Method and system for automatically preventing excessive rotation of large-angle output type three-station mechanism
By analyzing the coordinate positions of the stationary and moving contacts, a deceleration command is generated, and the damping is automatically adjusted to adapt to the operator. This solves the problem of inertia changes caused by manual operation and realizes precise station switching and improved safety of the large-angle output three-station mechanism.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-02-10
- Publication Date
- 2026-03-17
AI Technical Summary
When manually operating a large-angle output three-station mechanism, the damping cannot effectively suppress inertial changes due to differences in the operator's physique and applied force, thus reducing the accuracy of station switching.
By collecting the coordinate positions of the stationary and moving contacts, analyzing the changes in rotation direction and angle, generating deceleration commands, and automatically adjusting the damping to suit the operator, precise workstation switching is achieved.
It improves the station switching accuracy of the large-angle output three-station mechanism, and through dual verification of rotation intention, it adapts to different operators and ensures safe and reliable mechanical and electrical operation.
Smart Images
Figure CN121687751A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the technical field of equipment control, and in particular to an automatic anti-over-rotation method and system for a large-angle output type three-station mechanism. Background Technology
[0002] Equipment control is a technology for monitoring, controlling, regulating, and optimizing the state, output, or behavior of equipment such as machines, instruments, and industrial processes.
[0003] The large-angle output three-position mechanism is a core operating component in high-voltage switchgear. Its moving contacts on the output shaft need to be precisely switched and reliably positioned between three positions with large angle intervals: closing, opening, and grounding. Preventing excessive rotation is a crucial step to ensure operational safety and prevent mechanical shocks and electrical accidents. This switching between positions is typically performed manually by manipulating the moving contacts on the large-angle output three-position mechanism.
[0004] When manually switching between workstations in a large-angle output three-station mechanism, the fixed damping on the mechanism cannot effectively suppress the inertial changes caused by the difference in operating force due to the different body sizes or applied forces of the operators. This causes the moving contact to pass the target position due to inertia, reducing the accuracy of the workstation switching of the large-angle output three-station mechanism. Summary of the Invention
[0005] To improve the accuracy of station switching in a large-angle output three-station mechanism, this invention provides an automatic anti-over-rotation method and system for a large-angle output three-station mechanism.
[0006] In a first aspect, the present invention provides an automatic anti-over-rotation method for a large-angle output type three-station mechanism, employing the following technical solution: An automatic anti-over-rotation method for a large-angle output three-station mechanism includes: The coordinate positions of the stationary contacts corresponding to the three fixed positions in the large-angle output three-station mechanism are collected as the detection stationary contacts, and the coordinate positions of the moving contacts on its output shaft are collected as the detection moving contacts. Compare the overlap between the detected stationary contact and the detected moving contact, and use the detected stationary contact that overlaps with the detected moving contact as the marked stationary contact; Continuously collect and detect moving contacts, connect each moving contact into a line, and use the direction of the line's extension as the rotation direction; Collect the rotation angle in the direction of rotation; The difference between adjacent rotation angles is calculated as the angle change value. The target static contact is obtained by using the angle change value, marking the stationary contact point, and the rotation direction. Based on the marked static contact and the detected static contact, retrieve the historical static contact from the preset system's historical operation log and use the current marked static contact as the historical static contact; The user information is obtained based on the angle change value and the historical static contact point, and the target rotation speed is obtained based on the user information and the angle change value. The speed deviation value is obtained by detecting the change trajectory and the target speed, and the deceleration damping parameters are matched from the preset damping reference table based on the speed deviation value. Based on the target static contact point and deceleration damping parameters, a deceleration command is generated and sent.
[0007] By adopting the above technical solution, by analyzing the detection of stationary contact, detection of moving contact, and rotation angle to generate and send deceleration commands, it is possible to predict the user's rotation and automatically change the damping to adapt to different operators' control of the large-angle output three-station mechanism for precise station switching.
[0008] Optionally, methods for obtaining the target static contact point include: The remaining static contacts are obtained by marking and detecting static contacts; The detected change trajectory is obtained by comparing the marked stationary contacts with the remaining stationary contacts; The baseline change threshold is obtained based on the detected change trajectory; The rotation direction is updated by comparing the change value of the angle with the reference change threshold to see if the rotation angle exceeds the preset reference angle. The target static contact is obtained by rotating the direction and the remaining static contact.
[0009] By adopting the above technical solution, the target static contact point is obtained by comparing the change value of the angle with the reference change threshold and comparing whether the rotation angle exceeds the preset reference angle. This allows for dual verification and fault-tolerant judgment of the operator's rotation intention, thereby improving the accuracy of predicting the user's rotation.
[0010] Optionally, methods for obtaining the target rotational speed include: The detected change trajectory of the target static contact point is defined as the target change trajectory; Create a user model based on user information; The rotation force parameters are generated based on the character model, preset rotation specifications, and target trajectory. Update the rotation force parameter based on the angle change value; The rotational impact force is obtained based on the rotational force parameter. The target rotational speed is obtained by using rotational impact force and rotational force parameters.
[0011] Optionally, methods for obtaining the speed deviation value include: Collect items that assist in rotating; The reference rotational speed is obtained based on the detected change trajectory; The auxiliary rotation shape is obtained based on the auxiliary rotating object, the target's changing trajectory, and the rotation force parameters; The rotational influence is obtained based on the auxiliary rotational shape and rotational direction; The rotational influence, target speed, and reference speed are used to obtain the speed deviation value.
[0012] Optional methods for verifying deceleration damping parameters include: Update the detection of moving contacts to obtain the trajectory of movement changes; By comparing the consistency between the moving trajectory and the target trajectory, the deviation trajectory can be obtained; The deviation parameters are obtained based on the rotational impact force and the deviation trajectory. The deceleration damping parameters are updated based on the deviation parameters.
[0013] Optional, also includes: The detected power is obtained based on the deceleration damping parameters; The power deviation value is calculated by comparing the detected power with the preset reference power. Update deceleration damping parameters and rotational impact force based on reference power; Combining rotational impact force with rotational specifications to generate and transmit electromagnetic power.
[0014] Optional, also includes: The power application time difference is obtained based on the reference power and electromagnetic power; The detection deviation trajectory is obtained by using the power application time difference and rotational force parameters; The target deviation trajectory is obtained by comparing the detection deviation trajectory with the inclusion of the target static contact point. The target static contact is updated by comparing the target deviation trajectory with the preset contact change threshold.
[0015] Optionally, methods for obtaining and using person information include: Collect personnel detection information; Based on the character detection information, the rotation angle and angle change value at the corresponding time point are used as the historical rotation angle and historical change value; Record the detected change trajectory, historical rotation angle, and historical change value to form a control model; The historical change trajectory is obtained by comparing historical static contacts with marked static contacts; Based on historical change trajectories and angle change values, the system matches and uses the information of the person from the reference model.
[0016] Secondly, this application provides an automatic anti-over-rotation system for a large-angle output three-station mechanism, employing the following technical solution: An automatic anti-over-rotation system for a large-angle output three-station mechanism includes: The acquisition module is used to acquire information about the detected stationary contact, the detected moving contact, and the rotation angle. The memory is used to store the program for an automatic anti-over-rotation method for a large-angle output type three-station mechanism; The processor is used to load and execute programs stored in memory.
[0017] In summary, this application includes at least one of the following beneficial technical effects: 1. By analyzing the detection of stationary contact, moving contact, and rotation angle to generate and send deceleration commands, it is possible to predict the user's rotation and automatically change the damping to adapt to different operators. This enables precise control of the large-angle output three-station mechanism for precise station switching. 2. By comparing the angle change value with the baseline change threshold and comparing whether the rotation angle exceeds the preset baseline angle, the target static contact point is obtained. This allows for dual verification and fault-tolerant judgment of the operator's rotation intention, thereby improving the accuracy of predicting the user's rotation. 3. By analyzing the marked stationary contact and the detected stationary contact, the user information is obtained. Then, based on the user information and the angle change value, the deceleration damping parameters are obtained, thereby accurately identifying the user operating the large-angle output three-station mechanism. Attached Figure Description
[0018] Figure 1 This is a flowchart of an automatic anti-over-rotation method for a large-angle output type three-station mechanism according to an embodiment of the present invention. Detailed Implementation
[0019] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.
[0020] Reference Figure 1 This application discloses an automatic anti-over-rotation method for a large-angle output type three-station mechanism, comprising the following steps: S10: Collect the coordinate positions of the stationary contacts corresponding to the three fixed positions in the large-angle output three-station mechanism as the detection stationary contacts, and use the coordinate positions of the moving contacts on the output shaft as the detection moving contacts.
[0021] The detection of stationary contacts refers to the coordinate positions of the stationary contacts corresponding to the three fixed positions in a large-angle output three-station mechanism. The detection of moving contacts refers to the real-time position of the moving contacts driven by the output shaft in the large-angle output three-station mechanism. The detection of stationary contacts can be obtained from the specifications of the large-angle output three-station mechanism, and the position points detected by the position sensors preset on the moving contacts of the large-angle output three-station mechanism can be used as the detection of moving contacts.
[0022] S11: Compare the overlap between the detected stationary contact and the detected moving contact, and use the detected stationary contact that overlaps with the detected moving contact as the marked stationary contact.
[0023] The marked stationary contact refers to the detection stationary contact that coincides with the detection moving contact. By analyzing the overlap between the detection stationary contact and the detection moving contact, the detection stationary contact that coincides with the detection moving contact is used as the marked stationary contact.
[0024] S12: Continuously collect and detect moving contacts, connect each moving contact into a line, and use the direction of the line extension as the rotation direction.
[0025] The rotation direction refers to the rotation direction of the output shaft in the large-angle output three-station mechanism. The moving contact points are re-acquired and detected, and the collected moving contact points are connected into lines. The extension direction of the circumference formed by these lines is taken as the rotation direction.
[0026] S13: Collect the rotation angle in the rotation direction.
[0027] The rotation angle refers to the cumulative angle value that the output shaft has rotated along the rotation direction starting from the reference point, where the reference point is 0 degrees.
[0028] S14: Calculate the difference between adjacent rotation angles as the angle change value, and obtain the target static contact point by using the angle change value, marking the static contact point, and the rotation direction.
[0029] The angle change value refers to the amount of change in rotation angle per unit time. It is calculated by taking the difference between two consecutively collected rotation angles as the angle change value.
[0030] The target stationary contact point refers to the stationary contact point that the marked stationary contact point will face in the future. The target stationary contact point is obtained by analyzing the angle change value, the marked stationary contact point, and the rotation direction.
[0031] S15: Based on the marked static contact and the detected static contact, retrieve the historical static contact from the preset system's historical operation log and use the current marked static contact as the historical static contact.
[0032] Historical static contacts refer to static contacts that are the same as the currently marked static contacts and are reached in the historical operation record. They are retrieved from the system's historical operation log and are used as historical static contacts.
[0033] S16: Obtain user information based on angle change value and historical static contact point, and obtain target rotation speed based on user information and angle change value.
[0034] User information refers to the information of the person currently operating the output shaft of the large-angle output three-station mechanism. The system records information such as the height of each person who can use the large-angle output three-station mechanism, and analyzes the angle change value and historical static contact points to further filter the corresponding user information.
[0035] The target rotational speed refers to the predicted rotational speed of the output shaft when the current character rotates from the marked stationary contact point to the target stationary contact point. The target rotational speed is obtained by analyzing the character information and angle change values.
[0036] S17: Obtain the speed deviation value by detecting the change trajectory and the target speed, and match the deceleration damping parameters from the preset damping reference table based on the speed deviation value.
[0037] The speed deviation value refers to the deviation of the output shaft speed from the ideal state. The speed deviation value is obtained by analyzing the detected change trajectory and the target speed.
[0038] The deceleration damping parameters are matched from a preset damping lookup table by the rotational speed deviation value.
[0039] The damping reference table stores the deceleration damping parameters corresponding to different speed deviation values. The larger the speed deviation value, the larger the deceleration damping parameter, and the greater the deceleration effect on the output shaft rotation. The parameters in the damping reference table are set in advance by those skilled in the art based on actual conditions and will not be elaborated here.
[0040] S18: Generate and send deceleration commands based on the target static contact point and deceleration damping parameters.
[0041] The deceleration command refers to the command that limits the speed of the output shaft when the user controls the output shaft to rotate toward the target stationary contact. The deceleration command is integrated with the target stationary contact and the deceleration damping parameter and sent to the damping device preset on the large-angle output type three-station mechanism to limit the speed of the output shaft.
[0042] Methods for obtaining the target static contact point include: S20: Obtain the remaining static contacts based on the marked static contacts and the detected static contacts.
[0043] The remaining stationary contact refers to the detection stationary contact that is not marked as a stationary contact. The detection stationary contact that is not marked as a stationary contact is considered as the remaining stationary contact.
[0044] S21: Obtain the detected change trajectory based on the marked static contact and the remaining static contact.
[0045] The detection change trajectory refers to the rotation path required from the marked stationary contact to each remaining stationary contact. The detection change trajectory is obtained by matching the marked stationary contact with the remaining stationary contacts from a preset contact lookup table.
[0046] The contact reference table stores the detection change trajectories corresponding to different marked static contacts and remaining static contacts. The parameters in the contact reference table are set in advance by those skilled in the art based on actual conditions, and will not be elaborated here.
[0047] S22: Obtain the baseline change threshold based on the detected change trajectory.
[0048] The reference change threshold refers to the minimum angle change threshold used to determine the user's intention to rotate. The reference change threshold is matched from the touch point lookup table by detecting the change trajectory.
[0049] The contact reference table stores the baseline change thresholds corresponding to different detection change trajectories, which will not be elaborated here.
[0050] S23: Compare the angle change value with the reference change threshold to see if it exceeds the preset reference angle and update the rotation direction.
[0051] The reference angle is a minimum rotation angle threshold set by technicians to determine the user's rotation intention. By analyzing whether the angle change value exceeds the reference threshold, no adjustment is made if the angle change value exceeds the reference threshold.
[0052] If the angle change value does not exceed the reference change threshold, it indicates that the user hesitated when rotating the output shaft, resulting in a change in the rotation direction of the output shaft. In this case, we will continue to analyze the situation where the rotation angle exceeds the reference angle. If the rotation angle exceeds the reference angle, no adjustment will be made.
[0053] When the rotation angle exceeds the reference angle, the direction of rotation exceeding the reference angle is taken as the new rotation direction.
[0054] S24: Obtain the target static contact by rotating the direction and the remaining static contact.
[0055] The remaining stationary contact corresponding to the direction of rotation is used as the target stationary contact.
[0056] Methods for obtaining the target rotational speed include: S30: Define the detected change trajectory of the target static contact point as the target change trajectory.
[0057] The target change trajectory refers to the detected change trajectory from the marked static contact point to the target static contact point. The detected change trajectory between the marked static contact point and the target static contact point is taken as the target change trajectory.
[0058] S31: Create a user model based on user information.
[0059] Using a character model refers to using a three-dimensional virtual data model corresponding to the character information. The three-dimensional virtual data model can be a three-dimensional model or a parameterized dynamic response model. The data model formed by inputting the character information and its corresponding output axis rotation data into the modeling software is used as the character model.
[0060] S32: Generate rotation force parameters based on the character model, preset rotation specifications, and target change trajectory.
[0061] The rotation specifications are the specifications set by the technicians for the large-angle output three-station mechanism. The rotation force parameter refers to the input torque of the output shaft controlled by the person currently operating the large-angle output three-station mechanism. The rotation specifications are input into the user character model to update the user character model, and the user character model is controlled with reference to kinematics to simulate the rotation of the output shaft with the target change trajectory. The torque parameter of the character in the model is used as the rotation force parameter.
[0062] S33: Update the rotation force parameter based on the angle change value.
[0063] Referring to S32, the angle change value is input into the updated character model to re-simulate the rotation force parameter, and the simulated value is used as the new rotation force parameter.
[0064] S34: Obtain the rotational impact force based on the rotational force parameter.
[0065] Rotational impact force refers to the rotational inertial force generated when the target stationary contact is reached from the marked stationary contact. S32 is re-simulated using rotational force parameters, and the rotational inertial force simulated when the marked stationary contact rotates is retrieved from the model as the rotational impact force.
[0066] S35: The target rotational speed is obtained by using the rotational impact force and rotational force parameters.
[0067] The rotational speed of the marked stationary contact is simulated based on the rotational force parameter. Then, the correction coefficient is matched from the contact reference table according to the rotational impact force. The product of the rotational speed of the marked stationary contact and the correction coefficient is calculated as the target speed.
[0068] The contact reference table stores correction coefficients corresponding to different rotational impact forces. The greater the rotational impact force, the greater the correction coefficient, which will not be elaborated here.
[0069] Methods for obtaining speed deviation values include: S40: Collect auxiliary rotating items.
[0070] Assisted rotation items refer to mechanical components added when the user manually operates the output shaft, which can be obtained through pre-input by the operator.
[0071] S41: Obtain the reference rotational speed based on the detected change trajectory.
[0072] The reference speed refers to the maximum speed at which the rotational trajectory is allowed to change. The reference speed is matched from a preset speed reference table by detecting the trajectory change.
[0073] The speed reference table stores the reference speeds corresponding to different detection change trajectories. The parameters in the speed reference table are set in advance by those skilled in the art based on actual conditions, and will not be elaborated here.
[0074] S42: Obtain the auxiliary rotation shape based on the auxiliary rotating object, the target's trajectory, and the rotation force parameters.
[0075] The auxiliary rotation shape refers to the shape of the auxiliary rotating object on the output shaft after it rotates along the target trajectory. By retrieving the lever arm length of the auxiliary rotating object and combining it with the torque of the lever arm length and rotational force parameters, the force value applied by the user using the auxiliary rotating object is calculated. Based on this force value, the user's force application posture is simulated in the user character model, and the shape formed by the user's force application posture and the auxiliary rotating object is derived as the auxiliary rotation shape. In this embodiment, when the user uses the auxiliary rotating object to control the output shaft rotation, the force applied by the user varies depending on the rotation angle of the auxiliary rotating object.
[0076] S43: Obtain the rotational influence based on the auxiliary rotational shape and rotational direction.
[0077] Rotational influence refers to the force by which an auxiliary rotating object exerts a rotational effect on the output shaft. Different auxiliary rotating shapes create different resistances to the rotation of the output shaft. The analysis focuses on whether the direction of the gravitational influence of the auxiliary rotating shape is consistent with the direction of rotation.
[0078] When the direction of gravity influence of the auxiliary rotating shape is consistent with the direction of rotation, the auxiliary rotating object rotates according to gravity to assist the output shaft. When the direction of gravity influence of the auxiliary rotating shape is inconsistent with the direction of rotation, the auxiliary rotating object rotates according to gravity to influence the output shaft. Then, the torque of the auxiliary rotating shape on the output shaft in the horizontal direction is calculated as the rotational influence.
[0079] Rotational influence = gravity of the auxiliary rotating object × lever arm of the auxiliary rotating object × sin (angle of the auxiliary rotating shape).
[0080] S44: Obtain the speed deviation value by using rotational influence, target speed, and reference speed.
[0081] Based on the rotational influence, a rotational correction factor is matched from the speed reference table (with values varying by a decimal point from 1; positive values have a correction factor greater than 1, while negative values have a correction factor between 0 and 1). The difference between the target speed and the reference speed is calculated, and the product of this difference and the rotational correction factor is used as the speed deviation value.
[0082] The speed reference table stores the speed deviation values corresponding to different rotational influences. The greater the rotational influence, the greater the rotational correction coefficient, which will not be elaborated here.
[0083] Methods for verifying deceleration damping parameters include: S50: Update the detection of moving contacts to obtain the trajectory of movement changes.
[0084] The movement change trajectory refers to the actual movement trajectory of the detected moving contact. The moving contact is continuously collected and the trajectory line connected by each detected moving contact is used as the movement change trajectory.
[0085] S51: Compare the consistency between the moving trajectory and the target trajectory to obtain the deviation trajectory.
[0086] A deviation trajectory is a positional trajectory that is inconsistent with the target trajectory. By analyzing the consistency of the positions at corresponding time points in the moving trajectory and the target trajectory, the trajectory that shows inconsistency between the moving trajectory and the target trajectory at corresponding time points is identified as a deviation trajectory.
[0087] S52: Obtain the deviation parameters based on the rotational impact force and the deviation trajectory.
[0088] Deviation parameters refer to the parameters that indicate wear on the damping device. The deviation parameters are obtained by retrieving the position offset from the deviation trajectory, taking the average value of each offset, and then matching the average value with the rotational impact force from a preset wear reference table.
[0089] The wear comparison table stores different average values and deviation parameters corresponding to the rotational impact force. The larger the average value, the smaller the rotational impact force, and the larger the deviation parameter. The parameters in the wear comparison table are set in advance by those skilled in the art based on actual conditions, and will not be elaborated here.
[0090] S53: Update deceleration damping parameters based on deviation parameters.
[0091] Based on the deviation parameters, supplementary parameters are matched from the wear comparison table, and the sum of the deceleration damping parameters and the supplementary parameters is calculated as the new deceleration damping parameters.
[0092] The wear comparison table stores supplementary parameters corresponding to different deviation parameters. The larger the deviation parameter, the larger the supplementary parameter, which will not be elaborated here.
[0093] Also includes: S60: The detected power is obtained based on the deceleration damping parameters.
[0094] The detected power refers to the power required for the damping device to operate, which is obtained by retrieving the detected power from the deceleration damping parameters.
[0095] S61: Compare the detected power with the preset reference power to calculate the power deviation value.
[0096] The reference power is the maximum power at which the damping device operates, as set by the technicians.
[0097] The power deviation value refers to the deviation between the detected power and the reference power. By analyzing the situation where the detected power exceeds the reference power, when the detected power does not exceed the reference power, the control damping device continues to operate with the deceleration damping parameters.
[0098] When the detected power exceeds the reference power, it indicates that the damping device cannot operate with the current deceleration damping parameters. The difference between the detected power and the reference power is then calculated as the power deviation value.
[0099] S62: Update deceleration damping parameters and rotational impact force based on reference power.
[0100] The reference power is used to replace the power in the deceleration damping parameters to obtain new deceleration damping parameters, and the damping device is run with the reference power to obtain the rotational impact force again.
[0101] S63: Combines rotating impact force with rotating specifications to generate and transmit electromagnetic power.
[0102] The electromagnetic device is an electromagnet designed by technicians to attract devices with moving detection contacts.
[0103] Electromagnetic power refers to the power required for the operation of an electromagnetic device. The electromagnetic power is matched from a preset electromagnetic reference table by the rotational impact force and rotation specifications, and then the electromagnetic power is sent to the electromagnetic device to generate a magnetic attraction to detect the moving contact, thereby generating magnetic attraction and damping for the rotation of the moving contact.
[0104] Also includes: S70: The power application time difference is obtained based on the reference power and electromagnetic power.
[0105] Power action time difference refers to the response time when the damping device and the electromagnetic device switch power and start up. The power action time difference is obtained by retrieving the power switching response time from the damping device and the start-up response time from the electromagnetic device.
[0106] S71: The detection deviation trajectory is obtained by using the power application time difference and rotation force parameters.
[0107] The detection deviation trajectory refers to the additional trajectory deviation caused by braking delay during the power application time difference. By taking the rotational force parameter and the power application time difference as inputs, and performing forward simulation through the system's dynamic model (discrete state-space equations), the trajectory formed by the predicted additional angle and velocity deviation within the power application time difference is calculated as the detection deviation trajectory.
[0108] S72: Compare the detection deviation trajectory with the inclusion of the target static contact point to obtain the target deviation trajectory.
[0109] The target deviation trajectory refers to the trajectory formed by the target stationary contact and the end point of the detection deviation trajectory. By examining the inclusion of the target stationary contact in the detection deviation trajectory, if the target stationary contact is not included in the detection deviation trajectory, it indicates that the damping device and the electromagnetic device can brake before the detection moving contact reaches the target stationary contact, and no adjustment is required.
[0110] When the detection deviation trajectory includes the target stationary contact, it indicates that the damping device and the electromagnetic device cannot brake before the detection moving contact reaches the target stationary contact. Therefore, the trajectory formed by the target stationary contact and the end point of the detection deviation trajectory is taken as the target deviation trajectory.
[0111] S73: Compare the target deviation trajectory with the preset contact change threshold to update the target static contact.
[0112] The contact point change threshold is the maximum predicted deviation set by technicians that allows for dynamic target adjustment. By analyzing the exceedance of the contact point change threshold by the target deviation trajectory, it is determined that dynamic target adjustment cannot be performed when the target deviation trajectory exceeds the contact point change threshold, and braking needs to be initiated earlier. This will not be elaborated further here.
[0113] When the target deviation trajectory exceeds the contact point change threshold, it indicates that dynamic target adjustment can be performed. In this case, the target deviation trajectory is updated to the target static contact point in the system to form a new target static contact point.
[0114] Methods for obtaining and using personnel information include: S80: Collects character detection information.
[0115] Personnel detection information refers to the personnel information used to operate the large-angle output three-station mechanism. It can be collected by fingerprint feature codes from fingerprint recognition modules preset around the large-angle output three-station mechanism or by personnel information collected by the operator entering a unique identification code on the control panel.
[0116] S81: Based on the character detection information, the rotation angle and angle change value at the corresponding time point are used as the historical rotation angle and historical change value.
[0117] Historical rotation angle refers to the rotation angle of each character detection information during its operation period, and historical change value refers to the angle change value of each character detection information during its operation period. The rotation angle and angle change value of the time period corresponding to the character detection information are used as historical rotation angle and historical change value.
[0118] S82: Record the detected change trajectory, historical rotation angle, and historical change value to form a control model.
[0119] The reference model refers to a data index structure or feature database that associates operational features with the operator. After each successful operation of the person detection information, the system binds and stores the identification of the detection change trajectory of this operation, the historical rotation angle and the historical change value sequence during the operation as a data packet with the person detection information of this operation to form a mapping model as the reference model.
[0120] S83: Obtain the historical change trajectory based on the historical static contact points and the marked static contact points.
[0121] The historical change trajectory refers to the historical static contact point that is the same as the marked static contact point and its corresponding trajectory. First, retrieve the historical static contact point that is the same as the marked static contact point, and then retrieve the change trajectory of the historical static contact point that is the same as the target change trajectory as the historical change trajectory.
[0122] S84: Matching human information from the control model based on historical change trajectories and angle change values.
[0123] Based on the angle change value (equivalent to rotation speed) of the historical change trajectory, the similarity calculation is performed on the historical change values of each change trajectory in the comparison model, and the person detection information corresponding to the highest similarity is used as the person information.
[0124] Based on the same inventive concept, embodiments of the present invention provide an automatic anti-over-rotation system for a large-angle output three-station mechanism, comprising: The acquisition module is used to acquire information on the detection of static contact points, dynamic contact points, rotation angles, auxiliary rotating objects, and human detection. The memory is used to store the program for an automatic anti-over-rotation method for a large-angle output type three-station mechanism; The processor is used to load and execute programs stored in memory.
[0125] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.
[0126] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.
Claims
1. A large-angle output type three-station mechanism automatic anti-overturning method, characterized by, The method comprises the following steps: Collecting coordinate positions of static contacts corresponding to three fixed stations in a large-angle output type three-station mechanism as detection static contacts, and collecting coordinate positions of moving contacts on output shafts as detection moving contacts; Comparing the coincidence of the detection static contacts and the detection moving contacts, and taking the detection static contacts coinciding with the detection moving contacts as marked static contacts; Continuously collecting the detection moving contacts, connecting each detection moving contact into a line, and taking the direction in which the line extends as a rotation direction; Collecting a rotation angle of the rotation direction; Calculating the difference between adjacent rotation angles as an angle change value, and obtaining a target static contact based on the angle change value, the marked static contact, and the rotation direction; Based on the marked static contact and the detection static contact, a historical operation log of a preset system is called to obtain a historical static contact using the current marked static contact; According to the angle change value and the historical static contact, a user information is obtained, and a target rotation speed is obtained according to the user information and the angle change value; A rotation speed deviation value is obtained by comparing the detection change track and the target rotation speed, and a deceleration damping parameter is matched from a preset damping table based on the rotation speed deviation value; According to the target static contact and the deceleration damping parameter, a deceleration instruction is generated and sent.
2. The method according to claim 1, wherein The method for obtaining the target static contact comprises: Based on the marked static contact and the detection static contact, a remaining static contact is obtained; According to the marked static contact and the remaining static contact, a detection change track is obtained; According to the detection change track, a reference change threshold is obtained; The angle change value is compared with the reference change threshold to update the rotation direction by comparing whether the rotation angle exceeds a preset reference angle; The target static contact is obtained by the rotation direction and the remaining static contact.
3. The method of claim 1, wherein the method is a method of preventing over-rotation of a large-angle output type three-station mechanism, characterized by, The method for obtaining the target rotation speed comprises: The detection change track of the target static contact is defined as a target change track; According to the user information, a user model is established; According to the user model, a preset rotation specification, and the target change track, a rotation strength parameter is generated; The rotation strength parameter is updated by the angle change value; A rotation impact force is obtained based on the rotation strength parameter; The target rotation speed is obtained by the rotation impact force and the rotation strength parameter.
4. The method of claim 3, wherein the method is a method of automatically preventing over-rotation of a large-angle output type three-station mechanism, characterized by The method for obtaining the rotation speed deviation value comprises: An auxiliary rotating object is collected; Based on the detection change track, a reference rotation speed is obtained; According to the auxiliary rotating object, the target change track, and the rotation strength parameter, an auxiliary rotation shape is obtained; According to the auxiliary rotation shape and the rotation direction, a rotation impact force is obtained; The rotation speed deviation value is obtained by the rotation impact force, the target rotation speed, and the reference rotation speed.
5. The method of claim 3, wherein the method is a method of automatically preventing over-rotation of a large-angle output type three-station mechanism, characterized by The verification method of the deceleration damping parameter comprises: The detection moving contact is updated to obtain a movement change track; The consistency of the movement change track and the target change track is compared to obtain a deviation track; According to the rotation impact force and the deviation track, a deviation parameter is obtained; The deceleration damping parameter is updated based on the deviation parameter.
6. The method of claim 5, wherein the method is a method of automatically preventing over-rotation of a large-angle output type three-station mechanism, characterized by Further comprising: Based on the deceleration damping parameter, a detection power is obtained; The exceeding situation of the detection power and a preset reference power is compared to calculate a power deviation value; According to the reference power, the deceleration damping parameter and the rotation impact force are updated; The electromagnetic power is generated and sent in combination with the rotation impact force and the rotation specification.
7. The method of claim 6, wherein the method is a method of preventing over-rotation of a large-angle output type three-position mechanism, characterized by Further comprising: According to the reference power and the electromagnetic power, a power action time difference is obtained; Detecting the deviation track by power acting time difference and rotation strength parameter; Comparing the deviation track with the target static touch point to obtain the target deviation track; Comparing the target deviation track with the preset touch point change threshold to update the target static touch point.
8. The method of claim 1, wherein the method is a method of automatically preventing over-rotation of a large-angle output type three-station mechanism, characterized by, The method for obtaining the user information comprises: Collecting the character detection information; Taking the rotation angle and the angle change value of the corresponding time point of the character detection information as the historical rotation angle and the historical change value; Recording the detection change track, the historical rotation angle and the historical change value to form a comparison model; Obtaining the historical change track according to the historical static touch point and the marked static touch point; Matching the user information from the comparison model based on the historical change track and the angle change value.
9. A large angle output type three-station mechanism automatic anti-overturning system, characterized in that, It comprises: An acquisition module for acquiring the detection static touch point, the detection dynamic touch point and the rotation angle; A memory for storing a program for implementing the method for automatically preventing over-rotation of a large-angle output type three-station mechanism according to any one of claims 1 to 8; A processor for loading and executing the program stored in the memory.