Stable control system of battery replacing sling cart

Abstract

The invention provides a stability control system for a battery replacing sling cart, which is used for controlling the stability of the sling cart, and comprises a control module, which is used for constructing an overturning sideline model and monitoring the moving track of a mechanical arm according to the operating parameters of the sling cart, the overturning sideline model is composed of overturning sidelines formed between the adjacent supporting legs; when the mechanical arm intersects with one of the overturning sidelines, the control module calculates the overturning moment for pushing the sling cart to overturn around the overturning sideline and the stabilizing moment for restraining the sling cart from overturning around the overturning sideline according to the operation parameters of the sling cart. According to the control system, it can be guaranteed that the battery replacing hoisting is always operated within the safety boundary, the intelligence of the battery replacing hoisting operation process is improved, dependence on people is reduced, overturning of the hoisting vehicle is avoided, and the stability and safety of the battery replacing hoisting operation process are improved.

Description

Technical Field

[0001] This invention belongs to the field of crane control technology, and more specifically, relates to a stable control system for a battery swapping crane. Background Technology

[0002] During battery swapping operations, the vehicle's stability control directly impacts the success rate and safety of the swapping process. Current battery swapping technologies lack a dedicated vehicle stability control system to monitor the swapping process and cannot adjust or control the swapping robotic arm accordingly. The safety and stability of the swapping operation rely solely on the operator's on-site observation and handling of anomalies. This situation not only hinders the progress of automated, unmanned battery swapping but also increases reliance on operators, making misjudgments or omissions more likely and increasing the inherent risks of battery swapping operations. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing a stability control system for battery swapping cranes. This system solves the problem mentioned in the background section that existing battery swapping crane technologies do not have a dedicated vehicle stability control system for monitoring the battery swapping process. Instead, they rely solely on on-site observation and anomaly handling by the battery swapping operator, which increases reliance on the operator and is prone to misjudgment or missed judgment.

[0004] To achieve the above objectives, the present invention provides a stability control system for a battery-swapping crane, used to control the stability of the crane. The crane includes a tractor unit, a semi-trailer body, a robotic arm, multiple outriggers, and a robotic arm motion control system. The tractor unit is connected to the semi-trailer body via a saddle. The base of the robotic arm is connected to the tractor unit. The tractor unit is connected to at least five outriggers. The robotic arm motion control system is electrically connected to the robotic arm. The lifting device of the robotic arm is used to lift loads from the semi-trailer body. The control system includes: The control module constructs an overturning edge model and monitors the running trajectory of the robotic arm based on the operating parameters of the crane. The overturning edge model is composed of the overturning edge line formed between adjacent outriggers. When the robotic arm intersects one of the overturning edges, the control module calculates the overturning moment that would push the crane over the overturning edge and the stabilizing moment that would prevent the crane from overturning the overturning edge, based on the crane's operating parameters. Then, it calculates the overturning ratio of the overturning moment to the stabilizing moment and compares the overturning ratio with a preset safety factor. Based on the comparison result, it sends a command to the robotic arm motion control system to either keep the robotic arm in its original working state or adjust the robotic arm's working state.

[0005] Preferably, the battery swapping crane stability control system further includes: The monitoring and sensing module is electrically connected to the control module and is installed on the crane vehicle. The monitoring and sensing module is used to acquire the operating parameters of the crane vehicle, including the support status parameters of each outrigger, the activity status parameters of the robotic arm, the weight of the lifting gear and load, and the pressure of the semi-trailer body and load on the saddle, and feeds them back to the control module.

[0006] Preferably, the battery swapping crane stability control system further includes: The control module is electrically connected to the monitoring and sensing module through the preprocessing module, and the preprocessing module includes a filtering and noise reduction unit.

[0007] Preferably, the control module calculates, based on the operating parameters of the crane, the overturning moment that would cause the crane to overturn around the overturning edge line, and the stabilizing moment that would prevent the crane from overturning around the overturning edge line, including: The control module calculates the center of gravity positions of the robotic arm, the lifting load, the base and tractor assembly, and the saddle load based on the operating parameters of the crane. Then, it calculates the horizontal and vertical distance L from the robotic arm's center of gravity position to the overturning edge line. 机质 The horizontal and vertical distance L from the center of gravity of the lifting load to the overturning edge line 负质 The horizontal and vertical distance L from the center of gravity of the base and tractor unit assembly to the overturning edge line. 基车 The horizontal and vertical distance L from the load center of the saddle to the overturning edge line 鞍座 ; The control module is based on the lifting dynamic load P. 起 The horizontal and vertical distance L from the center of gravity of the lifting load to the overturning edge line 负质 The mass of the robotic arm is m t The horizontal and vertical distance L from the center of mass of the robotic arm to the overturning edge line 机质 Calculate the overturning moment M 倾 , ; The control module is based on the total mass m of the base and the tractor unit. 基车 The horizontal and vertical distance L from the center of gravity of the base and tractor unit assembly to the overturning edge line. 基车 The pressure F exerted on the saddle by the semi-trailer body and load 鞍 The horizontal and vertical distance L from the load center of the saddle to the overturning edge. 鞍座 Calculate the stabilizing moment M 稳 , .

[0008] Preferably, the control module compares the anti-overturning ratio with a preset safety factor, and sends instructions to the robotic arm motion control system based on the comparison result, so that the robotic arm continues to maintain its original activity state, or adjusts the activity state of the robotic arm, including: When the overturning resistance ratio is less than or equal to a safety factor of 90%, the control robot arm continues to maintain its original working state. When the overturning resistance ratio is greater than the 90% safety factor, the movement state of the robotic arm is adjusted.

[0009] When the overturning resistance ratio equals the safety factor, the robotic arm is controlled to stop.

[0010] Preferably, the safety factor is 1.48.

[0011] Preferably, the monitoring and sensing module includes: Multiple hysteresis displacement sensors and multiple support pressure sensors are provided, with each of the legs connected to one of the hysteresis displacement sensors and one of the support pressure sensors.

[0012] Preferably, the monitoring and sensing module further includes: The robotic arm includes multiple angle encoders, wire sensors, and rotary encoders. Each joint of the robotic arm is connected to one of the angle encoders. The telescopic part of the robotic arm is connected to the wire sensor, and the rotary part of the robotic arm is connected to the rotary encoder.

[0013] Preferably, the monitoring and sensing module further includes: A load pressure sensor is connected to the lifting part of the robotic arm.

[0014] Preferably, the monitoring and sensing module further includes: A saddle pressure sensor is connected to the saddle.

[0015] This invention provides a stability control system for a battery swapping hoisting vehicle. Its advantages include: the control module of this system constructs an overturning edge model and monitors the robotic arm's operating trajectory. When the robotic arm intersects one of the overturning edges, the control module calculates the overturning moment that would cause the hoisting vehicle to overturn around the overturning edge, and the stabilizing moment that would prevent the hoisting vehicle from overturning around the overturning edge, based on the hoisting vehicle's operating parameters. Then, it calculates the anti-overturning ratio of the overturning moment to the stabilizing moment and compares this ratio with a preset safety factor. Based on the comparison result, it sends instructions to the robotic arm motion control system to either maintain the robotic arm's original operating state or adjust its operating state. During battery swapping operations, this control system ensures that the hoisting vehicle always operates within the safety boundary, improving the intelligence of the battery swapping operation, reducing reliance on human personnel, preventing the hoisting vehicle from overturning, and enhancing the stability and safety of the battery swapping operation.

[0016] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0017] The above and other objects, features and advantages of the present invention will become more apparent from the more detailed description of exemplary embodiments of the invention in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the invention.

[0018] Figure 1 A side view of a battery swapping crane stability control system according to an embodiment of the present invention is shown. Figure 2 A top view schematic diagram of a battery swapping crane stability control system according to an embodiment of the present invention is shown; Figure 3 A side view of the tractor unit of a battery swapping crane stability control system according to an embodiment of the present invention is shown.

[0019] Explanation of reference numerals in the attached figures: 1. Tractor cab; 2. Semi-trailer body; 3. Robotic arm; 31. Turntable; 32. First arm; 33. Second arm; 34. Third arm; 4. Outriggers; 41. First outrigger; 42. Second outrigger; 43. Third outrigger; 44. Fourth outrigger; 45. Fifth outrigger; 5. Saddle; 6. Lifting device; 7. Overturning edge model; 8. Battery. Detailed Implementation

[0020] Preferred embodiments of the invention will now be described in more detail. While preferred embodiments of the invention are described below, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0021] like Figure 1-Figure 3 As shown, this invention provides a stability control system for a battery-swapping crane, used to control the stability of the crane. The crane includes a tractor unit 1, a semi-trailer body 2, a robotic arm 3, multiple outriggers 4, and a robotic arm motion control system. The tractor unit 1 and the semi-trailer body 2 are connected via a saddle 5. The base of the robotic arm 3 is connected to the tractor unit 1. The tractor unit 1 is connected to at least five outriggers 4. The front of the semi-trailer body is supported by the tractor unit saddle 5, and the rear of the body is supported by the trailer rear wheels. The robotic arm motion control system is electrically connected to the robotic arm 3. The lifting device 6 of the robotic arm 3 is used to lift the load on the semi-trailer body 4. The control system includes: The control module constructs the overturning edge model 7 and monitors the running trajectory of the robotic arm 3 based on the operating parameters of the crane. The overturning edge model 7 is composed of the overturning edge line formed between adjacent outriggers 4. When robotic arm 3 intersects with one of the overturning edges, the control module calculates the overturning moment that would push the crane over the overturning edge and the stabilizing moment that would prevent the crane from overturning the overturning edge, based on the crane's operating parameters. Then, it calculates the overturning ratio of the overturning moment to the stabilizing moment and compares the overturning ratio with a preset safety factor. Based on the comparison result, it sends a command to the robotic arm motion control system to either keep robotic arm 3 in its original working state or adjust the working state of robotic arm 3.

[0022] Specifically, to address the lack of a dedicated vehicle stability control system for monitoring the battery swapping process in existing battery swapping crane technologies, which rely solely on operator observation and anomaly handling, increasing operator dependence and increasing the risk of misjudgments or missed detections, this invention provides a stability control system for battery swapping cranes. This control system's control module constructs a tilting edge model 7 and monitors the trajectory of the robotic arm 3. When the robotic arm 3 intersects one of the tilting edges, the control module calculates the tilting moment that would cause the crane to tilt around that edge, based on the crane's operating parameters, and also suppresses the tilting... The system calculates the stabilizing moment of the vehicle overturning around the overturning edge, then calculates the overturning moment to the stabilizing moment anti-overturning ratio, and compares the anti-overturning ratio with a preset safety factor. Based on the comparison result, it sends a command to the robotic arm motion control system to either keep the robotic arm 3 in its original working state or adjust the working state of the robotic arm 3. During the battery swapping lifting operation, this control system can ensure that the battery swapping lifting operation is always within the safety boundary, improve the intelligence of the battery swapping lifting operation, reduce dependence on human personnel, avoid the overturning of the lifting vehicle, and improve the stability and safety of the battery swapping lifting operation.

[0023] Preferably, there are five outriggers 4, namely the first outrigger 41, the second outrigger 42, the third outrigger 43, the fourth outrigger 44 and the fifth outrigger 45. The first outrigger 41 is connected to the front of the tractor head 1, the second outrigger 42 and the fifth outrigger 45 are connected to the two sides of the tractor head 1, and the third outrigger 43 and the fourth outrigger 44 are connected to the two sides of the semi-trailer body 2. After the five outriggers 4 are horizontally extended to a suitable length, the five outriggers 4 extend vertically downwards and simultaneously contact the ground to support the entire tractor. The load consists of batteries of the same specifications, so the load weight during hoisting is always the same. The principle for selecting the overturning edge line is: it should intersect with the robotic arm 3 and preferably be perpendicular to it, or be close to the load being lifted. In the event of a dangerous lifting operation, the crane will rotate and overturn around this overturning edge line.

[0024] Preferably, the battery swapping crane stability control system further includes: The monitoring and sensing module is electrically connected to the control module. The monitoring and sensing module is installed on the crane vehicle and is used to acquire the crane vehicle's operating parameters, including the support status parameters of each outrigger 4, the activity status parameters of the robotic arm 3, the weight of the spreader 6 and the load, and the pressure of the semi-trailer body 2 and the load on the saddle 5, and feeds them back to the control module.

[0025] Specifically, the monitoring and sensing module includes: Multiple hysteresis displacement sensors and multiple support pressure sensors are provided. Each outrigger 4 is connected to a hysteresis displacement sensor and a support pressure sensor. The hysteresis displacement sensor and the support pressure sensor are used to monitor the deployment state of the outrigger 4 and the support pressure distribution, respectively. The hysteresis displacement sensor detects and feeds back the horizontal deployment length of the five outriggers 4. The control module constructs the overturning edge model 7, i.e., a pentagon with five points connected, based on the feedback of the horizontal position of the five outriggers. Multiple angle encoders, wire sensors, and rotary encoders are provided. Each joint of the robotic arm 3 is connected to an angle encoder. The telescopic part of the robotic arm 3 is connected to a wire sensor, and the rotary part of the robotic arm 3 is connected to a rotary encoder. The angle encoders and wire sensors are used to monitor the bending angle of the joints and the telescopic length of the telescopic part, respectively. The rotary encoder is used to monitor the rotation angle of the robotic arm body. Load pressure sensor: The lifting part of robotic arm 3 is connected to the load pressure sensor, which is used to monitor the weight of the lifting device and the load. The saddle pressure sensor is connected to saddle 5 and is used to monitor the pressure of the semi-trailer body 2 and the load on saddle 5.

[0026] Preferably, the battery swapping crane stability control system further includes: The preprocessing module and the control module are electrically connected to the monitoring and sensing module through the preprocessing module. The preprocessing module includes a filtering and noise reduction unit.

[0027] Specifically, the preprocessing module acquires data in real time and performs filtering and noise reduction on the acquired signals to obtain the support status parameters of the outrigger 4, the activity status parameters of the robotic arm 3, the weight of the spreader 6 and the load, and the pressure of the semi-trailer body 2 and the load on the saddle 5.

[0028] Preferably, the control module calculates, based on the crane's operating parameters, the overturning moment that would cause the crane to overturn around the overturning edge line, and the stabilizing moment that would prevent the crane from overturning around the overturning edge line, including: The control module calculates the center of gravity positions of the robotic arm 3, the lifting load, the base and tractor head 1 assembly, and the load center of gravity position of the saddle 5 based on the crane's operating parameters. Then, it calculates the horizontal and vertical distance L from the center of gravity position of the robotic arm 1 to the overturning edge line. 机质 The horizontal and vertical distance L from the center of gravity of the lifting load to the overturning edge line 负质 The horizontal and vertical distance L from the center of gravity of the base and tractor head assembly to the overturning edge line. 基车 The horizontal and vertical distance L from the load center of the saddle 5 to the overturning edge line 鞍座 ; The control module is based on the lifting dynamic load P 起 The horizontal and vertical distance L from the center of gravity of the lifting load to the overturning edge line 负质 Robotic arm with mass mt The horizontal and vertical distance L from the center of mass of robotic arm 1 to the overturning edge line 机质 Calculate the overturning moment M 倾 , ; The control module is based on the total mass m of the base and the tractor unit. 基车 The horizontal and vertical distance L from the center of gravity of the base and tractor head assembly to the overturning edge line. 基车 The pressure F of the semi-trailer body 2 and the load on the saddle 5 鞍 The horizontal and vertical distance L from the load center of the saddle 5 to the overturning edge line 鞍座 Calculate the stabilizing moment M 稳 , .

[0029] Specifically, when the robotic arm 3 intersects the overturning edge line connecting the first leg 41 and the second leg 42, the overturning moment and stabilizing moment are calculated. The specific calculation content is as follows: The overturning edge line can be written as the equation aX+Y+c=0. Based on the hysteresis displacement sensor detecting the unfolded length of the outrigger 4, the coordinates of the first outrigger 41 and the second outrigger 42 are obtained. Substituting these coordinates into the equation yields the values ​​of a and c.

[0030] The horizontal and vertical distance from the center of mass of the robotic arm 3 to the overturning edge is L. 机质 The horizontal and vertical distance from the center of gravity of the lifting load to the overturning edge is L. 负质 The horizontal and vertical distances from the base and tractor unit 1 assembly to the overturning edge are L. 基车 The horizontal and vertical distance from saddle 5 to the overturning edge is L. 鞍座， The total mass of the base and tractor unit 1 is m 基车 (Known quantity), the saddle pressure sensor monitors and reports the pressure F of the semi-trailer body 2 on the saddle 5. 鞍 (Known quantity).

[0031] According to section 4.2.1.1.4.2 of the GB3811-2008 Lifting Design Code, the lifting dynamic load coefficient ф2 is selected. Given that the lifting condition level is HC1, β2 = 0.17 and ф2 are chosen according to Table 1. 2min =1.05; It is also known that the hoisting operation mode is H4, and the maximum hoisting speed is v. qmax =0.4m / s, therefore, according to Table 2, the lifting speed v in windless conditions is... q =0.5V qmax =0.2m / s, according to the formula ф2=ф 2min +β2v q =1.05+0.17x0.2=1.39.

[0032]

[0033]

[0034] Robotic arm 3 includes: The turntable 31 is fixed on the base, the first arm 32 is hinged to the turntable, the second arm 33 is hinged to the first arm 32, and the third arm 34 is the end telescopic arm. The arms are driven by hydraulic cylinders.

[0035] Given conditions: The global coordinate system (named O coordinates) takes the intersection point O of the rotation centerline of turntable 31 and the ground projection as its origin, with the X-axis pointing in the direction of the tractor head 1, the Y-axis pointing to the left side of the vehicle, and the Z-axis pointing vertically upward.

[0036] The highest point of turntable 31 is H0 above the ground, L1 = length of the first arm, L2 = length of the second arm, L3 = length of the third arm, the mass of the turntable is m0, and the center of mass is on its rotation centerline, with coordinates O1 (X). O0 =0, Y O0 =0, Z O0 =Z O1 ); The first arm has a mass of 32 m1, and its center of mass U1 has coordinates (X, Y, Z) in its local coordinate system (named U coordinates). U 1, Y U 1, Z U 1); The second arm has a mass of m2, and its center of mass V1 has coordinates (X, Y, Z) in its local coordinate system (named V coordinates). V 1, Y V 1, Z V 1); The third arm has a mass of 34 m3, and its center of mass W1 has coordinates (X, Y, φ) in its local coordinate system (named W coordinates). W 1, Y W 1, Z W 1); The lifting load mass is m4, and the center of mass Q1 has coordinates (X, Y, Q) in its local coordinate system (named Q coordinates). Q 1, Y Q 1, Z Q 1); It is known that when the robotic arm 3 is working, the turntable 31 rotates by an angle α, the first arm 32 rotates by an angle θ1 relative to the horizontal plane, the second arm 33 rotates by an angle θ2 relative to the first arm 32, the third arm 34 extends by an extension L, and the load being lifted rotates by an angle θ3 relative to the third arm 34.

[0037] calculate: Based on the homogeneous kinematic transformation equations, determine the position of the lifting load's center of mass in the global coordinate system (O coordinates). After analyzing the matrix, the load centroid is obtained. The coordinate values ​​in the global coordinate system (O coordinates) are for variables α, θ1, θ2, L, i Functions of type 3: Note: Specific calculations require analyzing the homogeneous transformation matrix. Note: The specific calculation requires analyzing the homogeneous transformation matrix; Note: The specific calculation requires analyzing the homogeneous transformation matrix; Similarly, based on the homogeneous transformation matrix, solve for the position of the centroid of the third arm in the global coordinate system (O coordinate). After analyzing the matrix, the centroid is obtained. The coordinate values ​​in the global coordinate system (O coordinates) are for variables. a, i 1. i 2. Functions of L: Note: The specific calculation requires analyzing the homogeneous transformation matrix; Note: The specific calculation requires analyzing the homogeneous transformation matrix; Note: The specific calculation requires analyzing the homogeneous transformation matrix; Similarly, based on the homogeneous transformation matrix, solve for the position of the second arm's centroid in the global coordinate system (O coordinate). After analyzing the matrix, the centroid is obtained. The coordinate values ​​in the global coordinate system (O coordinates) are for variables. a, i 1. i Functions of 2: Note: The specific calculation requires analyzing the homogeneous transformation matrix; Note: The specific calculation requires analyzing the homogeneous transformation matrix; Note: The specific calculation requires analyzing the homogeneous transformation matrix; Similarly, based on the homogeneous transformation matrix, solve for the position of the centroid of the first arm 32 in the global coordinate system (O coordinate). After analyzing the matrix, the centroid is obtained. The coordinate values ​​in the global coordinate system (O coordinates) are for variables. a, i Functions of 1: Note: The specific calculation requires analyzing the homogeneous transformation matrix; Note: The specific calculation requires analyzing the homogeneous transformation matrix; Note: The specific calculation requires analyzing the homogeneous transformation matrix; Calculate the coordinates (X, Y) of the centroid of the robotic arm in the global coordinate system under different poses. 机质， Y 机质， Z 机质 ): Total mass of the robotic arm m t =m0+m 1+ m 2+ m3

[0038]

[0039]

[0040] Overturning resistance calculation: Given that the equation of the overturning edge connecting the first leg 41 and the second leg 42 is aX+Y+c=0, therefore, for any point in space (X... 任 Y 任 Z 任 The distance d projected onto the XY plane from the overturning edge line connecting the first leg 41 and the second leg 42 can be calculated using the following formula: . Calculated: Horizontal and vertical distances from the center of mass of the robotic arm to the overturning edge ; Horizontal and vertical distance from the lifting load center of gravity to the overturning edge line ; Since the coordinates of the center of gravity of the base and tractor unit 1 assembly, as well as the coordinates of the center of gravity of the saddle 5, are fixed during the structural design and do not change dynamically during hoisting, the horizontal and vertical distances L from the base and tractor unit 1 to the overturning edge are fixed. 基车 And the horizontal and vertical distance L from saddle 5 to the overturning edge line 鞍座 The distance value can be calculated using the formula above.

[0041] Based on the above, the lifting dynamic load P 起 =ф2m4=1.39 m4; When the crane truck is on the verge of tipping over, the entire vehicle will tip over around the tipping edge line connecting the first outrigger 41 and the second outrigger 42. At the critical state, only the first outrigger 41 and the second outrigger 42 will provide support, while the remaining third outrigger 43, the fourth outrigger 44, and the fifth outrigger 45 will be about to leave the ground. That is, the ground's support reaction force on the third outrigger 43, the fourth outrigger 44, and the fifth outrigger 45 is 0. Under this premise, the tipping moment outside the tipping edge line connecting the first outrigger 41 and the second outrigger 42 is the moment of the lifting dynamic load and the weight of the robotic arm about the tipping edge line connecting the first outrigger 41 and the second outrigger 42. ; The stabilizing moment within the overturning edge line where the first outrigger 41 and the second outrigger 42 are connected is the weight of the base and the tractor head, as well as the stabilizing moment of the pressure on the saddle on the overturning edge line where the first outrigger 41 and the second outrigger 42 are connected. ; Preferably, the control module compares the anti-overturning ratio with a preset safety factor, and sends instructions to the robotic arm motion control system based on the comparison result, so that the robotic arm 3 continues to maintain its original activity state, or adjusts the activity state of the robotic arm 3, including: When the overturning resistance ratio is less than or equal to a safety factor of 90%, the control robot arm 3 continues to maintain its original working state. When the overturning resistance ratio is greater than the 90% safety factor, the activity state of the robotic arm 3 is adjusted.

[0042] When the overturning resistance ratio equals the safety factor, control robotic arm 3 to stop; The safety factor is 1.48.

[0043] Specifically, the overturning resistance ratio k=M 稳 / M 倾。 When k=1, the vehicle is at the critical overturning point relative to the overturning edge connecting the first outrigger 41 and the second outrigger 42. When k≥1, the vehicle is stable and does not overturn relative to the overturning edge connecting the first outrigger 41 and the second outrigger 42. Referring to Table 3 of GBT 22437.4-2010 Design Principles for Crane Loads and Load Combinations, it is known that the lifting load category is conventional load and load combination A. Therefore, based on Table 3, a safety factor n=1.48 is selected, which means that the overturning resistance ratio k≥n is required for the system to be stable and reliable.

[0044]

[0045] In summary, to ensure the overturning stability of the entire vehicle during hoisting, a required overturning moment M is needed. 倾 ≤1.48 M 稳 ,Right now, )

[0046] Based on the known and calculated data above, substituting them into the above formula, we can derive the safety equation for the safe pose region of the robotic arm, that is, the equation concerning the variables. a, i 1. θ2 L i 3. Safe area equation: The specific process is rather complicated and will be omitted here.

[0047] Based on the above calculations, the safe zone equation is derived as follows: Based on the kinematics of robotic arm 3, it can be seen that when the overturning edge is the overturning edge connecting the first leg 41 and the second leg 42, in order to ensure the vehicle's anti-overturning capability, the real-time pose parameters of robotic arm 3 must meet the following requirements. This gives the allowable working area of ​​robotic arm 3.

[0048] When the posture of the robotic arm hoisting position does not intersect with the overturning edge line connecting the first outrigger 41 and the second outrigger 42, or when the load is far from the overturning edge line connecting the first outrigger 41 and the second outrigger 42, the control module can automatically select the line connecting the other two outriggers 4 as the overturning edge line according to the overturning line selection principle, and perform calculations and control according to the newly selected overturning edge line. The calculation is the same as when selecting the overturning edge line connecting the first outrigger 41 and the second outrigger 42, and will not be elaborated here.

[0049] When the robotic arm 3 is working within the safe posture area calculated above, and the control system performs anti-overturning calculations, and the anti-overturning ratio k≥90%n=0.9x1.48=1.332, the control system intervenes in the robotic arm motion control system to limit the dangerous lifting movement trend and issue an alarm.

[0050] When k=100%n=1.48, the control system interrupts the robotic arm motion control system, urgently stops the robotic arm 3 from powering on, and sends an audible and visual alarm to remind human intervention.

[0051] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A stability control system for a battery-swapping crane truck, used to control the stability of the crane truck, the crane truck comprising a tractor unit, a semi-trailer body, a robotic arm, multiple outriggers, and a robotic arm motion control system, wherein the tractor unit is connected to the semi-trailer body via a saddle, the base of the robotic arm is connected to the tractor unit, the tractor unit is connected to at least five of the outriggers, the robotic arm motion control system is electrically connected to the robotic arm, and the lifting device of the robotic arm is used to lift loads from the semi-trailer body, characterized in that... The control system includes: The control module constructs an overturning edge model and monitors the running trajectory of the robotic arm based on the operating parameters of the crane. The overturning edge model is composed of the overturning edge line formed between adjacent outriggers. When the robotic arm intersects one of the overturning edges, the control module calculates the overturning moment that would push the crane over the overturning edge and the stabilizing moment that would prevent the crane from overturning the overturning edge, based on the crane's operating parameters. Then, it calculates the overturning ratio of the overturning moment to the stabilizing moment and compares the overturning ratio with a preset safety factor. Based on the comparison result, it sends a command to the robotic arm motion control system to either keep the robotic arm in its original working state or adjust the robotic arm's working state.

2. The battery swapping crane stability control system according to claim 1, characterized in that, The battery swapping crane stability control system also includes: The monitoring and sensing module is electrically connected to the control module and is installed on the crane vehicle. The monitoring and sensing module is used to acquire the operating parameters of the crane vehicle, including the support status parameters of each outrigger, the activity status parameters of the robotic arm, the weight of the lifting gear and load, and the pressure of the semi-trailer body and load on the saddle, and feeds them back to the control module.

3. The battery swapping crane stability control system according to claim 1, characterized in that, The battery swapping crane stability control system also includes: The control module is electrically connected to the monitoring and sensing module through the preprocessing module, and the preprocessing module includes a filtering and noise reduction unit.

4. The battery swapping crane stability control system according to claim 1, characterized in that, The control module calculates, based on the operating parameters of the crane, the overturning moment that would cause the crane to overturn around the overturning edge line, and the stabilizing moment that would prevent the crane from overturning around the overturning edge line, including: The control module calculates the center of gravity positions of the robotic arm, the lifting load, the base and tractor assembly, and the saddle load based on the operating parameters of the crane. Then, it calculates the horizontal and vertical distance L from the robotic arm's center of gravity position to the overturning edge line. 机质 The horizontal and vertical distance L from the center of gravity of the lifting load to the overturning edge line 负质 The horizontal and vertical distance L from the center of gravity of the base and tractor unit assembly to the overturning edge line. 基车 The horizontal and vertical distance L from the load center of the saddle to the overturning edge line 鞍座 ; The control module is based on the lifting dynamic load P. 起 The horizontal and vertical distance L from the center of gravity of the lifting load to the overturning edge line 负质 The mass of the robotic arm is m t The horizontal and vertical distance L from the center of mass of the robotic arm to the overturning edge line 机质 Calculate the overturning moment M 倾 , ; The control module is based on the total mass m of the base and the tractor unit. 基车 The horizontal and vertical distance L from the center of gravity of the base and tractor unit assembly to the overturning edge line. 基车 The pressure F exerted by the semi-trailer body and load on the saddle 鞍 The horizontal and vertical distance L from the load center of the saddle to the overturning edge. 鞍座 Calculate the stabilizing moment M 稳 , .

5. The battery swapping crane stability control system according to claim 1, characterized in that, The control module compares the anti-overturning ratio with a preset safety factor, and sends instructions to the robotic arm motion control system based on the comparison result, so as to make the robotic arm continue to maintain its original activity state, or to adjust the activity state of the robotic arm, including: When the overturning resistance ratio is less than or equal to a safety factor of 90%, the control robot arm continues to maintain its original working state. When the overturning resistance ratio is greater than the 90% safety factor, the movement state of the robotic arm is adjusted. When the overturning resistance ratio equals the safety factor, the robotic arm is controlled to stop.

6. The battery swapping crane stability control system according to claim 1, characterized in that, The safety factor is 1.

48.

7. The battery swapping crane stability control system according to claim 1, characterized in that, The monitoring and sensing module includes: Multiple hysteresis displacement sensors and multiple support pressure sensors are provided, with each of the legs connected to one of the hysteresis displacement sensors and one of the support pressure sensors.

8. The battery swapping crane stability control system according to claim 1, characterized in that, The monitoring and sensing module also includes: The robotic arm includes multiple angle encoders, wire sensors, and rotary encoders. Each joint of the robotic arm is connected to one of the angle encoders. The telescopic part of the robotic arm is connected to the wire sensor, and the rotary part of the robotic arm is connected to the rotary encoder.

9. The battery swapping crane stability control system according to claim 1, characterized in that, The monitoring and sensing module also includes: A load pressure sensor is connected to the lifting part of the robotic arm.

10. A stability control system for a battery swapping crane according to claim 1, characterized in that, The monitoring and sensing module also includes: A saddle pressure sensor is connected to the saddle.

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