135results about How to "Avoid collision risk" patented technology

The invention relates to the technical field of crane control, in particular to an intelligent tower crane anti-collision accurate hoisting system based on multi-sensor fusion, which comprises a data acquisition module, a data processing module, a safety early warning module, a control execution module, a data processing module, a data processing module and a control module, an alarm module electrically connected with the safety early warning module and the data processing module and used for receiving the alarm signal sent by the safety early warning module; a hoisting control instruction is generated based on the alarm signal and the real-time three-dimensional position coordinates of the hoisted object sent by the data processing module; according to the method, the lifting control instruction is executed, the lifting arm angle, the rotation angle and the lifting height of the tower crane are adjusted, accurate lifting and anti-collision control are achieved, and the safety, accuracy and efficiency of the tower crane are comprehensively improved through organic combination of advanced technologies such as multi-sensor fusion, an intelligent algorithm and self-adaptive control.

The invention discloses a BIM (Building Information Modeling) and genetic algorithm-based tower crane optimization method, system and equipment and a storage medium, and the method comprises the following processes: selecting a tower crane model according to a construction environment and requirements; carrying out BIM modeling on the construction site to obtain a BIM model, and determining the position range of the tower crane; based on the construction site data and the tower crane model in the BIM model, establishing a tower crane mathematical model, and establishing a target function with minimum construction time and cost as a target; and solving the target function by adopting a genetic algorithm to obtain an optimal tower crane arrangement position. The optimization efficiency is improved, the collision risk is avoided, the cost is reduced, and the safety is improved.

The present invention relates to a multi-ship anchoring scheduling path planning method based on an improved RRT algorithm, comprising the following steps: S1, constructing a multi-ship anchoring scheduling destination selection mechanism; S2, constructing a multi-ship anchoring scheduling evaluation index selection mechanism; S3, calculating the ship scheduling priority according to the multi-ship anchoring scheduling evaluation index; S4, constructing a multi-ship anchoring scheduling collision avoidance decision-making mechanism; S5, calculating the multi-ship anchoring scheduling path planning result. The present invention can be used to deal with the situation where multiple ships need anchoring scheduling at the same time, optimize their berthing sequence and navigation path, thereby minimizing the ship anchoring scheduling waiting time, reducing the navigation distance of all scheduled ships as much as possible, and improving the berth utilization rate; it has important significance in multi-ship scheduling in complex waters, emergency evacuation of ships, and comprehensive management of water transportation hubs.

The utility model discloses an egg conveying device, relates to egg conveying field, including frame, drive unit and N egg support, said frame includes feed box, discharge box and support base, the support base is fixedly equipped with two parallel vertical plate, the lower section of vertical plate is provided with two chute, the outside of chute is provided with L-shaped adjusting seat, and the L-shaped adjusting seat is provided with the feed box, discharge box and support base. The feeding box is connected with the henhouse egg belt, the discharging box is connected with the egg collecting conveying line, an integrated path of egg tray picking, continuous conveying and accurate discharging is constructed, 2-3 times of transfer links of traditional sectional conveying are reduced, on one hand, the occupied area of equipment is reduced, no additional connecting mechanism is needed, and the production cost is reduced. The installation and debugging complexity and fault points are reduced, and on the other hand, the collision risk caused by repeated transfer of eggs is avoided.

The invention discloses a parking space screening method, a vehicle, a storage medium and a product, and relates to the technical field of automatic driving, and the method comprises the steps: obtaining a driving environment image of the vehicle, and generating a target reference gray value of the driving environment image based on a gray value of a drivable region pixel point in the driving environment image; and marking the parking space in the driving environment image as a non-selectable parking space under the condition that the target reference gray value is smaller than a preset dim brightness threshold value. Namely, the parking space determined through the driving environment image is marked as the non-selectable parking space, so that the parking space in a dark scene is not selected for parking when the vehicle is automatically parked, and the safety risk of automatic parking of the vehicle is reduced.

The invention relates to a mechanical arm coordinate conversion calibration method and device based on an optical tracking system, and the method comprises the steps: installing the optical tracking system, and fixing an optical calibration plate on a base of a to-be-calibrated mechanical arm; adjusting the joint of the mechanical arm to be calibrated to a standard zero position; sampling sample points in a plurality of directions perpendicular to the base flange plate through an infrared optical probe; performing circle center calculation based on a space circle equation, and determining a coordinate axis of the base; determining an intersection point on a base shaft and a base center point of the mechanical arm; calculating a space coordinate transformation matrix of the base according to the center point of the base and the X axis and the Y axis of the base; and the conversion module is used for converting the mechanical arm base into a coordinate system of the optical tracking system in real time based on the position of the optical calibration plate. Compared with the prior art, the problems that in a traditional method, operation is complex, the calculated amount is large, and the environmental influence is large are effectively solved, the positioning workload of the mechanical arm is remarkably simplified, and the working efficiency and operation safety of the mechanical arm are improved.

The invention provides a vehicle control method, a vehicle, a storage medium and a computer program product. The method comprises the steps that first position information and vehicle speed information of a target vehicle and second position information of a dangerous target object are acquired, and speed information of the dangerous target object is acquired; based on the first position information, the vehicle speed information, the second position information and the dangerous target object speed information, performing verification processing to obtain a target verification result, the target verification result being used for determining a relative position change condition and a relative speed change condition between the target vehicle and the dangerous target object; according to the target verification result, a collision prediction result is determined, and the collision prediction result is used for determining whether there is a collision risk between the target vehicle and the dangerous target object; and controlling braking of the target vehicle based on the collision prediction result. According to the vehicle control method and device, the technical problems of low safety and poor adaptability of a vehicle control method provided in the related technology are solved.

The invention provides a welding seam path planning method and system based on robot kinematics and a medium. The method comprises the following steps: acquiring three-dimensional data of a welding seam; establishing a robot kinematics model; a coordinate conversion step; a path planning step; a collision detection and optimization step: performing collision detection in combination with a collision detection algorithm in the path planning process, and entering an optimization sub-step if it is detected that a collision risk exists on the robot path; if the collision risk does not exist, determining the current motion parameter as an optimized motion parameter, and determining a path corresponding to the current motion parameter as a final planning path; and a path execution control step: applying the optimized motion parameters to a robot control system, and controlling the robot to carry out movement and welding operation along the final planned path. According to the method, path continuity is achieved, the collision risk is avoided, the accuracy and safety of the welding process are improved, and wide market prospects and economic benefits are achieved.

The invention discloses a mine truck unloading method and system, and relates to the field of unmanned driving, and the method comprises the steps: collecting winze state data and mine mining traffic data; adopting a task matching algorithm to generate an optimal unloading task of the corresponding mine truck; generating an optimal planning path from the current position to the target draw shaft through a path planning algorithm; according to the positions of the target mine truck and the target draw shaft, the position deviation of an unloading port of the target mine truck and the target draw shaft is calculated, a control instruction is generated according to the position deviation, and the target mine truck is controlled to be aligned to the unloading port according to the control instruction; aiming at the low unloading efficiency of the mine truck in the well mine in the prior art, the optimal unloading task is generated for the mine truck by using a task matching algorithm. Meanwhile, the optimal running path from the current position to the target draw shaft is planned for the mine truck through a path planning algorithm, and the running efficiency of the mine truck is improved.

The invention provides an automatic garbage sorting method, device and equipment for a household garbage robot, and relates to the technical field of robots, the method comprises the following steps: combining the position of the robot, the position of each garbage and the throwing position of each garbage to formulate an initial driving route of the robot; obtaining the remaining garbage storage space of the robot and the garbage characteristics of the garbage; according to the remaining garbage storage space of the robot and the garbage characteristics of the garbage, the initial driving route is adjusted, and a target driving route of the robot is generated; and dynamic obstacle information in the target area is obtained, the target driving route is adjusted according to the dynamic obstacle information, and a final driving route of the robot is generated, so that the robot processes the garbage in the target area according to the final driving route. The garbage collection device has the technical effects that garbage scattered everywhere is automatically collected, and comprehensive classification and collection of the garbage are achieved.

The application discloses a laser engraving processing device and method based on a five-axis engraving machine, relates to the field of laser engraving equipment control, and loads a three-dimensional CAD model and a process task of a workpiece to be processed, distributes the process task to machining paths of each laser processing assembly, respectively predicts time-space collision of paths of five laser processing assemblies, adjusts speed or paths of low-priority laser processing assemblies through a priority avoidance algorithm when collision risk is predicted, and generates a collision-free pre-planned path. Through reasonable path planning and a collision avoidance mechanism, the application effectively avoids collision risk between multiple laser processing assemblies and guarantees stability of a machining process. Through establishment of a thermal influence monitoring grid and a thermal dose accumulation model, laser machining parameters are adjusted in real time, workpiece deformation caused by thermal dose superposition is avoided, and machining quality is improved. A focal point dynamic following mechanism ensures that the focal point is always in an optimal machining position, and further improves engraving precision.

This utility model relates to the field of PCB board separation carrier technology, and in particular to a PCB board anti-collision separation carrier, including a carrier body. The upper end of the carrier body is provided with a processing groove. Several anti-collision strips are fixed to the edge of the processing groove by fixing bolts. By adding anti-collision strips around the separation carrier, the risk of collision caused by improper placement during operation is prevented. Even if the board is not placed properly, the components will not come into contact with the carrier, thus preventing component collision.

This utility model provides a self-repairing structure for integrated circuits, relating to the field of circuit board repair equipment technology. It includes a repair equipment base and a clamping plate. The clamping plate is located on the top of the repair equipment base. A repair component slot is formed on the top of the repair equipment base. Two bearing through holes are formed through the inner wall of the repair component slot. Bearing rods are provided on the inner walls of both bearing through holes. A support plate is fixed to one side of each bearing rod, and a support frame is fixed to one side of the support plate. The clamping plate is located on top of the support frame. A sliding adjustment groove 1 and a sliding adjustment groove 2 are formed through the top and bottom of the support frame. A fixing rod 1 is provided on the inner wall of the sliding adjustment groove 1 and is fixed to the bottom of the clamping plate. A fixing rod 2 is provided on the inner wall of the sliding adjustment groove 2 and is fixed to the bottom of the clamping plate. A locking knob 1 is threaded onto the surface of the fixing rod 1, and a locking knob 2 is threaded onto the surface of the fixing rod 2. An integrated circuit board clamping groove is formed on one side of the clamping plate.

The utility model belongs to the field of access control equipment, and particularly relates to an access control device for security and protection, which comprises a connecting wall, the side wall of the connecting wall is provided with a rotary gate, the top of the rotary gate is provided with a rotary boss, the rotary boss is provided with a synchronous assembly, and the synchronous assembly comprises a synchronous top seat. A synchronous top seat is arranged on the rotating boss, a stress rod is fixedly connected to the outer wall of the synchronous top seat, a pushing rod is arranged at the top of the rotating gate, a guide sliding block is slidably connected to the inner wall of the synchronous top seat, and a metal sheet is fixedly connected to the outer wall of the guide sliding block; and the inner wall of the synchronous top seat is fixedly connected with a metal elastic sheet switch. According to the access control device for security and protection, when a person climbs the rotary gate, the hand applies force to the blocking rod, the compression spring is stressed and compressed, the metal sheet is driven to move downwards, the metal elastic piece switch is triggered, the alarm immediately gives out a sound-light alarm, the response time is fast, and the climbing person is scared away before climbing work is completed.

This utility model provides a raw material mixing device for nylon composite material production, belonging to the field of nylon material production technology, to solve the problems of existing raw material mixing devices for nylon composite material production, such as inconvenience in movement, easy collision during handling, and high temperature on the tank surface causing burns. It includes a mounting base, a mixing tank, a protective frame, an adjustment knob, moving rollers, a moving component, and a protective component. The mixing tank is fixedly mounted on the top of the mounting base; the protective frame is vertically slidably connected inside the mounting base; the adjustment knob is located on one side of the mounting base; four sets of moving rollers are provided, and the four sets of moving rollers are located at the bottom of the mounting base; the moving component is located at the bottom of the mounting base; and the protective component is located on the upper part of the mounting base. This utility model has the advantages of flexible movement, safe protection, and ease of use.

The application provides a multi-intention interactive game decision method and system for automatic driving path planning, which fuses current environment information and current state information by acquiring the current state information and the current environment information, extracts state features and intention features of a moving target from current scene features, fuses the intention features of the state features of the moving target, constructs a game relationship graph, calculates attention weights between an automatic driving vehicle and the moving target, weights and aggregates a value vector by a prediction probability and the attention weights of different preset intention features executed by the automatic driving vehicle, performs feature splicing, nonlinear conversion and decoding on the aggregated features, evaluates each game candidate trajectory, and selects a game candidate trajectory with the maximum game value score as the automatic driving path; the application reduces uncertainty in the interactive process, avoids the risk of sudden braking or collision caused by misjudgment, and has stronger environmental adaptability and generalization ability.

The invention relates to a distribution network unmanned aerial vehicle route adaptive generation system based on AI vision assistance. The system comprises a server, a main unmanned aerial vehicle and an auxiliary unmanned aerial vehicle. The server is composed of an arithmetic unit and a control unit, and the arithmetic unit is used for executing an adaptive algorithm, receiving and analyzing state data of the unmanned aerial vehicle to generate a control strategy and send a control instruction; the control unit is responsible for transmitting the instructions to the unmanned aerial vehicle. The main unmanned aerial vehicle executes an electric power inspection task according to a preset route, collects image data of the electric power equipment and transmits the image data to the server; the auxiliary unmanned aerial vehicle flies around the main unmanned aerial vehicle, collects attitude and motion data of the main unmanned aerial vehicle, and transmits the data to the server. The main unmanned aerial vehicle and the auxiliary unmanned aerial vehicle generate a main record Sa and an auxiliary record Sb respectively, the server integrates the main record Sa and the auxiliary record Sb into a total record S, the calculation unit adopts an actor-commentator algorithm for analysis and optimization, and a self-adaptive strategy is generated to optimize the route of the unmanned aerial vehicle.

The utility model discloses an interactive hand clamping mechanism, which comprises an X-axis cross beam, an X-axis cross beam, an X-axis cross beam, a Y-axis cross beam, a Y-axis cross beam, a Y-axis cross beam and a Y-axis cross beam, the upper clamping hand module reciprocates along the X-axis cross beam in the upper clamping hand moving area; the upper clamping hand module comprises an upper clamping hand, an upper clamping hand X-axis translation seat and a Y-axis driving unit; the Y-axis driving unit drives the upper clamping hand to extend towards one side part of the X-axis cross beam to wait for materials and to retract to avoid one side part deviating from the X-axis cross beam; the lower clamping hand module reciprocates along the X-axis cross beam in the lower clamping hand moving area; the lower clamping hand module comprises a lower clamping hand, a lower clamping hand X-axis translation seat and a Z-axis driving unit for driving the lower clamping hand to move in the Z-axis direction relative to the lower clamping hand X-axis translation seat; and the Z-axis driving unit drives the lower clamping hand to ascend for material waiting and descend for avoiding. The structural compactness, the movement precision, the working stability and the structural reliability are improved.

The utility model discloses a kind of multifunctional stall box and its row display structure, the stall box is hollow hexahedron structure, including main box and the box door hinged with main box through hinged component;The main box adopts the box type structure of top opening, including bottom support pedestal, front facade and rear facade located main box front and back side and as display surface and left end face and right end face located main box left and right side, the left and right sides of the front facade are respectively provided with the card cloth groove extending along vertical direction.This utility model can quickly install or replace advertising cloth and decorative surface material by setting card cloth groove on the two sides of front facade, adapt to diversified display needs;Box door is connected with main box through hinged component, can be used as stable table top when covering, without additional configuration operating platform;Combined with hollow design in main box, effectively realize article storage, display and operation multifunctional integration, realize function high integration, improve space utilization.

The invention discloses a cylindrical plane test block supporting structure for ultrasonic water immersion detection, and belongs to the technical field of ultrasonic water immersion detection. The problems that in the prior art, the detection efficiency is low, and a probe is prone to being damaged are solved. The supporting structure body comprises a shell with an opening in the upper end, an inner support is arranged in the shell, the inner support and the cylindrical plane test blocks are sequentially placed in the shell, the bottom face of the inner support is attached to the bottom face of the shell, the top face of the inner support is attached to the bottom faces of the cylindrical plane test blocks, the top faces of all the cylindrical plane test blocks are coplanar, and the shell is provided with a window. The cylindrical plane test block supporting structure for ultrasonic water immersion detection is used for ultrasonic water immersion detection, the top surface of each detection test block is located on the same plane, it is guaranteed that the water distance between a probe and the top surface of each test block is consistent, detection of test blocks of different lengths can be achieved only by translating the probe in the test block detection process, and the detection efficiency is improved. The time for moving and adjusting the water distance each time is shortened, and the detection efficiency is greatly improved; the probe is prevented from moving and colliding with the test block.

This invention discloses an AGV (Automated Guided Vehicle) transportation trajectory measurement, control, and planning method and system, belonging to the field of warehouse logistics automation technology. It aims to solve the problems of discontinuous path planning, poor adaptability, and low safety in existing AGVs in obstacle-prone scenarios. This invention generates electronic fences by acquiring road condition information and generates two replanning reference paths outside preset oriented sectors on both sides of the obstacle, selecting the path with the largest redundant area as the local replanning path. Furthermore, it merges overlapping electronic fences and their paths using tangential paths and achieves seamless path connection through curved transition trajectories. In addition, it adaptively adjusts the path generation strategy according to the AGV size, generates stop commands when space is insufficient, and actively loads lost goods through visual recognition. This invention enables dynamic, smooth, and safe adaptive detours of AGVs in complex warehouse environments, improving transportation efficiency and system robustness.

The invention provides a ship berthing and unberthing method and device for a wharf and relates to the technical field of wharfs, and the ship berthing and unberthing method for the wharf comprises the steps that when a ship berths in the first direction, whether the first distance between the bow of the ship and a second trestle meets the preset safety distance or not is judged, and if yes, the first trestle is stopped; controlling the ship to enter a berth water area between the first trestle and the second trestle through a reverse cable for connecting the ship with the first abutment and a ship adjusting device; when the ship leaves the berth, the bow is connected with the second abutment through a reverse cable, and the ship is controlled to retreat; and when the ship is driven out of the berth water area by a preset second distance, the stern of the ship is connected with the first abutment through an inverted cable, and the ship is controlled to rotate out of the berth water area through a ship adjusting device. The ship berthing and unberthing efficiency of a wharf can be effectively improved, and the safety risk of berthing and unberthing of a large ship in a harbor basin with a narrow space is reduced.

The utility model relates to a sightseeing vehicle technical field, concretely relates to a kind of tourist sightseeing vehicle safety early warning protection device, including vehicle body, the top of vehicle body is provided with the protection component for the protection when vehicle body is about to impact barrier, protection component includes two connecting barrels fixedly connected in the top of vehicle body, and the one end of connecting barrel is slidably connected with anti-collision plate, the top of vehicle body is provided with alarm component, the utility model is provided with protection component and alarm component, and it has passive protection and early warning function in the process of driving sightseeing vehicle, when the front end of vehicle is about to contact barrier, anti-collision plate in the front of vehicle is compressed under stress simultaneously, can rotate through connecting structure drive gear set and drive alarm structure action, realize the buffer energy absorption and synchronous sound early warning to barrier, avoid the collision risk caused by the driver due to blind area or inattention.

The present application discloses a three-axis moving mechanism for installing a gear side clearance gasket of a reducer, including a base, on which a frame is fixedly installed. Inside the frame, there are a Z-axis transmission component, a Y-axis transmission component, and an X-axis transmission component. The Y-axis transmission component is arranged on the Z-axis transmission component, and the X-axis transmission component is arranged on the Y-axis transmission component. By setting the Y-axis transmission component, the X-axis transmission component, and the Z-axis transmission component, after the division of labor among the Z-axis, Y-axis, and X-axis, the control system can more simply plan the pick-up-move-place path, reduce the compound motion requirements of each axis, lower the control complexity, and each axis independently controls the direction, which can avoid the collision risk caused by structural overlap during multi-axis linkage.

The invention belongs to the technical field of fire exit door skin production and processing, and particularly relates to a metal skin forming device for a fire exit door, which comprises a bearing plate and a bearing grid. The bearing plate and the whole structure are assembled on a fixed lower die base or a lower workbench of a traditional hydraulic machine or a bending machine. A skin is arranged at a load-bearing grid at the upper end of a bearing plate, a pressure sensor measures and calculates a pressed area through pressure sensing, then a pneumatic valve in the pressed area is opened, an air pump pressurizes air in a pipeline, the air is continuously inflated into an air bag through the pneumatic valve, and after the air bag is inflated, a pressure-bearing base is provided at the bottom of a suction cup to serve as an elastic support. And the upper-end skin is adsorbed by the suction cup, so that the stability of the skin is improved. If the size of the skin is large, when the skin is placed at the top of the bearing plate, due to the fact that local acute pressure is large, the bearing plate can locally exert pressure downwards, at the moment, the bearing plate is locally deviated through compression of the spring, and downward pressure transmission is more uniform.

The invention provides a multi-source sensor obstacle recognition and obstacle avoidance method for low-altitude logistics, and relates to the technical field of low-altitude logistics. The method comprises the following steps: S1, synchronously acquiring data through a laser radar and a binocular camera, respectively performing distortion correction, exposure control and depth map generation on binocular vision data, and performing segmentation denoising and Kalman-particle hybrid filtering denoising on point cloud data; s2, adopting a YOLOv5s network to extract a barrier feature vector; s3, carrying out obstacle fusion association; S4, fusing historical features and laser radar coordinates based on an LSTM model, and predicting a future trajectory of a dynamic obstacle; and S5, generating an obstacle avoidance path in combination with an A * algorithm and an artificial potential field method, and correcting the obstacle avoidance path in real time. The problems of missing detection or misjudgment of low-texture obstacles, sensor data fault, dynamic obstacle prediction deviation and path oscillation are solved, and the obstacle recognition precision and the obstacle avoidance reliability are improved. The method is high in real-time performance and adapts to low-altitude logistics complex scenes.

This application discloses a method and system for Z-axis compensation of integrated circuit surface mount technology (SMT) for PCB board warpage, relating to the field of PCB board surface mount technology. The method includes: acquiring sampling data of the PCB board surface height and PCB board design information, extracting the physical structural features corresponding to each sampling point, and constructing a board surface warpage height model based on the sampling data; calculating the estimated board surface height for the target mounting position, and determining the Z-axis safe switching height of the mounting nozzle based on the thickness information of the component to be mounted and a preset safety margin; controlling the mounting nozzle to descend to the Z-axis safe switching height and then using a cutting force feedback correction mode, adaptively correcting the Z-axis displacement based on the dynamic error between the actual contact force and the target mounting force until the actual contact force falls within the preset error range to complete the mounting. This improves the accuracy of mounting height control, the stability of mounting force, and the consistency of mounting quality under complex warpage conditions.

The application discloses a communication-restricted multi-agent tracking control method for trains, which comprises the following steps: S1, for a high-speed train dynamics model, a train formation dynamics model is designed; S2, a non-singular sliding mode surface is designed, which is brought into a dynamics equation, an equivalent control law and a total control law are designed; S3, a fixed threshold strategy is designed based on a control input signal error, and an event trigger condition is constructed; S4, through information interaction of adjacent vehicles, unmeasured states are estimated by using local measurable states, full-state feedback is provided for a controller, and a distributed observer is designed; the application has the beneficial effects that an improved terminal sliding mode surface is designed by using a non-singular terminal sliding mode surface, wherein the non-singular terminal sliding mode surface is a coprime odd number, fraction exponent irreducibility is ensured, periodic oscillation is avoided, and the singularity problem of traditional sliding mode control in time is eliminated by the fraction exponent term.

The present application relates to the field of cattle embryo microenvironment gas control preservation device, especially to a cattle embryo microenvironment gas control preservation device, which comprises a three-gas incubator, the lower surface of the three-gas incubator is installed with a plurality of universal wheels, one side of the three-gas incubator is installed with a control panel, one side of the three-gas incubator is installed with a box door, the inner wall of the three-gas incubator is provided with an adjusting structure, the adjusting structure comprises two fixed plates, the two fixed plates are fixedly connected with the three-gas incubator, the inner wall of the two fixed plates is slidably connected with a plurality of placing plates, and the inner wall of the fixed plate is provided with a plurality of auxiliary grooves. The cattle embryo microenvironment gas control preservation device provided by the present application can conveniently adjust the position of the placing plate, facilitate the placement of culture dishes of different sizes and models, save the internal space of the three-gas incubator, and improve the space utilization.