CN113569927A - Man-machine interaction system of unmanned power station - Google Patents
Man-machine interaction system of unmanned power station Download PDFInfo
- Publication number
- CN113569927A CN113569927A CN202110790288.7A CN202110790288A CN113569927A CN 113569927 A CN113569927 A CN 113569927A CN 202110790288 A CN202110790288 A CN 202110790288A CN 113569927 A CN113569927 A CN 113569927A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- mechanical arm
- layer
- power station
- battery
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000003993 interaction Effects 0.000 title claims abstract description 23
- 238000012545 processing Methods 0.000 claims abstract description 51
- 230000001133 acceleration Effects 0.000 claims abstract description 23
- 238000003745 diagnosis Methods 0.000 claims abstract description 5
- 239000000843 powder Substances 0.000 claims abstract description 5
- 230000000007 visual effect Effects 0.000 claims abstract description 4
- 238000001914 filtration Methods 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 claims description 3
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/21—Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
- G06F18/213—Feature extraction, e.g. by transforming the feature space; Summarisation; Mappings, e.g. subspace methods
- G06F18/2135—Feature extraction, e.g. by transforming the feature space; Summarisation; Mappings, e.g. subspace methods based on approximation criteria, e.g. principal component analysis
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Data Mining & Analysis (AREA)
- Robotics (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Bioinformatics & Cheminformatics (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Evolutionary Biology (AREA)
- Bioinformatics & Computational Biology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a human-computer interaction system of an unmanned power station, and relates to the technical field of human-computer interaction. The system comprises a main control computer installed in an unmanned power station, a data acquisition layer deployed on the main control computer, an algorithm processing layer and an execution control layer; the data acquisition layer comprises a binocular camera, a sound pick-up, a temperature sensor, a gyroscope sensor and an acceleration sensor; the algorithm processing layer comprises an image processing module, a voice recognition module, a mechanical arm recognition module and an abnormity diagnosis module; the execution control layer comprises a mechanical arm, a touch display screen, a dry powder fire extinguisher and an audible and visual alarm. According to the invention, the data acquisition layer, the algorithm processing layer and the execution control layer are arranged on the main control computer, and after the data acquired by the image acquisition layer is processed by the algorithm processing layer sent, the execution control layer receives the operation instruction to operate, so that the intelligent level of the unmanned power station is improved, and the operation of a user is facilitated.
Description
Technical Field
The invention belongs to the technical field of human-computer interaction, and particularly relates to a human-computer interaction system of an unmanned power station.
Background
Compared with the traditional fuel oil automobile, the new energy automobile has the advantages of zero emission, low noise, high energy efficiency, low operation and maintenance cost and the like, and has obvious advantages in the aspects of cleanness, environmental protection, energy conservation and the like. The power source of the new energy automobile is a power storage battery loaded in the automobile body, and when the electric energy of the power storage battery is consumed to a certain degree, the power storage battery needs to be supplemented with energy so as to ensure that the new energy automobile can be continuously recycled. One of the important energy supply methods of the new energy automobile is battery replacement at present. The battery replacement means that the power battery fully charged with electric energy replaces the power battery which is used up by electric energy on the new energy automobile to complete electric energy supplement.
At present, an unmanned power station is required to have a good human-computer interaction function and a good safety early warning function, but the existing unmanned power station adopts a traditional construction mode, most of the unmanned power station has a complex structure, and the user operation interaction performance is poor.
Disclosure of Invention
The invention aims to provide a human-computer interaction system of an unmanned power station, which is characterized in that a data acquisition layer, an algorithm processing layer and an execution control layer are arranged on a main control computer, and after the data acquisition layer is used for processing data transmitted by the image acquisition layer, the execution control layer receives an operation instruction to operate, so that the problems of low intelligent level, poor human-computer interaction performance and inconvenient user operation of the existing unmanned power station are solved.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a human-computer interaction system of an unmanned power station, which comprises a main control computer, a data acquisition layer, an algorithm processing layer and an execution control layer, wherein the main control computer is installed on the unmanned power station;
the data acquisition layer comprises a binocular camera, a sound pick-up, a temperature sensor, a gyroscope sensor and an acceleration sensor;
the algorithm processing layer comprises an image processing module, a voice recognition module, a mechanical arm recognition module and an abnormity diagnosis module; the algorithm processing layer is used for acquiring and processing the information acquired and uploaded by the data acquisition layer and transmitting the information to the execution control layer through IO stream;
the execution control layer comprises a mechanical arm, a touch display screen, a dry powder fire extinguisher and an audible and visual alarm.
Preferably, the binocular camera is used for acquiring vehicle image information entering the battery replacement station, image information of a battery in the vehicle and motion image information of the mechanical arm; the binocular camera is connected with a main control computer through an image processing module; and the image processing module is used for processing the image of the automobile battery and the image of the mechanical arm.
Preferably, the sound pickup is used for collecting voice information of a user; the pickup is connected with the main control computer through a voice recognition module; and the voice recognition module is used for recognizing the voice of the user and converting the voice into an operation instruction.
Preferably, the temperature sensor is installed in a battery box of the power station; and the temperature sensor is used for acquiring the temperature in the battery box and sending the acquired temperature to the main control computer.
Preferably, the gyroscope sensor and the acceleration sensor are both arranged in the mechanical arm; the gyroscope sensor is used for acquiring the angular velocity information of the mechanical arm in real time; the acceleration sensor is used for acquiring acceleration information of the mechanical arm in real time; and the gyroscope sensor and the acceleration sensor are connected with the main control computer through the mechanical arm identification module.
Preferably, the workflow of the image processing module is as follows:
step S1: acquiring images through a local vehicle gallery of a data center or a binocular camera;
step S2: finishing the detection of the vehicle by using a vehicle detection algorithm, and carrying out graphic processing on the acquired vehicle;
step S3: marking the position of the vehicle battery in the picture, and tracking and marking the battery;
step S5: extracting the features of the vehicle picture based on a PCA vehicle recognition algorithm and matching the features with the vehicle image features extracted from the vehicle image library;
step S6: and calculating the similar result of the comparison, and determining the type of the vehicle and the position of the battery of the vehicle.
Preferably, the work flow of the mechanical arm identification module is as follows:
step J1: transmitting information acquired by a gyroscope sensor and an acceleration sensor into a filter bank;
step J2: carrying out mean value filtering processing, Kalman filtering processing and FIR filtering processing in sequence in the filter bank;
step J3: carrying out attitude angle calculation on the angular speed after the filtering processing;
step J4: and determining the motion state of the mechanical arm.
Preferably, in the step J3, a specific method for solving the attitude angle is as follows:
let the three-axis attitude angular velocity of the sensor be omega respectivelyx、ωyAnd ωzSequentially rotated from the reference coordinate system by gamma, theta and
and the coordinate system of the mechanical arm is as follows:
the expression for the attitude angle is obtained as:
preferably, the speech recognition module comprises an interactive interface, an offline speech dictionary and a grammar library; the interactive interface is used for receiving voice messages of the user; the off-line voice dictionary is used for comparing with the voice dictionary to convert voice into characters; and the grammar library is used for comparing with the grammar library to convert the characters into operation instructions.
The invention has the following beneficial effects:
(1) according to the invention, the data acquisition layer, the algorithm processing layer and the execution control layer are arranged on the main control computer, and after the data acquired by the image acquisition layer is processed by the algorithm processing layer sent, the execution control layer receives the operation instruction to operate, so that the intelligent level of the unmanned power station is improved, and the operation of a user is facilitated.
(2) According to the invention, the gyroscope sensor and the acceleration sensor are arranged in the mechanical arm, the data acquired by the gyroscope sensor and the acceleration sensor are subjected to coordinate judgment, the mechanical arm is rapidly and accurately positioned by utilizing the continuous change of the coordinate, the operation accuracy of the mechanical arm is ensured, and the error probability of the operation is reduced.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a human-computer interaction system of an unmanned battery replacement station according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the invention is a human-computer interaction system of an unmanned power station, comprising a main control computer installed in the unmanned power station, a data acquisition layer deployed on the main control computer, an algorithm processing layer and an execution control layer;
the binocular video camera system comprises a binocular video camera, a pickup, a temperature sensor, a gyroscope sensor and an acceleration sensor;
the algorithm processing layer comprises an image processing module, a voice recognition module, a mechanical arm recognition module and an abnormity diagnosis module; the algorithm processing layer is used for acquiring and processing the information acquired and uploaded by the data acquisition layer and transmitting the information to the execution control layer through IO (input output) streams;
the execution control layer comprises a mechanical arm, a touch display screen, a dry powder fire extinguisher and an audible and visual alarm.
The binocular camera is used for acquiring vehicle image information entering the battery replacing station, image information of a battery in the vehicle and motion image information of a mechanical arm; the binocular camera is connected with the main control computer through the image processing module; and the image processing module is used for processing the image of the automobile battery and the image of the mechanical arm.
The sound pickup is used for collecting voice information of a user; the sound pick-up is connected with the main control computer through a voice recognition module; and the voice recognition module is used for recognizing the voice of the user and converting the voice into an operation instruction.
The temperature sensor is arranged in a battery box of the power station; and the temperature sensor is used for acquiring the temperature in the battery box and sending the acquired temperature to the main control computer.
The gyroscope sensor and the acceleration sensor are both arranged in the mechanical arm; the gyroscope sensor is used for acquiring the angular velocity information of the mechanical arm in real time; the acceleration sensor is used for acquiring the acceleration information of the mechanical arm in real time; the gyroscope sensor and the acceleration sensor are both connected with the main control computer through the mechanical arm identification module.
The work flow of the image processing module is as follows:
step S1: acquiring images through a local vehicle gallery of a data center or a binocular camera;
step S2: finishing the detection of the vehicle by using a vehicle detection algorithm, and carrying out graphic processing on the acquired vehicle;
step S3: marking the position of the vehicle battery in the picture, and tracking and marking the battery;
step S5: extracting the features of the vehicle picture based on a PCA vehicle recognition algorithm and matching the features with the vehicle image features extracted from the vehicle image library;
step S6: and calculating the similar result of the comparison, and determining the type of the vehicle and the position of the battery of the vehicle.
The work flow of the mechanical arm identification module is as follows:
step J1: transmitting information acquired by a gyroscope sensor and an acceleration sensor into a filter bank;
step J2: carrying out mean value filtering processing, Kalman filtering processing and FIR filtering processing in sequence in the filter bank;
step J3: carrying out attitude angle calculation on the angular speed after the filtering processing;
step J4: and determining the motion state of the mechanical arm.
In step J3, the specific method for calculating the attitude angle is as follows:
let the three-axis attitude angular velocity of the sensor be omega respectivelyx、ωyAnd ωzSequentially rotated from the reference coordinate system by gamma, theta and
and the coordinate system of the mechanical arm is as follows:
the expression for the attitude angle is obtained as:
one specific application of this embodiment is:
when a vehicle entering the battery replacement station is identified: when a vehicle enters a battery replacement station, the vehicle is poured into a specified parking space, pictures of the periphery of the vehicle are collected by a binocular camera, the vehicle detection is completed by a vehicle detection algorithm, the obtained vehicle is processed graphically, the processed vehicle image is subjected to vehicle feature extraction through a recognition algorithm, the extracted data is compared to automatically judge the brand and the model of the vehicle, the specific information of the vehicle of the model and the installation mode of a vehicle battery are obtained from a database and are sent to an execution control layer, and the control layer sends an operation instruction to a mechanical arm to perform battery replacement operation;
when monitoring the charging box of the power exchange station: the battery is easy to heat to cause the combustion of the battery in the process of charging the battery replacement station, so that great life and property safety is easily caused due to great harm; therefore, the temperature sensors are installed in each battery box, when the temperature detected by the temperature sensors exceeds an abnormal value, the fault diagnosis module can judge according to the current temperature value, if the temperature exceeds a preset value, sound and light alarm is controlled to give an alarm, when the temperature detected by the temperature sensors exceeds 100 ℃, the automobile battery directly burned by the dry powder fire extinguisher is extinguished, the vehicle battery of the power station is protected, and larger accidents are prevented;
when the automobile of the power exchange station is replaced by the battery:
install gyroscope sensor and acceleration sensing in robotic arm, carry out the judgement of coordinate with gyroscope sensor and acceleration sensing data collection, utilize the continuous change of coordinate to carry out accurate location to robotic arm fast, guarantee the precision of robotic arm operation, reduce the probability that the operation error appears.
It should be noted that, in the above system embodiment, each included unit is only divided according to functional logic, but is not limited to the above division as long as the corresponding function can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
In addition, it is understood by those skilled in the art that all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing associated hardware, and the corresponding program may be stored in a computer-readable storage medium.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (9)
1. A man-machine interaction system of an unmanned power change station is characterized by comprising a main control computer, a data acquisition layer, an algorithm processing layer and an execution control layer, wherein the main control computer is installed on the unmanned power change station;
the data acquisition layer comprises a binocular camera, a sound pick-up, a temperature sensor, a gyroscope sensor and an acceleration sensor;
the algorithm processing layer comprises an image processing module, a voice recognition module, a mechanical arm recognition module and an abnormity diagnosis module; the algorithm processing layer is used for acquiring and processing the information acquired and uploaded by the data acquisition layer and transmitting the information to the execution control layer through IO stream;
the execution control layer comprises a mechanical arm, a touch display screen, a dry powder fire extinguisher and an audible and visual alarm.
2. The human-computer interaction system of the unmanned battery replacement station as claimed in claim 1, wherein the binocular camera is used for collecting image information of a vehicle entering the battery replacement station, image information of a battery in the vehicle and motion image information of a mechanical arm; the binocular camera is connected with a main control computer through an image processing module; and the image processing module is used for processing the image of the automobile battery and the image of the mechanical arm.
3. The human-computer interaction system of the unmanned power station as claimed in claim 1, wherein the sound pickup is configured to collect voice information of a user; the pickup is connected with the main control computer through a voice recognition module; and the voice recognition module is used for recognizing the voice of the user and converting the voice into an operation instruction.
4. The human-computer interaction system of the unmanned power station as claimed in claim 1, wherein the temperature sensor is installed in a battery box of the power station; and the temperature sensor is used for acquiring the temperature in the battery box and sending the acquired temperature to the main control computer.
5. The human-computer interaction system of the unmanned power station as claimed in claim 1, wherein the gyroscope sensor and the acceleration sensor are both mounted in a mechanical arm; the gyroscope sensor is used for acquiring the angular velocity information of the mechanical arm in real time; the acceleration sensor is used for acquiring acceleration information of the mechanical arm in real time; and the gyroscope sensor and the acceleration sensor are connected with the main control computer through the mechanical arm identification module.
6. The human-computer interaction system of the unmanned battery replacement station as claimed in claim 2, wherein the image processing module has the following working flow:
step S1: acquiring images through a local vehicle gallery of a data center or a binocular camera;
step S2: finishing the detection of the vehicle by using a vehicle detection algorithm, and carrying out graphic processing on the acquired vehicle;
step S3: marking the position of the vehicle battery in the picture, and tracking and marking the battery;
step S5: extracting the features of the vehicle picture based on a PCA vehicle recognition algorithm and matching the features with the vehicle image features extracted from the vehicle image library;
step S6: and calculating the similar result of the comparison, and determining the type of the vehicle and the position of the battery of the vehicle.
7. The human-computer interaction system of the unmanned power station as claimed in claim 1, wherein the workflow of the mechanical arm recognition module is as follows:
step J1: transmitting information acquired by a gyroscope sensor and an acceleration sensor into a filter bank;
step J2: carrying out mean value filtering processing, Kalman filtering processing and FIR filtering processing in sequence in the filter bank;
step J3: carrying out attitude angle calculation on the angular speed after the filtering processing;
step J4: and determining the motion state of the mechanical arm.
8. The human-computer interaction system of the unmanned power station as claimed in claim 7, wherein in step J3, the specific method for calculating the attitude angle is as follows:
let the three-axis attitude angular velocity of the sensor be omega respectivelyx、ωyAnd ωzSequentially rotated from the reference coordinate system by gamma, theta and
and the coordinate system of the mechanical arm is as follows:
the expression for the attitude angle is obtained as:
9. the human-computer interaction system of the unmanned power station as claimed in claim 1, wherein the voice recognition module comprises an interaction interface, an offline voice dictionary and a grammar library; the interactive interface is used for receiving voice messages of the user; the off-line voice dictionary is used for comparing with the voice dictionary to convert voice into characters; and the grammar library is used for comparing with the grammar library to convert the characters into operation instructions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110790288.7A CN113569927A (en) | 2021-07-13 | 2021-07-13 | Man-machine interaction system of unmanned power station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110790288.7A CN113569927A (en) | 2021-07-13 | 2021-07-13 | Man-machine interaction system of unmanned power station |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113569927A true CN113569927A (en) | 2021-10-29 |
Family
ID=78164637
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110790288.7A Pending CN113569927A (en) | 2021-07-13 | 2021-07-13 | Man-machine interaction system of unmanned power station |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113569927A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117584138A (en) * | 2024-01-18 | 2024-02-23 | 河南新科起重机股份有限公司 | Intelligent motion control adjusting system based on three-dimensional positioning grabbing of power exchange station |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102608351A (en) * | 2012-02-14 | 2012-07-25 | 三一重工股份有限公司 | Detection method and system of three-dimensional gesture of mechanical arm and system controlling mechanical arm to operate |
| CN104361343A (en) * | 2014-10-30 | 2015-02-18 | 深圳市中盟科技股份有限公司 | Method and device for identifying vehicle types |
| US20160368464A1 (en) * | 2015-06-17 | 2016-12-22 | Ample Inc. | Robot Assisted Modular Battery Interchanging System |
| CN110936846A (en) * | 2019-12-31 | 2020-03-31 | 深圳前海达闼云端智能科技有限公司 | Battery replacing method, battery replacing robot and storage medium |
-
2021
- 2021-07-13 CN CN202110790288.7A patent/CN113569927A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102608351A (en) * | 2012-02-14 | 2012-07-25 | 三一重工股份有限公司 | Detection method and system of three-dimensional gesture of mechanical arm and system controlling mechanical arm to operate |
| CN104361343A (en) * | 2014-10-30 | 2015-02-18 | 深圳市中盟科技股份有限公司 | Method and device for identifying vehicle types |
| US20160368464A1 (en) * | 2015-06-17 | 2016-12-22 | Ample Inc. | Robot Assisted Modular Battery Interchanging System |
| CN110936846A (en) * | 2019-12-31 | 2020-03-31 | 深圳前海达闼云端智能科技有限公司 | Battery replacing method, battery replacing robot and storage medium |
Non-Patent Citations (3)
| Title |
|---|
| 丑武胜: "《空中机器人的动力学模型辨识》", 30 September 2013, 哈尔滨工程大学出版社 * |
| 罗华 等: "基于以太网通讯的全自动换电机器人决策控制系统设计与实现", 机电工程技术 * |
| 黄洋;姜文刚;: "示教机械臂姿态解算改进方法仿真研究", 计算机工程与应用, no. 15 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117584138A (en) * | 2024-01-18 | 2024-02-23 | 河南新科起重机股份有限公司 | Intelligent motion control adjusting system based on three-dimensional positioning grabbing of power exchange station |
| CN117584138B (en) * | 2024-01-18 | 2024-04-09 | 河南新科起重机股份有限公司 | Intelligent motion control adjusting system based on three-dimensional positioning grabbing of power exchange station |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102854881B (en) | Unmanned plane UAV automatic control system | |
| CN110059631A (en) | The contactless monitoring defect identification method of contact net | |
| CN113128473A (en) | Underground comprehensive pipe gallery-oriented inspection system, method, equipment and storage medium | |
| CN107329466A (en) | A kind of automatic Pilot compact car | |
| CN110097787B (en) | Ship collision early warning monitoring system and method based on monitoring beacon light | |
| CN102621966A (en) | Dangerous chemical storage and transportation danger early warning and assessment device and pre-warning system | |
| CN114859972A (en) | Inspection system and method for cooperative operation of aerial unmanned aerial vehicle and ground inspection robot | |
| CN107765854A (en) | A kind of polling transmission line method based on augmented reality | |
| CN113569927A (en) | Man-machine interaction system of unmanned power station | |
| CN109388115A (en) | Mining intelligent individual soldier operation and safeguards system, method and intelligent polling method | |
| CN115937213A (en) | Visual defect identification system of automatic inspection robot for mining monorail crane track | |
| CN113326964A (en) | Data composite multistage comprehensive pipe rack risk management and control method and method | |
| CN107860869A (en) | A kind of intelligent air monitoring system and monitoring method based on aircraft | |
| CN109720353B (en) | Driving behavior detection method based on smart phone | |
| CN204340930U (en) | Slag-soil truck intelligent control system | |
| CN105516661A (en) | Master-slave target monitoring system and method in combination of fisheye camera and PTZ camera | |
| CN110597165A (en) | Steel piling monitoring system and steel piling monitoring method | |
| CN114803860A (en) | Underground monorail crane unmanned driving system and method based on machine vision | |
| CN116993166A (en) | Park safety risk monitoring method | |
| CN107065721A (en) | A kind of electric power facility monitoring early-warning system and method | |
| CN110717672A (en) | BIM-based operation and maintenance management system | |
| CN115373272A (en) | Intelligent storage inspection robot control system and control method | |
| CN115729269A (en) | Unmanned aerial vehicle intelligent recognition system based on machine vision | |
| CN107942844A (en) | A kind of power supply centralized management device of wisdom lamp stand | |
| CN112947236A (en) | Intelligent control device and method for unmanned mining electric locomotive and electric locomotive |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |