2326 results about "Man machine" patented technology

Disclosed in the present invention are a multi-modal shared teleoperation system and method for a three-arm space robot. The system at least comprises a master-side teleoperation system, a communication module and a slave-side robot system, wherein the master-side teleoperation system at least comprises two force feedback hand controllers, a microphone array and upper computer software, and the slave-side robot system comprises two operating arms each equipped with a gripper at the end, an observation arm having a binocular camera mounted at the end, a vision unit, a force sensor and lower computer software. The method comprises: an operator controlling two operating arms of an extravehicular robot to execute a task, and controlling an observation arm to acquire a better local field of view. In the method, a multi-modal teleoperation method comprising pose control, voice control and force control is fused with autonomous control of a robot by means of a shared control algorithm, and thus, human-robot collaborative control over the position, orientation and contact force of a robotic arm can be realized on the basis of the requirements of the operator, and the robot autonomously executes other relatively simple tasks, thereby reducing the operation burden of operators, and improving the control efficiency.

The invention discloses an intelligent warehouse optimization management platform based on digital twinning and space-time prediction, which relates to the technical field of intelligent warehouse management and comprises a digital twinning model construction module, a space-time prediction module, an inventory optimization management module and a user interaction module. The digital twinborn model construction module realizes digital mapping of a physical warehousing system by constructing a warehousing space three-dimensional model and associating warehousing sensing data, and the space-time prediction module constructs a prediction model to obtain inventory prediction information in a future time period, and performs inventory risk assessment and early warning according to the inventory prediction information; the inventory optimization management module generates an inventory strategy and an optimized storage position according to the prediction result, the storage cost and the cargo demand, and formulates a warehouse-in and warehouse-out task scheduling scheme; and the user interaction module visually presents the warehouse management data and receives a user interaction operation instruction to realize man-machine collaborative management, and the platform reduces the vacancy rate of the warehouse space and the interruption risk of the supply chain, and reduces the invalid carrying energy consumption.

The invention belongs to the technical field of robot control, particularly provides a force feedback teleoperation control system and method for the tail end of a mechanical arm of a quadruped robot, and aims at the key challenges that control errors are caused by communication time delay and soft obstacles are difficult to recognize in a dynamic environment. Modeling and judgment are conducted on the contact state of the tail end of the mechanical arm in advance, and feedforward control and buffer adjustment oriented to communication time delay are achieved. And meanwhile, a dynamic semantic map is constructed in combination with multi-source sensing information, and soft obstacle reasoning and path optimization are performed by fusing a tail end force sense change trend, so that the recognition and avoidance capabilities of the system in a complex and invisible obstacle environment are remarkably improved. The system has good perspectiveness, self-adaptability and high redundancy safety characteristics, is suitable for multi-task inspection operation of industrial sites such as a thermal power plant, and is especially suitable for a remote man-machine cooperative operation scene in a narrow space.

The invention discloses a thermal management control system and method for a power battery pack, and belongs to the technical field of electric automobiles, and the system comprises the following modules: a multi-parameter acquisition module which is used for acquiring parameter data of the battery pack in real time; the data preprocessing and fusion module is used for generating a high-quality and uniform-format data set; the dynamic prediction modeling module is used for realizing accurate temperature trend prediction; the intelligent decision module is used for generating an optimal heat management strategy; the thermal management execution module is used for realizing accurate temperature regulation and thermal management; the system monitoring and diagnosis module is used for ensuring safe operation of the system; a man-machine interaction module; the intelligent thermal management system is used for realizing man-machine collaborative intelligent thermal management. According to the thermal management control system and method for the power battery pack, the particle swarm optimization algorithm is utilized, the power battery thermal management system of a thermal management strategy is dynamically adjusted, more accurate temperature prediction and control are achieved, energy consumption is optimized, and the service life of the battery is prolonged.

The invention discloses an intelligent self-adaptive industrial robot control system and method, and the method comprises the steps: carrying out the automatic recognition and self-inspection of a sensor, an actuator and a controller module through a standardized interface when the system is started; various sensors are used for environment monitoring, acquired data are stored in a cloud end, and a sensor fusion technology is applied for integration; the system state and the environment condition are monitored in real time, machine learning and an artificial intelligence algorithm are used for analyzing the operation state and the task effect, and a corresponding operation strategy is formulated; based on task execution and environment information, an execution path is generated by adopting a path planning algorithm, and an operation strategy and parameters are dynamically adjusted according to real-time feedback; a real-time safety monitoring mechanism is introduced, and a safety threshold value is set; sensor data are analyzed regularly, potential faults are identified, and fault prediction is carried out; according to the intelligent self-adaptive industrial robot control system and method, when the robot is designed, the safety of man-machine cooperation is considered, and safety protection measures are added.

The invention discloses an intelligent cabin interaction method and system combined with digital twinning, and relates to the technical field of man-machine interaction, and the method comprises the steps: collecting the multi-dimensional perception data of a cabin, and constructing a layered cabin digital twinning model; performing scene analysis on the cockpit digital twin model, extracting driver state features, predicting driver potential interaction demands, generating a multi-modal interaction strategy set in combination with the driver potential interaction demands and a current driving scene, and performing simulation evaluation on the multi-modal interaction strategy set to obtain an interaction evaluation index set; performing multi-objective decision optimization under the driving safety constraint based on the interaction evaluation index set, and determining and adaptively executing an optimal interaction strategy; and acquiring actual execution data and driver feedback data of the optimal interaction strategy, and incrementally updating the hierarchical cabin digital twin model. According to the invention, the interaction adaptability and the safety reliability of the intelligent cabin system in a complex driving scene are obviously improved, and an effective technical support is provided for realizing intelligent man-machine cooperative driving.

The invention discloses a construction man-machine safety intelligent detection and early warning method based on deep learning. The method comprises the following steps: S1, introducing a wavelet convolution improved YOLOv11 target detection algorithm framework; s2, coordinate extraction of the instance segmentation module; s3, designing a monocular depth estimation network; s4, training the monocular deep network; and S5, converting the two-dimensional coordinates into the three-dimensional coordinates. According to the invention, the real distance between the worker and the equipment is obtained and real-time safety early warning is carried out; obtaining a man-machine actual distance, and judging the accurate position and posture of the machine by combining angle information of the construction machine with edge contour detection; target detection in a complex construction scene is realized by optimizing a network structure; the S2R-DepthNet depth estimation network is used for performing depth estimation on a single RGB image through a self-supervised learning method, the three-dimensional information acquisition process is simplified, and dependence on expensive hardware is eliminated.

The present invention relates to an automatic winding drum taking and loading mechanism for a glass fiber drawing machine, comprising a middle bracket, an upper bracket, a winding drum pulling and pushing unit and a winding drum supporting unit; the winding drum pulling and pushing unit is mounted on the upper bracket, and the winding drum supporting unit is mounted on the middle bracket; the winding drum pulling and pushing unit comprises an upper linear module fixedly mounted on the upper bracket, a sliding assembly of the upper linear module is fixed with a combined bracket, and a pulling and pushing structure is mounted on the lower end of the combined bracket; the winding drum supporting unit comprises a middle support plate fixedly mounted on the middle bracket, a rear fixed flap and a weighing sensor are inherently provided on the upper side of the middle support plate, a front fixed flap is fixed on the weighing sensor, a supporting mechanism for driving the three supporting drum flaps to move is also mounted on the middle support plate, and a second camera is fixed to the end of the middle support rod. The present invention has the advantages of being able to reduce labor costs, improve the degree of automation, and avoid the risk of mechanical collisions to humans during human-machine collaborative work.

The invention relates to the field of engineering management, and discloses a wharf steel structure construction progress dynamic management and control and resource allocation system, which comprises a real-time data perception and fusion module for collecting field data and an initial plan and generating a fusion data stream; the dynamic construction digital twinborn construction and evolution module is used for updating the digital twinborn and a dynamic empirical risk layer in real time based on the fusion data flow; the multi-agent self-adaptive decision engine is used for generating a self-adaptive construction scheme based on digital twinborn simulation deduction and feeding back a risk signal; and the man-machine cooperation and closed-loop execution module is used for visualizing the scheme for manual decision making and issuing an instruction to a site. According to the method, the physical field data sensed in real time is fused with the digital model, the dynamic construction digital twin capable of being synchronously updated with the physical construction field state is constructed, and the technical effect that digital information and the physical entity state are kept highly consistent is achieved.

The invention discloses an industrial equipment intelligent operation and maintenance management system and method based on 5G-MOM, and belongs to the technical field of industrial internet and intelligent manufacturing. The system comprises a multi-source heterogeneous data acquisition layer deployed in industrial equipment, an edge computing node cluster based on 5G, a cloud intelligent analysis platform and a man-machine collaborative operation and maintenance terminal. The method comprises the following steps of collecting equipment vibration, temperature and current multi-dimensional working condition data in real time through a 5G network; performing data cleaning and feature extraction by using edge computing nodes, and constructing an equipment operation digital twin model; a cloud deep neural network is adopted to carry out fusion analysis on the multi-dimensional time series data, and self-adaptive diagnosis and residual life prediction of a fault mode are realized; a dynamic maintenance strategy is generated based on an MOM system, and field personnel are guided to execute precise maintenance through an AR terminal. According to the invention, 5G ultra-low time delay communication and an industrial mechanism model are creatively combined, and real-time visual management and predictive maintenance decision optimization of the equipment health state are realized.

The invention discloses a mechanical arm natural language instruction control system and method based on a large language model, and belongs to the field of intelligent manufacturing. Aiming at the limitation that traditional mechanical arm control depends on pre-programming and a static rule library, a dynamic mapping mode from a natural language instruction to an atomic action sequence is designed, an atomic skill library including detection, grabbing, moving, placement and other operations is constructed, and semantic analysis and a multi-mode cooperation technology are combined, so that the atomic action sequence is obtained. And support is provided for man-machine cooperation of a flexible assembly task. The method specifically comprises the steps that a DeepSeek-Distil-Llam-8B large model and a LoRA fine tuning technology are adopted, and a natural language instruction is converted into an executable atomic action sequence; based on a transfer learning optimized YOLOv8 target detection technology and a binocular vision positioning technology, a sensing module adaptive to an assembly scene is constructed and is fused with a mechanical arm motion planning module, and positioning grabbing of parts and tools is achieved. And an interactive interface is built by combining a voice-to-text large model and a Gradio front-end framework, so that the convenience of man-machine interaction is improved. By optimizing large model reasoning and motion planning cooperation efficiency, response delay from instructions to execution is reduced, and an efficient and extensible solution is provided for man-machine cooperation in intelligent manufacturing.

The invention discloses a humanoid robot real-time cooperation decision-making method based on multi-mode perception fusion. The method comprises the following steps: dynamically deploying a sensor array, acquiring multi-modal original sensing data of the humanoid robot through the deployed sensor array, and performing physiological signal fusion processing and multi-modal feature enhancement processing on the multi-modal original sensing data to obtain a multi-level feature set; performing cross-modal semantic mapping and intention reasoning on the multi-level feature set by using a cross-modal semantic reasoning system supported by a large model to obtain a cooperative execution instruction containing a target action and a force control parameter; and dynamically updating a behavior decision model of the humanoid robot by using a double-buffer collaborative distributed incremental learning mechanism based on the collaborative execution instruction, and obtaining a real-time collaborative decision of the humanoid robot based on the behavior decision model. The technical problem that the man-machine cooperation efficiency of the humanoid robot in a complex scene is low is solved.

The invention provides a man-machine cooperation method and system based on robot process automation, and relates to the technical field of automation, and the method comprises the steps: building a data perception processing network, collecting a user operation instruction, a system operation state and task environment data, obtaining a task feature vector through semantic analysis, and matching a business model to generate a task processing strategy. A man-machine cooperative processing framework is constructed based on the strategy, a robot unit processes a structured task, a manual operation unit processes an unstructured task and is connected through an information interaction channel, and transmission of a data analysis result and decision suggestions and updating of processing regulation information when deviation exceeds a threshold value are achieved. Besides, a knowledge migration processing network is constructed, business rules and expert experience data features are extracted, a scene migration model is trained, business feature vectors are mapped to a preset scene feature space, and after validity verification, parameters of the data perception processing network and the man-machine cooperative processing framework are updated.

The invention discloses a mechanical arm force feedback control method based on deep reinforcement learning, and the method comprises the following steps: 1, data collection and preprocessing: collecting environment data, collecting operation data, and preprocessing the data; 2, designing a self-adaptive deep reinforcement learning algorithm, including initial model training, self-adaptive learning module and model online updating; 3, introducing a prediction model, including human operation intention prediction and motion trail prediction; and step 4, performance test and optimization, including simulation test and safety and efficiency evaluation. The force feedback control precision of the mechanical arm during operation in a complex environment and the safety and efficiency of man-machine cooperation are improved. According to the method, a control strategy is updated and adjusted in real time by designing an adaptive deep reinforcement learning algorithm and introducing a human operation intention prediction model, so that environmental changes and unknown interference can be better coped with.

The invention discloses a numerical control machine tool wear monitoring and intelligent compensation control method based on deep learning, and relates to the field of numerical control machine tool wear monitoring. Multi-source data are collected through a sensor, and are preprocessed and fused through edge calculation; deep features are extracted and enhanced through an improved network, the abrasion state is evaluated through a mixed expert model, and life is predicted in combination with survival analysis; based on enhanced transfer learning, generating an intelligent compensation strategy according to a processing target, and executing the intelligent compensation strategy after verification in a virtual environment; a closed-loop system is constructed, all modules are acquired, fed back and optimized, and full-process intelligent management of functions such as knowledge graph early warning and multi-machine-tool cooperation is integrated. According to the method, the wear monitoring accuracy is improved, and early wear is accurately recognized; machining parameters are intelligently compensated and optimized, precision is improved, and the service life of a tool is prolonged; closed-loop control and multiple technologies are fused, the response time is shortened, and shutdown is reduced; the operation efficiency and reliability of the numerical control machine tool are improved, and the cost is reduced.

The invention relates to the technical field of workpiece assembly, in particular to a digital twinning and augmented reality guided man-machine cooperation assembly method and system, and the method comprises the steps: collecting a multi-view image, mechanical arm sensing data and a first person image of AR glasses; fusing the data, generating scene assembly information, and constructing a digital twin model; configuring an operation standard, a standard assembly unit space state and a standard hand action template of each assembly process stage, judging a current assembly process stage, identifying an operation intention, predicting a next process in combination with the current assembly stage and the operation standard, and generating a man-machine instruction and simulation data; three-dimensional action guidance is displayed through AR glasses, a mechanical arm is driven to execute planning actions, and a digital twin interface feeds back the assembly state, precision data and prediction animation in real time. According to the method, man-machine standardized cooperation and high-precision assembly are achieved, pre-stored parameters are adaptive to multi-variety production, and the process consistency is improved through real-time feedback.

The invention discloses a man-machine exoskeleton cooperation method based on multi-modal signal fusion, and relates to the technical field of exoskeleton program control. The method comprises the following steps that man-machine exoskeleton driving pre-pressure cold and hot mutation analysis is conducted in combination with man-machine exoskeleton man-machine cooperation components; and performing memory alloy spring pre-pressure optimization adjustment in combination with a man-machine exoskeleton driving pre-pressure cold and hot mutation analysis result. According to the invention, cold chain exoskeleton cooperative control is realized through multi-mode signal fusion, and three-level regulation and control are implemented based on a current threshold value and a myoelectricity state: graded current rising / falling and safety early warning are carried out in case of abnormal current; dynamic gain compensation or joint retardation protection is carried out when myoelectricity is abnormal; according to the man-machine exoskeleton cooperative control method and the man-machine exoskeleton cooperative control system, the effect of improving the accuracy of man-machine exoskeleton cooperative control for coping with cold-chain logistics is achieved, and the problem that the accuracy of man-machine exoskeleton cooperative control for coping with cold-chain logistics is disabled in the prior art is solved.

The invention discloses a building robot task planning and skill learning method and system, and relates to the technical field of intelligent construction and building robot control, and the method comprises the steps: receiving construction target description and construction environment information through a multi-modal task-skill collaborative generation model; and generating a structured semantic vector and reasoning a construction planning graph containing a plurality of subtasks. And collecting operation behavior parameters of the building robot in each subtask according to the construction planning graph, constructing an operation sample, and inputting the operation sample into the multi-modal task-skill collaborative generation model for skill learning and action instruction generation. And in the construction execution process, various sensing data are fused for real-time judgment, and if the task execution state is inconsistent with the planning state, the multi-mode task-skill collaborative generation model adjusts an instruction based on the latest state and outputs a reasoning chain. According to the method, the deployment efficiency and task adaptability of the robot system in actual construction are improved, and a foundation is laid for man-machine cooperation and unmanned construction in the field.

The invention relates to the technical field of man-machine collaborative interaction, and discloses a resource allocation method and system in a man-machine collaborative decision-making scene, and the method comprises the steps: generating corresponding task features based on the three dimension indexes of task complexity, knowledge density and intelligent adaptation degree of a to-be-processed task; initializing initial weight coefficients of the three-dimensional indexes, and dynamically optimizing the weight coefficients corresponding to the three-dimensional indexes by using a preset strategy network according to the task characteristics and the real-time system resource state; performing weighted normalization on the three-dimensional indexes according to the weight coefficient to generate a task comprehensive score; task priorities are divided according to the task comprehensive scores, and the tasks are dynamically allocated to manual and / or intelligent systems to execute the tasks according to the priorities, so that the flexibility of artificial experience and the high efficiency of the intelligent systems can be brought into full play, man-machine labor division is flexibly adjusted according to task characteristics, and the universality of cross-task scenes is improved. And the dynamic adaptability, decision reliability and task execution efficiency of the man-machine cooperation system are improved.

The invention relates to a UWB-based man-machine real-time positioning method in a long-distance tunnel hole. The method comprises the following steps: S1, collecting original ranging information of integrated signal characteristics; s2, correcting an original distance based on signal quality; s3, carrying out NLOS signal identification based on SVM (Support Vector Machine); s4, NLOS ranging error elimination based on an error distribution fitting model; s5, preliminarily resolving a tag position stake number; s6, label position correction based on Kalman filtering; and S7, determining a man-machine position based on label matching. According to the invention, the UWB positioning system is used for positioning and tracking personnel machinery in a hole, so that real-time transmission and analysis of man-machine position pile number information in the hole are realized, and management personnel can timely and accurately master man-machine operation positions; according to the man-machine real-time positioning method, the influence of the complex construction environment in the tunnel hole is reduced, and the man-machine positioning precision and stability in the tunnel hole are effectively improved.

The invention provides a robot teleoperation method and system based on virtual reality and digital twinning, and particularly relates to the technical field of man-machine collaborative intelligent manufacturing and assemblation.The scheme comprises the steps that an industrial robot and wearable equipment are started; establishing a two-way communication connection between the virtual environment of the wearable device and the industrial robot, and rendering the virtual robot of the wearable device in the virtual environment; and inputting the target pose operation instruction into the virtual robot, responding to a received target motion track planned by the wearable device according to the target pose operation instruction, and controlling the industrial robot to execute an operation task according to the motion track. According to the scheme, information interaction between an operator and the robot can be achieved, so that immersive real-time robot teleoperation is achieved through instant and accurate operation commands and field feedback, and the teleoperation precision of complex tasks and flexible operation tasks can be remarkably improved.

Orchestration solutions for agentic automation for artificial intelligence (AI) agents, robotic process automation (RPA) robots, agentic orchestration processes (AOPs), and humans-in-the-loop with self-healing and capabilities to increase autonomy. Agentic orchestration, via a conductor application, enables the automation, modeling, and monitoring of complex business processes from start to finish. A user or an initiating software process requests that a given AOP be run. The AOP defines a business process (e.g., in Business Process Model and Notation (BPMN)), and may utilize one or more RPA robots, one or more AI agents, and / or one or more humans to assist with accomplishing this process, such as resolving invoice discrepancies, onboarding an employee, performing compliance checks, synchronizing order data among multiple backend systems, etc.

The invention discloses a robot joint control method and system based on motion capture equipment, and belongs to the technical field of robot control. An existing robot joint control scheme lacks an effective man-machine cooperation and natural interaction mechanism, so that the flexibility of a robot is poor, and the intention of an operator cannot be naturally expressed. According to the robot joint control method based on the motion capture equipment, by constructing a motion capture module, a data processing module, a coordinate system transformation module and a solution optimization module, rotating posture data, collected by the motion capture equipment, of human body joints are converted into target joint control information needed by execution of a robot; the robot joint control based on the motion capture equipment is realized, so that the human motion can be efficiently and accurately mapped to the robot, the robot is good in flexibility, sudden motion or complex cooperative operation can be effectively processed, the intention of an operator can be naturally expressed, and man-machine cooperation and natural interaction are realized.

The invention discloses a shield tunneling intelligent control method and system based on a ground-tunnel-machine-information-human adaptation level, and relates to the crossing field of underground engineering intelligent construction and information technology. Setting a first-level index and a second-level index; dividing the shield construction state into three levels of intelligent adaptation levels by combining the total score of the construction state with a dynamic threshold value; setting four targets of attitude intelligent control, settlement intelligent control, tunneling efficiency optimization and construction abnormity diagnosis; a machine learning prediction model is constructed, and the construction state parameters corresponding to the targets are predicted in real time; according to the shield intelligent adaptation level, the man-machine cooperation modes are divided into three classes of A level, B level and C level; and comparing actual data with a prediction result of the machine learning model, and dynamically correcting the control target parameters. Through real-time sensing of geological, mechanical and environmental multi-dimensional construction states and in combination with a dynamic weight distribution strategy, precise evaluation of the shield construction state is achieved, and meanwhile self-adaptive switching of the man-machine control right is achieved.

The invention discloses a man-machine cooperation digital twinning simulation method based on virtual reality interaction, and relates to the technical field of man-machine collaboration.The method comprises the steps that a digital twinning three-dimensional scene, a digital twinning human body model and a digital twinning mechanical arm model are constructed, after human body posture data of a real tester and joint movement data of a real mechanical arm are obtained, a digital twin human body model is driven to move based on the human body posture data, a digital twin mechanical arm model is driven to move based on the joint movement data, virtual man-machine cooperation is achieved, and in the virtual man-machine cooperation process, the human body posture data of the real tester and the joint movement data of the real mechanical arm are obtained. And recording a human body collision part and a scene collision area in real time when the collision occurs, and subsequently testing and optimizing the collision prediction model. According to the method, a highly-simulated and immersive digital twin system is constructed, a real working scene can be safely and reliably reproduced, man-machine cooperation behaviors can be optimized, and the collision prediction model can be repeatedly tested and optimized under the condition that no real collision risk exists.

The invention discloses a wearable exoskeleton man-machine cooperation real-time control method based on artificial intelligence, and relates to the technical field of exoskeleton robots, and the method comprises the steps: recognizing an exoskeleton scene in power grid maintenance, analyzing the demand degree, and constructing a maintenance demand sequence; determining a collaborative analysis scene based on the maintenance demand sequence; performing quantitative analysis on the man-machine confrontation event in the collaborative analysis scene to obtain a collaborative deviation value and generate a collaborative analysis signal; constructing a data set according to signal extraction features, and predicting man-machine cooperative control behaviors by using a genetic algorithm; finally, the exoskeleton is controlled in real time according to prediction, the man-machine cooperation degree is judged, and the control mode is switched when necessary. The exoskeleton man-machine cooperation performance is improved, the cooperation problem can be found in time, the control strategy is optimized, and it is guaranteed that electric power overhaul work is conducted efficiently and safely.

The invention discloses a cooperative steering control method considering man-machine mutual reliability, and aims to solve the problem of man-machine conflict in an existing man-machine co-driving system. The invention relates to the field of intelligent driving. The system specifically comprises an expected path module, a man-machine steering conflict evaluation module, a driver experience evaluation module, a weight distribution module, a non-cooperative game module and a man-machine co-driving vehicle. The expected path module generates an expected path between the driver and the controller; the man-machine steering conflict evaluation module outputs the trust degree of the driver to the controller based on the steering action of the driver, the vehicle state and the expected path of the driver and the controller; the driver experience evaluation module outputs the driver trust degree of the controller based on the vehicle state; the weight distribution module is used for outputting a driver control weight; and the non-cooperative game module outputs an optimal turning angle in combination with the expected path of the driver and the controller and the control weight of the driver, and controls the man-machine co-driving vehicle to complete the cooperative steering action.

The invention discloses a software requirement modeling method and device based on a natural language, equipment and a medium, and relates to the field of software requirement modeling. According to the software demand modeling method and device based on the natural language, the equipment and the medium, through automatic demand analysis and model generation, the manual workload is greatly reduced, and meanwhile, errors caused by manual understanding deviation are reduced; close connection among the steps is ensured by sharing intermediate representation and a unified data model, output of the previous step provides structured information for input of the next step, and information loss or distortion is avoided; a demand provider is allowed to participate in a model confirmation process through an iterative demand acquisition and modeling framework of man-machine cooperation, and the quality of a demand model is continuously improved; by means of the model consistency analysis technology based on the data flow dependency relationship, the problem of inconsistency between the requirement specification and the software model can be automatically detected, and the software product quality is improved.

The invention provides a multi-machine cooperative scheduling system of a man-machine control shelter, and belongs to the technical field of multi-machine cooperative scheduling control. The environment feature intelligent classification and curved surface modeling module is connected with the task semantic understanding and planning module; the task semantic enhancement and risk assessment module is connected with the environment feature intelligent classification and curved surface modeling module; and the multi-machine collaborative decision module is connected with the task semantic enhancement and risk assessment module. An organic whole is formed through tight cooperation of functions such as task semantic understanding, environment modeling, risk assessment and decision making, different types of machines can efficiently and cooperatively complete complex tasks under unified scheduling of the system, the limitation of isolated operation of modules in a traditional system is broken through, and the reliability of the system is improved. And the harsh requirements on multi-machine collaborative operation in multiple fields and multiple scenes are met.

The invention provides a robot social adaptive navigation knowledge learning and migration method and system, and relates to the field of mobile robot navigation. Aiming at the problems that an existing path planner lacks time sequence memory and neglects pedestrian social intent, a man-machine co-fusion scene is constructed, a training set containing an expert demonstration path is made, and a recursive generation model is input; designing a recurrent neural network embedded RRT, generating an RNN-RRT planner, and fusing historical information and pedestrian convergence probability in training; new scene loading training parameters are finely adjusted to realize knowledge migration, loss convergence or output RNN final parameters after reaching a preset round number. According to the method, the path anthropomorphism and generalization ability are improved, and the method is suitable for complex human-computer interaction scenes.