrences of the harmonic, and its value is a positive integer; VD a is the voltage amplitude of the fundamental wave of the ath line bundle;

[0018] Signal quality data includes at least the useful signal power CD a Sum Noise Power CE a ;

[0019] According to the useful signal power CD a Sum noise power CE a Calculate the signal-to-noise ratio SNR a , the formula based on is:

[0020]

[0021] Among them, SNR a is the signal-to-noise ratio of the ath line bundle; CD a is the useful signal power of the ath wire harness signal; CE a is the noise power of the ath line beam signal;

[0022] According to the distortion THD a and signal-to-noise ratio SNR a Calculate the average signal quality index AA a , the formula based on is:

[0023]

[0024] Among them, AA a is the average signal quality index of the ath line bundle;

[0025] According to the initial resistance value R a , resistance value R ta and working time T a Calculate the average resistance variation index AB a , the formula based on is:

[0026]

[0027] Among them, AB a is the average resistance variation index of the ath wiring harness; R a is the initial resistance value of the ath wiring harness; R ta is the resistance value of the ath wiring harness at time t; t is the serial number corresponding to different times, and its value is a positive integer; T a is the working time of the ath harness;

[0028] According to the average resistance change index AB a and average signal quality index AA a Calculation of signal quality and resistance change ratio ZA a , the formula based on is:

[0029]

[0030] Among them, ZA a is the signal quality and resistance change ratio of the ath wiring harness.

[0031] In the above preferred solution of the wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis: calculating the electrical signal consistency index ZB a The method is:

[0032] The electrical characteristics data also include the voltage variance A a and current variance B a ;

[0033] Signal quality data also includes signal strength variance CG a ;

[0034] According to the voltage variance A a , Current variance B a Sum signal strength variance CG a Calculation of electrical signal consistency index ZB a , the formula based on is:

[0035]

[0036] Among them, ZBa A is the electrical signal consistency index of the ath wiring harness; a is the voltage variance of the ath wiring harness; B a is the current variance of the ath wiring harness; CG a is the signal strength variance of the ath line bundle.

[0037] In the above preferred solution of the wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis: calculating the signal transmission index CQ a The method is:

[0038] Signal quality data also includes signal amplitude CH ia , signal amplitude average CI ia , Transmission error bit number CL a and the total number of bits transmitted CM a ;

[0039] According to the signal amplitude CH ma Sum signal amplitude mean CI ma Calculate signal stability CK a , the formula based on is:

[0040]

[0041] Among them, CK a is the signal stability of the ath harness; CH ma is the signal amplitude of the mth signal of the ath harness, m is the serial number corresponding to different signals, and its value is [1, CJ a ]; CJ a is the number of signals in the ath harness, which is a positive integer; CI ma is the average signal amplitude of the ath line bundle;

[0042] According to the number of transmission error bits CL a and the total number of bits transmitted CM a Calculate the bit error rate BER a , the formula based on is:

[0043]

[0044] Among them, BER a is the bit error rate of the ath harness; CL a is the number of transmission error bits of the ath wire bundle; CM a is the total number of bits transmitted by the ath wire bundle;

[0045] According to the signal-to-noise ratio SNR a , signal stability CK a and bit error rate BER a Calculation of signal transmission indicator CQa , the formula based on is:

[0046]

[0047] Among them, CQ a is the signal transmission index of the ath wiring harness; k 1a is the signal-to-noise ratio SNR a The adjustment factor of k 2a CK is the signal stability a The adjustment factor of k 3a is the bit error rate BER a The adjustment factor.

[0048] In the above preferred solution of the wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis: calculating the electromagnetic compatibility electrical efficiency index ZC a The method is:

[0049] Electromagnetic data including EMI radiation emission intensity EA a , EMS radiation sensitivity threshold EB a and shielding attenuation EC a ;

[0050] The electrical characteristics data also include the electrical noise level F a ;

[0051] According to the EMI radiation emission intensity EA a , EMS radiation sensitivity threshold EB a , shielding attenuation EC a , electrical noise level F a and signal transmission indicator CQ a Calculation of electromagnetic compatibility electrical efficiency index ZC a , the formula based on is:

[0052]

[0053] Among them, ZC a is the electromagnetic compatibility electrical efficiency index of the ath wiring harness; EA a is the EMI radiation emission intensity of the ath wiring harness; EB a is the EMS radiation sensitivity threshold of the ath harness; EC a is the shielding attenuation of the ath harness.

[0054] In the above preferred solution of the wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis: calculating the electrical communication performance index ZD a The method is:

[0055] Communication performance data including propagation delay DA a, maximum allowed delay DD a , bandwidth DB a and data throughput DC a ;

[0056] The electrical characteristics data also include the average resistance RA a and insulation resistance stability RB a ;

[0057] According to the communication performance data, the electrical noise level F a , average resistance RA a and insulation resistance stability RB a Calculation of electrical communication performance index ZD a , the formula based on is:

[0058]

[0059] Among them, ZD a DA is the electrical communication performance index of the ath wiring harness; a is the propagation delay of the ath wire bundle; DD a is the maximum allowable delay of the ath harness; DB a is the bandwidth of the ath line beam; DC a is the data throughput of the ath wire bundle; RA a is the average resistance of the ath wiring harness; RB a is the insulation resistance stability of the ath harness; β 1a is the weight coefficient 1, with a value of 0.2 to 0.5; β 2a is the weight coefficient 2, with a value of 0.3 to 0.5; β 3a is the weight coefficient three, ranging from 0.2 to 0.5; and β 1a +β 2a +β 3a =1.

[0060] In the above preferred solution of the wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis: calculating the fault index ZE a The method is:

[0061] Fault data includes the fault occurrence time FA ai , return to normal time FB ai 、Number of successful recovery times FC a and the number of failures a ;

[0062] According to the fault occurrence time FA ai And return to normal time FB ai Calculate the fault recovery time index FG a , the formula based on is:

[0063]

[0064] Among them, the fault recovery time index FG a is the fault recovery time index of the ath wiring harness; the fault occurrence time FA ai is the time when the ath wiring harness has the i-th fault. i is the sequence number corresponding to different faults, and its value is [1, l a ]; Return to normal time FB ai is the time when the a-th wiring harness returns to normal after the i-th fault;

[0065] According to the number of successful recovery FC a and the number of failures a Calculate the recovery success rate FH a , the formula based on is:

[0066]

[0067] Among them, the recovery success rate FH a is the recovery success rate of the ath wiring harness; the number of fault occurrences l a is the number of faults that occurred in the area where the ath wiring harness is located;

[0068] According to the fault recovery time indicator FG a and recovery success rate FH a Calculation of failure index ZE a , the formula based on is:

[0069] ZE a =FG a -FH a

[0070] Among them, the fault indicator ZE a is the fault index of the ath wiring harness.

[0071] In the above preferred solution of the wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis: calculating the aging index ZF a The method is:

[0072] Aging data including initial insulation resistance GA a 、Current insulation resistance GB a , initial on-resistance GC a 、Current on-resistance GD a , initial breaking strength GE a and the current fracture strength GF a ;

[0073] Calculate the aging index ZF based on the aging data a, the formula based on is:

[0074]

[0075] Among them, ZF a is the aging index of the ath wiring harness; GA a is the initial insulation resistance of the ath; GB a is the current insulation resistance of the ath wiring harness; GC a is the initial on-resistance of the ath wiring harness; GD a is the current on-resistance of the ath wiring harness; GE a is the minimum pulling force that can break the wire harness in the area where the ath wire harness is located when the robot is not in use; GF a This is the minimum pulling force value that can break the wire harness in the area where the ath wire harness is located.

[0076] In the above preferred solution of the wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis: calculating the fault aging risk index ZG a The method is:

[0077] According to the fault indicator ZE a and aging index ZF a Calculate the failure aging risk index ZG a , the formula based on is:

[0078]

[0079] Among them, ZG a is the fault aging risk index of the ath wiring harness.

[0080] In the above preferred solution of the wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis: according to the wiring harness signal transmission rate evaluation value Y a The method for judging different transmission states of harness signal transmission rate by using the transmission rate threshold set is as follows:

[0081] According to the signal quality and resistance change ratio ZA a , Electrical signal consistency index ZB a , Electromagnetic compatibility electrical efficiency index ZC a , Electrical communication performance index ZD a and aging risk index ZG a Calculate the estimated value Y of the signal transmission rate of the wiring harness a , the formula based on is:

[0082] Y a =γ0×ZA a ×ZB a ×ZC a ×ZDa ×ZG a

[0083] Among them, γ0 is the initial theoretical transmission rate;

[0084] The preset transmission rate threshold set includes a good threshold YH and a qualified threshold YI;

[0085] According to the wire harness signal transmission rate evaluation value Y a The transmission rate threshold set determines the different transmission states of the harness signal transmission rate based on the following criteria:

[0086]

[0087] (III) Beneficial effects

[0088] The present invention provides a wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis, which has the following beneficial effects:

[0089] (1) By collecting different types of data from each harness of the robot, it is beneficial to comprehensively evaluate the transmission rate of harness signals and provide a reliable data basis for subsequent calculations;

[0090] (2) By using the average resistance change index Ab a and average signal quality index AA a Calculation of signal quality and resistance change ratio ZA a , which is helpful to evaluate signal quality from multiple dimensions. Calculate the electrical signal consistency index ZB based on the electrical characteristic data and signal quality data a , comprehensively considering the synergy between electrical parameters and signal quality. Based on electromagnetic data, electrical characteristic data and signal transmission index CQ a Calculation of electromagnetic compatibility electrical efficiency index ZC a , which can comprehensively evaluate the performance of the system in the electromagnetic environment, which helps to ensure the normal operation of the system in a complex electromagnetic environment, avoid the impact of electromagnetic interference on signal transmission, and also reduce the system's own electromagnetic radiation to the outside world. Calculate the electrical communication performance index ZD based on the communication performance data and electrical characteristic data a , which is conducive to the reasonable configuration of communication resources and electrical parameters, realizes the coordinated optimization of communication performance and electrical performance, and improves the overall performance of the system. a and aging index ZF a Calculate the failure aging risk index ZG a , taking into account the failure index and aging index, it can comprehensively evaluate the risk level of the system, which helps to formulate a reasonable maintenance plan, replace aging parts in time, and reduce the risk of failure caused by failure and aging;

[0091] (3) Based on signal quality and resistance change ratio ZA a , Electrical signal consistency index ZB a , Electromagnetic compatibility electrical efficiency index ZC a , Electrical communication performance index ZD a and aging risk index ZG a Calculate the estimated value Y of the signal transmission rate of the wiring harness a , which is conducive to comprehensively considering the correlation between various types of data, and solves the problem of using a single type of indicator to evaluate the wiring harness signal transmission rate or ignoring the mutual influence of various types of indicators; according to the wiring harness signal transmission rate evaluation value Y a The different transmission states of the harness signal transmission rate are judged by the transmission rate threshold set, which helps to accurately identify the current working state of the harness and reasonably allocate maintenance resources;

[0092] (4) By adjusting according to the different transmission states of the wiring harness signal transmission rate, the wiring harness performance can be accurately maintained and optimized, avoiding indiscriminate replacement or excessive maintenance of the wiring harness, which is conducive to reducing maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0093] Figure 1 The present invention is a schematic diagram of the system composition of a wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis. DETAILED DESCRIPTION

[0094] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0095] See also Figure 1 The present invention provides a wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis, comprising:

[0096] The data acquisition module is used to collect electrical characteristic data, signal quality data, communication performance data, electromagnetic data, fault data and aging data of each wiring harness of the robot.

[0097] In the above scheme, by collecting different types of data from each harness of the robot, it is beneficial to comprehensively evaluate the transmission rate of the harness signal and provide a reliable data basis for subsequent calculations.

[0098] Index calculation module, which can calculate the distortion THD based on the electrical characteristic data a ; Calculate the signal-to-noise ratio SNR based on the signal quality data a; According to the distortion THD a and signal-to-noise ratio SNR a Calculate the average signal quality index AA a ; Calculate the average resistance variation index AB based on the electrical characteristics data a , and further calculate the signal quality and resistance change ratio ZA a ; Calculate the electrical signal consistency index ZB based on the electrical characteristic data and signal quality data a ; Calculate signal stability CK based on signal quality data a and bit error rate BER a ; According to the signal-to-noise ratio SNR a , signal stability CK a and bit error rate BER a Calculation of signal transmission indicator CQ a ; Based on electromagnetic data, electrical characteristics data and signal transmission index CQ a Calculation of electromagnetic compatibility electrical efficiency index ZC a ; Calculate the electrical communication performance index ZD based on the communication performance data and electrical characteristic data a ; Calculate the fault recovery time index FG based on the fault data a and recovery success rate FH a , and further calculate the fault index ZE a ; Calculate the aging index ZF based on the aging data a ; According to the fault indicator ZE a and aging index ZF a Calculate the failure aging risk index ZG a .

[0099] Specifically, the signal quality and resistance change ratio ZA are calculated a The method is:

[0100] The electrical characteristics data at least include the harmonic voltage amplitude VC na , fundamental voltage amplitude VD a , working time T a , initial resistance value R a and the resistance value R ta ;

[0101] It should be noted that the harmonic voltage amplitude VC na In a periodic voltage signal, the voltage amplitude corresponding to the frequency components other than the fundamental frequency component is obtained using a spectrum analyzer. Fundamental voltage amplitude VD a It refers to the amplitude of the voltage component corresponding to the basic frequency in the periodic voltage signal, which determines the basic characteristics of the signal and is obtained using a spectrum analyzer. Working time T aThe initial resistance value R is the duration of the wiring harness in normal operation, that is, the time period from the start of work to the stop of work, which is obtained by recording the start time and stop time of the equipment. a The resistance value of the wiring harness when it is first used and is not affected by the working environment. It is an important parameter for evaluating the basic electrical characteristics of the wiring harness. It is directly measured using an ohmmeter before the new wiring harness is installed or just put into use. ta The resistance value of the wiring harness after the resistance changes due to various factors during operation is measured and obtained at different time points using an ohmmeter.

[0102] According to the harmonic voltage amplitude VC na And the fundamental voltage amplitude VD a Calculating THD a , the formula based on is:

[0103]

[0104] It should be noted that this formula measures the degree of signal distortion by calculating the ratio of the square root of the sum of the squares of all harmonic voltage amplitudes to the fundamental voltage amplitude.

[0105] Among them, THD a is the distortion of the ath wire bundle, a is the serial number corresponding to different wire bundles, and its value is a positive integer; VC na is the voltage amplitude of the nth harmonic of the ath harness; n is the serial number corresponding to different harmonics, and its value is [2,w]; w is the number of occurrences of the harmonic, and its value is a positive integer; VD a is the voltage amplitude of the fundamental wave of the ath harness.

[0106] Signal quality data includes at least the useful signal power CD a Sum noise power CE a .

[0107] It should be noted that the useful signal power CD a It refers to the power of the desired signal during the signal transmission process. Useful signal power CD a Determines the transmission distance and reception quality of the signal, and is measured by a power meter. Noise Power CE a It refers to the power of all unwanted interference signals during signal transmission, measured using a noise figure tester.

[0108] According to the useful signal power CD a Sum noise power CE a Calculate the signal-to-noise ratio SNR a , the formula based on is:

[0109]

[0110] It should be noted that this formula is Calculate the useful signal power CD a Sum Noise Power CE a The logarithm of the ratio is multiplied by 10 to convert it into decibel units to obtain the signal-to-noise ratio (SNR). a .

[0111] Among them, SNR a is the signal-to-noise ratio of the ath line bundle; CD a is the useful signal power of the ath line beam signal; CE a is the noise power of the ath line beam signal.

[0112] According to the distortion THD a and signal-to-noise ratio SNR a Calculate the average signal quality index AA a , the formula based on is:

[0113]

[0114] It should be noted that this formula takes into account the distortion THD a and signal-to-noise ratio SNR a Two factors affect signal quality. Signal-to-noise ratio (SNR) a The higher the signal quality, the better the signal quality. The average signal quality index is AA. a The higher the distortion THD a The lower the signal quality, the better the signal quality. The average signal quality index is AA. a The higher.

[0115] Among them, AA a is the average signal quality index of the ath line bundle.

[0116] According to the initial resistance value R a , resistance value R ta and working time T a Calculate the average resistance variation index AB a , the formula based on is:

[0117]

[0118] It should be noted that is the resistance change rate at time t. This formula takes the average resistance change rate at multiple time points to obtain the average resistance change index AB a Average resistance variation index AB a Reflects the change of harness resistance over a period of time, the average resistance change index AB a The smaller it is, the more stable the harness resistance is.

[0119] Among them, AB a is the average resistance variation index of the ath wiring harness; R a is the initial resistance value of the ath wiring harness; R ta is the resistance value of the ath wiring harness at unit time t; t is the serial number corresponding to different unit times, and its value is a positive integer; T a is the working time of the ath wiring harness.

[0120] According to the average resistance change index AB a and average signal quality index AA a Calculation of signal quality and resistance change ratio ZA a , the formula based on is:

[0121]

[0122] It should be noted that this formula is calculated by the average resistance change index AB a and average signal quality index AA a The ratio of signal quality to resistance change ratio ZA is obtained a Signal quality and resistance change ratio ZA a A measure of signal quality relative to resistance change. If the signal quality is high and the resistance change is small, the harness is performing well in transmitting the signal and the electrical performance is stable.

[0123] Among them, ZA a is the signal quality and resistance change ratio of the ath wiring harness.

[0124] Specifically, the electrical signal consistency index ZB is calculated a The method is:

[0125] The electrical characteristics data also include the voltage variance A a and current variance B a .

[0126] It should be noted that the voltage variance A a The voltage variance A is obtained by using a voltmeter to measure the voltage multiple times over a period of time and recording the measured values, calculating the sum of the squares of the differences between each measured value and the measured mean and dividing it by the number of measured values. a It reflects the discrete degree of voltage over a period of time. The voltage variance A a The smaller it is, the more stable the voltage is. a By using an ammeter to measure the current multiple times over a period of time and recording the measured values, the sum of the squares of the differences between each measured value and the measured mean is calculated and divided by the number of measured values. a It reflects the degree of current dispersion over a period of time. The current variance Ba The smaller it is, the more stable the current is.

[0127] Signal quality data also includes signal strength variance CG a .

[0128] It should be noted that the signal strength variance CG a By using an oscilloscope to measure the signal strength multiple times over a period of time and recording the measured values, the sum of the squares of the differences between each measured value and the measured mean is calculated and divided by the number of measured values. Signal strength variance CG a Reflects the discrete degree of signal strength over a period of time, signal strength variance CG a The smaller it is, the more stable the signal strength is.

[0129] According to the voltage variance A a , Current variance B a Sum signal strength variance CG a Calculation of electrical signal consistency index ZB a , the formula based on is:

[0130]

[0131] It should be noted that the formula calculates the square root of the sum of the reciprocals of the signal strength, voltage and current variance to obtain the electrical signal consistency index ZB. a . Electrical signal consistency index ZB a It is used to measure the consistency of the wiring harness electrical data and signal quality data. The smaller the variance of the three parameters, the smaller the fluctuation, the higher the consistency of the electrical data and signal quality data. The electrical signal consistency index ZB a The higher.

[0132] Among them, ZB a A is the electrical signal consistency index of the ath wiring harness; a is the voltage variance of the ath wiring harness; B a is the current variance of the ath wiring harness; CG a is the signal strength variance of the ath line bundle.

[0133] Specifically, the signal transmission index CQ is calculated a The method is:

[0134] Signal quality data also includes signal amplitude CH ma , signal amplitude average CI ma , Transmission error bit number CL a and the total number of bits transmitted CM a .

[0135] It should be noted that the signal amplitude CH maRefers to the strength of the signal, obtained using an oscilloscope. The average signal amplitude CI ma It refers to the average level of signal amplitude, which is obtained by counting the amplitude values ​​of different signals and calculating the arithmetic average. Transmission error bit number CL a It refers to the number of bits in the signal received by the receiving end that are inconsistent with the original signal sent by the sending end, obtained using a bit error rate tester. a It refers to the number of bits of all digital signals sent from the transmitter, obtained through the hardware counter inside the robot device.

[0136] According to the signal amplitude CH ma Sum signal amplitude mean CI ma Calculate signal stability CK a , the formula based on is:

[0137]

[0138] It should be noted that is the standard deviation of the signal amplitude, which reflects the degree of deviation of the signal amplitude. The smaller the standard deviation, the smaller the deviation, the more stable the signal, and the signal stability CK a The higher it is, the better the signal quality.

[0139] Among them, CK a is the signal stability of the ath harness; CH ma is the signal amplitude of the mth signal of the ath harness, m is the serial number corresponding to different signals, and its value is [1, CJ a ]; CJ a is the number of signals in the ath harness, which is a positive integer; CI ma is the average signal amplitude of the ath line bundle.

[0140] According to the number of transmission error bits CL a and the total number of bits transmitted CM a Calculate the bit error rate BER a , the formula based on is:

[0141]

[0142] It should be noted that this formula calculates the number of transmission error bits CL a and the total number of bits transmitted CM a The ratio of BER is obtained a . Bit Error Rate BER a Used to measure the accuracy of wiring harness signal transmission, bit error rate BER a The lower it is, the higher the signal transmission accuracy of the wiring harness and the better the signal quality.

[0143] Among them, BER a is the bit error rate of the ath harness; CL a is the number of transmission error bits of the ath wire bundle; CM a is the total number of bits transmitted by the ath wire bundle.

[0144] According to the signal-to-noise ratio SNR a , signal stability CK a and bit error rate BER a Calculation of signal transmission indicator CQ a , the formula based on is:

[0145]

[0146] It should be noted that this formula takes into account the signal-to-noise ratio SNR a , signal stability CK a and bit error rate BER a Signal transmission indicator CQ a The signal-to-noise ratio SNR a The higher the signal quality, the better the signal transmission index CQ a The higher the signal stability CK a The higher the signal quality, the better the signal transmission index CQ a The higher the bit error rate BER a The lower the signal quality, the better the signal transmission index CQ a The higher.

[0147] Among them, CQ a is the signal transmission index of the ath wiring harness; k 1a is the signal-to-noise ratio SNR a The adjustment factor of k 2a CK is the signal stability a The adjustment factor of k 3a is the bit error rate BER a Adjustment coefficient k 1a , k 2a and k 3a Determined by experimental measurement method, specifically: set up multiple different signal transmission scenarios, count the signal-to-noise ratio, signal stability, bit error rate and actual signal transmission index of each scenario, substitute the values ​​of signal-to-noise ratio, signal stability, bit error rate and actual signal transmission index in each test scenario into the above formula, and use the least squares method to adjust k 1a , k 2a and k 3a The value of k makes the signal transmission index calculated by the formula as close as possible to the actual measured signal transmission index. Constantly iterate and adjust the coefficient k 1a , k 2a and k 3a, until a good fitting effect is achieved.

[0148] Specifically, the electromagnetic compatibility electrical efficiency index ZC is calculated a The method is:

[0149] Electromagnetic data including EMI radiation emission intensity EA a , EMS radiation sensitivity threshold EB a and shielding attenuation EC a .

[0150] It should be noted that the EMI radiation emission intensity EA a Refers to the amount of electromagnetic energy radiated by an electronic device or system through space. It reflects the degree to which the device emits electromagnetic interference to the surrounding environment during operation and is measured using an electromagnetic radiation measuring instrument. EMS radiation sensitivity threshold EB a It refers to the maximum radiation intensity of the wiring harness for normal operation, which is determined by electromagnetic compatibility testing. a It refers to the ability of the wiring harness to block electromagnetic radiation, which is determined by measuring the intensity of electromagnetic radiation passing through the wiring harness with and without shielding and calculating the difference between the two.

[0151] The electrical characteristics data also include the electrical noise level F a .

[0152] It should be noted that the electrical noise level F a Refers to the degree of unwanted, random electrical signal interference present, measured using an oscilloscope.

[0153] According to the EMI radiation emission intensity EA a , EMS radiation sensitivity threshold EB a , shielding attenuation EC a , electrical noise level F a and signal transmission indicator CQ a Calculation of electromagnetic compatibility electrical efficiency index ZC a , the formula based on is:

[0154]

[0155] It should be noted that the operating principle of this formula is: the signal transmission index CQ in the molecule a Reflects the signal transmission quality. Partly by calculating the electrical noise level F a and EMS radiation sensitivity threshold EB a The ratio of is used to measure the sensitivity of the wiring harness to external interference. The larger the ratio, the higher the sensitivity, and the more susceptible the wiring harness is to external electromagnetic interference. While considering the sensitivity of the wiring harness to external interference, the attenuation effect of the equipment itself on radiation is further considered. The formula calculates the ratio of the numerator to the denominator to obtain the electromagnetic compatibility electrical efficiency index ZC a . Electromagnetic compatibility electrical efficiency index ZC a The higher it is, the better the signal transmission efficiency is.

[0156] Among them, ZC a is the electromagnetic compatibility electrical efficiency index of the ath wiring harness; EA a is the EMI radiation emission intensity of the ath wiring harness; EB a is the EMS radiation sensitivity threshold of the ath harness; EC a is the shielding attenuation of the ath harness.

[0157] Specifically, the electrical communication performance index ZD is calculated a The method is:

[0158] Communication performance data including propagation delay DA a , maximum allowed delay DD a , bandwidth DB a and data throughput DC a .

[0159] It should be noted that the propagation delay DA a The maximum allowable delay DD is the time required for a signal to travel from the transmitter to the receiver, measured using an oscilloscope. a Refers to the maximum value of the tolerable signal propagation delay, which is determined by observing the performance of different wiring harnesses and performance values ​​under different delay conditions. Bandwidth DB a Refers to the frequency range occupied by the wire harness signal, measured using a spectrum analyzer. Data throughput DC a It refers to the amount of data that can be successfully transmitted per unit time, calculated based on the communication protocol and device specifications.

[0160] The electrical characteristics data also include the average resistance RA a and insulation resistance stability RB a .

[0161] It should be noted that the average resistance RA a It refers to the average resistance of the wiring harness over a period of time, which is obtained by measuring the resistance value multiple times with an ohmmeter and calculating the average value. a It refers to the degree to which the wiring harness remains relatively stable over a certain period of time, reflecting the insulation performance of the wiring harness, and is measured regularly using an insulation resistance tester.

[0162] According to the communication performance data, the electrical noise level F a , average resistance RAa and insulation resistance stability RB a Calculation of electrical communication performance index ZD a , the formula based on is:

[0163]

[0164] It should be noted that the operating principle of this formula is: By converting the data throughput to DC a Divide by the average resistance RA a Sum bandwidth DB a , reflects the data transmission capability of the harness under the resistance and bandwidth limitations. If the average resistance RA a Smaller and bandwidth DB a Wider, then under the same data throughput, the larger the value of this part will be, indicating that the harness data transmission capability is better, and the electrical communication performance index ZD a The higher. Used to measure the performance of the wiring harness in terms of delay, propagation delay DA a The smaller the maximum allowed delay DD a , the better the performance of the wiring harness in terms of delay, the electrical communication performance index ZD a The higher. A measure of the relative importance of insulation resistance stability when considering electrical noise interference. Insulation resistance stability RB a The higher the electrical noise level F a The lower the value, the better the system performs in terms of anti-interference and insulation performance. The electrical communication performance index ZD a The higher.

[0165] Among them, ZD a DA is the electrical communication performance index of the ath wiring harness; a is the propagation delay of the ath wire bundle; DD a is the maximum allowable delay of the ath harness; DB a is the bandwidth of the ath line beam; DC a is the data throughput of the ath wire bundle; RA a is the average resistance of the ath wiring harness; RB a is the insulation resistance stability of the ath harness; β 1a The weight coefficient is 1, with a value of 0.2 to 0.5. The electrical communication performance index ZD is calculated based on the data transmission capacity. a The degree of influence is determined; 2a is the weight coefficient 2, with a value of 0.3 to 0.5, and the electrical communication performance index ZD is calculated based on the delay performance. a The degree of influence is determined; 3aThe weight coefficient is 3, with a value of 0.2 to 0.5, and the electrical communication performance index ZD is calculated based on the anti-interference and insulation performance. a The degree of influence of β is determined; and 1a +β 2a +β 3a =1.

[0166] Specifically, the fault indicator ZE is calculated a The method is:

[0167] Fault data includes the fault occurrence time FA ai , return to normal time FB ai 、Number of successful recovery times FC a and the number of failures a .

[0168] It should be noted that the fault occurs at the time FA ai Refers to the specific time point when the wiring harness changes from normal operation to fault state, and the time when it returns to normal is FB ai Refers to the specific time point when the wiring harness changes from a fault state to a normal operating state, and the number of successful recovery times FC a is the number of times the wiring harness recovers from a fault state to a normal operating state, and the number of fault occurrences l a It refers to the total number of times the wiring harness changes from normal operation to fault state. ai , return to normal time FB ai 、Number of successful recovery times FC a and the number of failures a Obtained through a harness tester.

[0169] According to the fault occurrence time FA ai And return to normal time FB ai Calculate the fault recovery time index FG a , the formula based on is:

[0170]

[0171] It should be noted that this formula obtains the fault recovery time index FG by calculating the sum of the fault durations. a .

[0172] Among them, the fault recovery time index FG a is the fault recovery time index of the ath wiring harness; the fault occurrence time FA ai is the time when the a-th wiring harness has the i-th fault; a is the sequence number corresponding to different faults, and its value is [1, l a ]; Return to normal time FB ai is the time when the a-th wiring harness recovers to normal after the i-th failure.

[0173] According to the number of successful recovery FC a and the number of failures a Calculate the recovery success rate FH a , the formula based on is:

[0174]

[0175] It should be noted that this formula calculates the number of successful recovery times FC a The number of failures a The recovery success rate FH a .

[0176] Among them, the recovery success rate FH a is the recovery success rate of the ath wiring harness; the number of fault occurrences l a is the number of failures that occur in the area where the ath wiring harness is located.

[0177] According to the fault recovery time indicator FG a and recovery success rate FH a Calculation of failure index ZE a , the formula based on is:

[0178] ZE a =FG a -FH a

[0179] It should be noted that this formula takes into account the fault recovery time index FG a and recovery success rate FH a Two factors. Fault recovery time index FG a The longer it is, the more serious the fault is. The fault indicator ZE a The higher the recovery success rate FH a The lower the value, the more serious the fault. a The higher.

[0180] Among them, the fault indicator ZE a is the fault index of the ath wiring harness.

[0181] Specifically, the aging index ZF is calculated a The method is:

[0182] Aging data including initial insulation resistance GA a 、Current insulation resistance GB a , initial on-resistance GC a 、Current on-resistance GD a , initial breaking strength GE a and the current fracture strength GF a .

[0183] It should be noted that the initial insulation resistance GA a It refers to the ability of the insulation part of the wiring harness to block the current when it is first put into use. It reflects the performance of the insulation material in preventing current leakage under ideal conditions. Current insulation resistance GB a Refers to the resistance value measured on the insulation part of the wiring harness at the current moment. Initial insulation resistance GA a And the current insulation resistance GB a Obtained by measuring with an insulation resistance tester. Initial conduction resistance GC a It is the resistance encountered by the current passing through the conductor when the harness is in the initial state and in the normal conduction state. a The resistance value of the conductor in the on state at the current moment. Initial on resistance GC a and the current on-resistance GD a Measured by ohmmeter. Initial breaking strength GE a and the current fracture strength GF a Obtained by measuring with a material testing machine. Initial fracture strength GE a The minimum tensile force that can break the harness when the robot is not in use. The current breaking strength GF a It is the minimum pulling force that can break the wire harness at the current moment.

[0184] Calculate the aging index ZF based on the aging data a , the formula based on is:

[0185]

[0186] It should be noted that this formula calculates the relative change values ​​of insulation resistance, on-resistance and breaking strength to obtain the aging index ZF a The greater the relative change of insulation resistance, conduction resistance and fracture severity, the more serious the wiring harness aging is. a The higher.

[0187] Among them, ZF a is the aging index of the ath wiring harness; GA a is the initial insulation resistance of the ath; GB a is the current insulation resistance of the ath wiring harness; GC a is the initial on-resistance of the ath wiring harness; GD a is the current on-resistance of the ath wiring harness; GE a is the minimum pulling force that can break the wire harness in the area where the ath wire harness is located when the robot is not in use; GF a This is the minimum pulling force value that can break the wire harness in the area where the ath wire harness is located.

[0188] Specifically, calculate the failure aging risk index ZG a The method is:

[0189] According to the fault indicator ZE a and aging index ZF a Calculate the failure aging risk index ZG a , the formula based on is:

[0190]

[0191] It should be noted that this formula comprehensively considers the fault index ZE a and aging index ZF a , and obtain the fault aging risk index ZG a . Fault indicator ZE a The lower the value, the lower the degree of wiring harness failure, and the fault aging risk index ZG a The higher the aging index ZF a The lower the value, the lower the degree of wiring harness aging, and the fault aging risk index ZG a The higher.

[0192] Among them, ZG a is the fault aging risk index of the ath wiring harness.

[0193] In the above scheme, by changing the average resistance index AB a and average signal quality index AA a Calculation of signal quality and resistance change ratio ZA a , which is helpful to evaluate signal quality from multiple dimensions. Calculate the electrical signal consistency index ZB based on the electrical characteristic data and signal quality data a , comprehensively considering the synergy between electrical parameters and signal quality. Based on electromagnetic data, electrical characteristic data and signal transmission index CQ a Calculation of electromagnetic compatibility electrical efficiency index ZC a , which can comprehensively evaluate the performance of the system in the electromagnetic environment, which helps to ensure the normal operation of the system in a complex electromagnetic environment, avoid the impact of electromagnetic interference on signal transmission, and also reduce the system's own electromagnetic radiation to the outside world. Calculate the electrical communication performance index ZD based on the communication performance data and electrical characteristic data a , which is conducive to the reasonable configuration of communication resources and electrical parameters, realizes the coordinated optimization of communication performance and electrical performance, and improves the overall performance of the system. a and aging index ZF a Calculate the failure aging risk index ZG a, taking into account the fault indicators and aging indicators, it can comprehensively evaluate the risk level of the system, which helps to formulate a reasonable maintenance plan, replace aging components in time, and reduce the risk of system failure due to faults and aging.

[0194] The judgment module can determine the signal quality and resistance change ratio ZA a , Electrical signal consistency index ZB a , Electromagnetic compatibility electrical efficiency index ZC a , Electrical communication performance index ZD a and aging risk index ZG a Calculate the estimated value Y of the signal transmission rate of the wiring harness a ; Preset transmission rate threshold set; Based on the wiring harness signal transmission rate evaluation value Y a The transmission rate threshold set determines different transmission states of the wiring harness signal transmission rate.

[0195] Specifically, according to the harness signal transmission rate evaluation value Y a The method for judging different transmission states of harness signal transmission rate by using the transmission rate threshold set is as follows:

[0196] According to the signal quality and resistance change ratio ZA a , Electrical signal consistency index ZB a , Electromagnetic compatibility electrical efficiency index ZC a , Electrical communication performance index ZD a and aging risk index ZG a Calculate the estimated value Y of the signal transmission rate of the wiring harness a , the formula based on is:

[0197] Y a =γ0×ZA a ×ZB a ×ZC a ×ZD a ×ZG a

[0198] It should be noted that this formula is based on the initial theoretical transmission rate γ0. By comprehensively considering the impact of different indicators on the transmission rate, the wiring harness signal transmission rate evaluation value Y is obtained. a .

[0199] Among them, γ0 is the initial theoretical transmission rate, which is obtained by querying the data manual.

[0200] The preset transmission rate threshold set includes a good threshold YH and a qualified threshold YI.

[0201] It should be noted that the method for determining the good threshold value YH and the qualified threshold value YI is as follows: historical working data of different harnesses in different periods are counted, the harness signal transmission rate evaluation value is calculated according to the above method based on the historical working data, 80% of the data with higher harness signal transmission rate evaluation value is counted as a sample set, and the average value and standard deviation of the sample values ​​are calculated. The average value plus the standard deviation is calculated as the reference value of the good threshold value YH. The average value minus the standard deviation is calculated as the reference value of the qualified threshold value YI.

[0202] The different transmission states of the wiring harness signal transmission rate are determined according to the wiring harness signal transmission rate evaluation value Y and the transmission rate threshold set, and the standards are as follows:

[0203]

[0204] In the above scheme, according to the signal quality and resistance change ratio ZA a , Electrical signal consistency index ZB a , Electromagnetic compatibility electrical efficiency index ZC a , Electrical communication performance index ZD a and aging risk index ZG a Calculate the estimated value Y of the signal transmission rate of the wiring harness a , which is conducive to comprehensively considering the correlation between various types of data, and solves the problem of using a single type of indicator to evaluate the wiring harness signal transmission rate or ignoring the mutual influence of various types of indicators; according to the wiring harness signal transmission rate evaluation value Y a The different transmission states of the harness signal transmission rate can be judged by the transmission rate threshold set, which helps to accurately identify the current working state of the harness and reasonably allocate maintenance resources.

[0205] The adjustment module can adjust according to different transmission states of the wiring harness signal transmission rate.

[0206] Specifically, the method for adjusting the signal transmission rate according to different transmission states of the wiring harness is:

[0207] When the transmission status is good, the green signal light flashes, and the various indicators of the wiring harness are continuously monitored to ensure that it remains in good condition. Regular inspection and maintenance are performed, such as cleaning the wiring harness and checking for loose connections.

[0208] When the transmission status is qualified, the yellow signal light flashes and the various index data of the wiring harness signal are sent to the staff, who make local adjustments based on the index data.

[0209] When the transmission status is unqualified, the red signal light flashes, the equipment is stopped immediately, and the various indicator data of the harness signal are sent to the staff, who diagnose and repair the fault based on the indicator data.

[0210] In the above scheme, by adjusting according to different transmission states of the wiring harness signal transmission rate, the wiring harness performance can be accurately maintained and optimized, avoiding indiscriminate replacement or excessive maintenance of the wiring harness, which is conducive to reducing maintenance costs.

[0211] The above embodiments may be implemented in whole or in part by software, hardware, firmware or any other combination thereof. When implemented using software, the above embodiments may be implemented in whole or in part in the form of a computer program product. A person of ordinary skill in the art may appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein may be implemented in electronic hardware or in combination with computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution.

[0212] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0213] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis, characterized in that: include: Data acquisition module, used to collect electrical characteristic data, signal quality data, communication performance data, electromagnetic data, fault data and aging data of each wiring harness of the robot; Index calculation module, which can calculate the distortion THD based on the electrical characteristic data a ; Calculate the signal-to-noise ratio SNR based on the signal quality data a ; According to the distortion THD a and signal-to-noise ratio SNR a Calculate the average signal quality index AA a ; Calculate the average resistance variation index AB based on the electrical characteristics data a , and further calculate the signal quality and resistance change ratio ZA a ; Calculate the electrical signal consistency index ZB based on the electrical characteristic data and signal quality data a ; Calculate signal stability CK based on signal quality data a and bit error rate BER a ; According to the signal-to-noise ratio SNR a , signal stability CK a and bit error rate BER a Calculation of signal transmission index CQ a ; Based on electromagnetic data, electrical characteristics data and signal transmission index CQ a Calculation of electromagnetic compatibility electrical efficiency index ZC a ; Calculate the electrical communication performance index ZD based on the communication performance data and electrical characteristic data a ; Calculate the fault recovery time index FG based on the fault data a and recovery success rate FH a , and further calculate the fault index ZE a ; Calculate the aging index ZF based on the aging data a ; According to the fault indicator ZE a and aging index ZF a Calculate the failure aging risk index ZG a ; The judgment module can determine the signal quality and resistance change ratio ZA a , Electrical signal consistency index ZB a , Electromagnetic compatibility electrical efficiency index ZC a , Electrical communication performance index ZD a and aging risk index ZG a Calculate the estimated value Y of the signal transmission rate of the wiring harness a ;Preset transmission rate threshold set; According to the wire harness signal transmission rate evaluation value Y a and a transmission rate threshold set to determine different transmission states of the wiring harness signal transmission rate; The adjustment module can adjust according to different transmission states of the wiring harness signal transmission rate.

2. The wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis according to claim 1, characterized in that: Calculation of signal quality and resistance change ratio ZA a The method is: The electrical characteristics data at least include the harmonic voltage amplitude VC na , fundamental voltage amplitude VD a , working time T a , initial resistance value R a and the resistance value R ta ; According to the harmonic voltage amplitude VC na And the fundamental voltage amplitude VD a Calculating THD a , the formula based on is: Among them, THD a is the distortion of the ath wire bundle, a is the serial number corresponding to different wire bundles, and its value is a positive integer; VC na is the voltage amplitude of the nth harmonic of the ath harness; n is the serial number corresponding to different harmonics, and its value is [2,w]; w is the number of occurrences of the harmonic, and its value is a positive integer; VD a is the voltage amplitude of the fundamental wave of the ath line bundle; Signal quality data includes at least the useful signal power CD a Sum Noise Power CE a ; According to the useful signal power CS a Sum Noise Power CE a Calculate the signal-to-noise ratio SNR a , the formula based on is: Among them, SNR a is the signal-to-noise ratio of the ath line bundle; CD a is the useful signal power of the ath line beam signal; CE a is the noise power of the ath line beam signal; According to the distortion THD a and signal-to-noise ratio SNR a Calculate the average signal quality index AA a , the formula based on is: Among them, AA a is the average signal quality index of the ath line bundle; According to the initial resistance value R a , resistance value R ta and working time T a Calculate the average resistance variation index AB a , the formula based on is: Among them, AB a is the average resistance variation index of the ath wiring harness; R a is the initial resistance value of the ath wiring harness; R ta is the resistance value of the ath wiring harness at time t; t is the serial number corresponding to different times, and its value is a positive integer; T a is the working time of the ath harness; According to the average resistance change index AB a and average signal quality index AA a Calculation of signal quality and resistance change ratio ZA a , the formula based on is: Among them, ZA a is the signal quality and resistance change ratio of the ath wiring harness.

3. The wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis according to claim 2, characterized in that: Calculation of electrical signal consistency index ZB a The method is: The electrical characteristics data also include the voltage variance A a and current variance B a ; Signal quality data also includes signal strength variance CG a ; According to the voltage variance A a , Current variance B a Sum signal strength variance CG a Calculation of electrical signal consistency index ZB a , the formula based on is: Among them, ZB a A is the electrical signal consistency index of the ath wiring harness; a is the voltage variance of the ath wiring harness; B a is the current variance of the ath wiring harness; CG a is the signal strength variance of the ath line bundle.

4. The wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis according to claim 3, characterized in that: Calculation of signal transmission indicator CQ a The method is: Signal quality data also includes signal amplitude CH ia , signal amplitude average CI ia , Transmission error bit number CL a and the total number of bits transmitted CM a ; According to the signal amplitude CH ma Sum signal amplitude mean CI ma Calculate signal stability CK a , the formula based on is: Among them, CK a is the signal stability of the ath harness; CH ma is the signal amplitude of the mth signal of the ath harness, m is the serial number corresponding to different signals, and its value is [1, CJ a ]; CJ a is the number of signals in the ath harness, which is a positive integer; CI ma is the average signal amplitude of the ath line bundle; According to the number of transmission error bits CL a and the total number of bits transmitted CM a Calculate the bit error rate BER a , the formula based on is: Among them, BER a is the bit error rate of the ath harness; CL a is the number of transmission error bits of the ath wire bundle; CM a is the total number of bits transmitted by the ath wire bundle; According to the signal-to-noise ratio SNR a , signal stability CK a and bit error rate BER a Calculation of signal transmission indicator CQ a , the formula based on is: Among them, CQ a is the signal transmission index of the ath wiring harness; k 1a is the signal-to-noise ratio SNR a The adjustment factor of k 2a CK is the signal stability a The adjustment factor of k 3a is the bit error rate BER a The adjustment factor.

5. The wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis according to claim 4, characterized in that: Calculation of electromagnetic compatibility electrical efficiency index ZC a The method is: Electromagnetic data including EMI radiation emission intensity EA a , EMS radiation sensitivity threshold EB a and shielding attenuation EC a ; The electrical characteristics data also include the electrical noise level F a ; According to the EMI radiation emission intensity EA a , EMS radiation sensitivity threshold EB a , shielding attenuation EC a , electrical noise level F a and signal transmission indicator CQ a Calculation of electromagnetic compatibility electrical efficiency index ZC a , the formula based on is: Among them, ZC a is the electromagnetic compatibility electrical efficiency index of the ath wiring harness; EA a is the EMI radiation emission intensity of the ath wiring harness; EB a is the EMS radiation sensitivity threshold of the ath harness; EC a is the shielding attenuation of the ath harness.

6. The wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis according to claim 5, characterized in that: Calculation of electrical communication performance index ZD a The method is: Communication performance data including propagation delay DA a , maximum allowed delay DD a , bandwidth DB a and data throughput DC a ; The electrical characteristics data also include the average resistance RA a and insulation resistance stability RB a ; According to the communication performance data, the electrical noise level F a , average resistance RA a and insulation resistance stability RB a Calculation of electrical communication performance index ZD a , the formula based on is: Among them, ZD a DA is the electrical communication performance index of the ath wiring harness; a is the propagation delay of the ath wire bundle; DD a is the maximum allowable delay of the ath harness; DB a is the bandwidth of the ath line beam; DC a is the data throughput of the ath wire bundle; RA a is the average resistance of the ath wiring harness; RB a is the insulation resistance stability of the ath harness; β 1a is the weight coefficient 1, with a value of 0.2 to 0.5; β 2a is the weight coefficient 2, with a value of 0.3 to 0.5; β 3a is the weight coefficient three, ranging from 0.2 to 0.5; and β 1a +β 2a +β 3a =1.

7. The wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis according to claim 6, characterized in that: Calculation of failure index ZE a The method is: Fault data includes the fault occurrence time FA ai , return to normal time FB ai 、Number of successful recovery times FC a and the number of failures a ; According to the fault occurrence time FA ai And return to normal time FB ai Calculate the fault recovery time index FG a , the formula based on is: Among them, the fault recovery time index FG a is the fault recovery time index of the ath wiring harness; the fault occurrence time FA ai is the time when the ath wiring harness has the i-th fault. i is the sequence number corresponding to different faults, and its value is [1, l a ]; Return to normal time FB ai is the time when the a-th wiring harness returns to normal after the i-th fault; According to the number of successful recovery FC a and the number of failures a Calculate the recovery success rate FH a , the formula based on is: Among them, the recovery success rate FH a is the recovery success rate of the ath wiring harness; the number of fault occurrences l a is the number of faults that occurred in the area where the ath wiring harness is located; According to the fault recovery time indicator FG a and recovery success rate FH a Calculation of failure index ZE a , the formula based on is: THEY a =FG a -FH a Among them, the fault indicator ZE a is the fault index of the ath wiring harness.

8. The wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis according to claim 7, characterized in that: Calculation of aging index ZF a The method is: Aging data including initial insulation resistance GA a 、Current insulation resistance GB a , initial on-resistance GC a 、Current on-resistance GD a , initial breaking strength GE a and the current fracture strength GF a ; Calculate the aging index ZF based on the aging data a , the formula based on is: Among them, ZF a is the aging index of the ath wiring harness; GA a is the initial insulation resistance of the ath; GB a is the current insulation resistance of the ath wiring harness; GC a is the initial on-resistance of the ath wiring harness; GD a is the current on-resistance of the ath wiring harness; GE a is the minimum pulling force that can break the wire harness in the area where the ath wire harness is located when the robot is not in use; GF a This is the minimum pulling force value that can break the wire harness in the area where the ath wire harness is located.

9. The wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis according to claim 8, characterized in that: Calculate the failure aging risk index ZG a The method is: According to the fault indicator ZE a and aging index ZF a Calculate the failure aging risk index ZG a , the formula based on is: Among them, ZG a is the fault aging risk index of the ath wiring harness.

10. The wiring harness signal transmission efficiency evaluation system based on multi-dimensional analysis according to claim 9, characterized in that: According to the wire harness signal transmission rate evaluation value Y a The method for judging different transmission states of harness signal transmission rate by using the transmission rate threshold set is as follows: According to the signal quality and resistance change ratio ZA a , Electrical signal consistency index ZB a , Electromagnetic compatibility electrical efficiency index ZC a , Electrical communication performance index ZD a and aging risk index ZG a Calculate the estimated value Y of the signal transmission rate of the wiring harness a , the formula based on is: AND a =γ0×ZA a ×ZB a ×ZC a ×ZD a ×ZG a Among them, γ0 is the initial theoretical transmission rate; The preset transmission rate threshold set includes a good threshold YH and a qualified threshold YI; According to the wire harness signal transmission rate evaluation value Y a The transmission rate threshold set determines the different transmission states of the harness signal transmission rate based on the following criteria:

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