32 results about "Collision checking" patented technology

The invention provides a BIM (Building Information Modeling)-based engineering electromechanical installation method. The method comprises the following steps: establishing an engineering electromechanical BIM model; carrying out model collision check and optimization; construction simulation and scheme making are carried out; field installation and implementation; and installation acceptance and model filing. According to the method, the geometric and attribute integrated BIM model is constructed through data collection and digital drawing review, full-dimensional collision detection is carried out, key pipeline specification requirements are preferably guaranteed, model data reliability is guaranteed, construction disjunction caused by drawing errors is avoided, the problem of pipeline collision is solved in advance, and the construction efficiency is improved. Material waste and construction period delay of dismantling and reassembling in the construction stage are reduced, meanwhile, the risk of illegal acceptance of key pipelines is reduced, and the limited space utilization rate is increased.

The invention discloses a robot grabbing pose generation method and device, and the method comprises the steps: obtaining a natural language grabbing task instruction, and carrying out the analysis based on a large language model, and generating a structured task parameter containing target object identification information and grabbing constraint information; performing open vocabulary target detection on the image based on the identification information, and obtaining a target area mask in combination with pixel-level segmentation; generating a target point cloud based on the mask, the depth map and the camera internal reference, carrying out depth completion or denoising, outlier elimination and threshold confirmation filtering, inputting the processed target point cloud into a grabbing pose prediction network, outputting a plurality of candidate six-degree-of-freedom grabbing poses, carrying out constraint screening according to grabbing constraints, and carrying out collision detection; and selecting the candidate with the optimal confidence coefficient from the collision-free candidates as the optimal grabbing pose to be output. Task constraints penetrate through a target extraction process, a point cloud construction process and a pose screening process, and point cloud processing and collision verification are combined, so that an executable six-degree-of-freedom grabbing pose which meets the constraints is output.

The application discloses a collision checking preview method and system based on a BIM model, and the method comprises the following steps: obtaining an input instruction for selecting a collision point, and selecting a model collision point based on the input instruction; loading a collision detection plug-in in the BIM model to perform collision pre-detection on the model according to the collision point, obtaining a collision report, and storing the collision report in a set directory; loading a Revit plug-in in the BIM model, reading a component ID number in the Revit plug-in, setting a working mode of a collision checking system, reading the collision report in the set directory in any working mode, selecting a collided component, and cutting out the collided component by using a selection box, and previewing and displaying the collided component according to a set time. The program is run in the Revit software by using a shortcut key set in the program, the program automatically reads the collision report, selects the collided component, and cuts out the collided component by using the selection box, so that observation is facilitated. After adjustment, the next collision point is modified.

To provide an object interference check technique using a height map for a machine tool and other applications.SOLUTION: The CAD model of the workpiece or other obstacle is converted into a height map that defines the obstacle height above the plane of the reference coordinate system for each cell of the grid. The tool center point path is then transformed into the same reference coordinate system. The interference check is performed by comparing the height coordinates of each transformed tool path check point with the values of the height map of the corresponding grid cell. The detected interference is handled by defining a new path point with an increased height coordinate to replace the interference critical path point. The interference of the entire tool can be checked by creating a bottom-to-top height map of the tool and comparing each pixel of the tool height map with the corresponding grid cell of the obstacle height map.SELECTED DRAWING: Figure 2

This invention provides a method, system, and storage medium for automated and high-precision batch soft and hard collision verification of transmission line insulator string attachment points based on GIM models. It relates to the field of tension insulator string collision verification technology and includes: identifying all tension insulator string tower attachment points to be tested and their corresponding hardware components from the model; constructing a refined model library; completing the initial import and placement of the refined model; achieving precise alignment of the hardware components with the refined tower attachment point model in spatial position and orientation; driving the refined model from a static installation state to a dynamic spatial state under specific operating conditions; and performing hard collision checks on each inspection unit in the dynamic spatial state. This invention liberates designers from tedious and repetitive work, resulting in an order-of-magnitude improvement in verification efficiency.

The application discloses a body-in-white interface matching inspection method and system, comprising collecting data required for inspection of the body-in-white and other systems, creating a standard database comprising a structure tree and physical three-dimensional data; making an interface matching table: performing a collision inspection, automatically obtaining matching information, and making the matching conditions between the body-in-white and other system parts into the interface matching table; making an interface matching inspection table: on the basis of the interface matching table, further verifying the interface matching conditions, recording the information of non-matching, and creating the interface matching inspection table. The application improves the development efficiency in the virtual design stage by automatically inspecting the body-in-white interface matching, avoids false detection, reduces the probability of subsequent real vehicle installation errors, thereby reducing the modification cost, and ensures that the automobile project can be put into production on time.

An object interference checking technique using collision maps. A CAD model of a workpiece is converted to an obstacle height map defining obstacle height above a reference plane for each cell of a grid. A CAD model of a tool is used to construct a tool height map. The obstacle height map and the tool height map are used to generate a collision map defining a collision-free tool height above each grid cell of the collision map. The collision map is generated by scanning the tool height map over the obstacle height map and, for each scan point, determining a height of the tool height map which results in no interferences between any pixel of the tool height map and a corresponding pixel of the obstacle height map. A collision check of a tool trajectory is then performed by comparing trajectory check points to grid cells of the collision map.

An object interference inspection technique using a collision map. The CAD model of the workpiece is converted into an obstacle height map that defines an obstacle height above a reference plane for each cell of the grid. The CAD model of the tool is used to construct a tool height map. The obstacle height map and the tool height map are used to generate a collision map that defines a collision-free tool height over each grid cell of the collision map. A collision map is generated by scanning the tool height map over the obstacle height map, and for each scan point, determining a height of the tool height map that results in no interference between any pixel of the tool height map and a corresponding pixel of the obstacle height map. A collision check of the tool trajectory is then performed by comparing the trajectory check points to the grid cells of the collision map.

The invention relates to a space complex part measurement method based on an auxiliary rotary table, electronic equipment and a storage medium. The method comprises the following steps: 1) establishing a space position model and a motion model of the auxiliary rotary table and a measurement probe system; 2) determining a detection direction and turntable rotation angle configuration in which each measurement element can be safely measured under the participation of auxiliary turntable rotation shaft movement and probe system movement; 3) optimizing and grouping the probe detection direction of the measurement elements in the space and the rotation angle of the rotary table; 4) optimizing the sequential detection sequence of the measurement elements; and 5) outputting a global collision-free measurement scheme rule, and completing a task of automatically measuring the space complex part. The auxiliary rotary table is introduced into complex part measurement, the overall efficiency, safety and reliability of space complex part measurement are effectively improved, and potential errors caused by manual operation measurement are effectively avoided through automatic design of process methods such as measurement space modeling, collision inspection and path planning. The method has guiding significance for high-efficiency and high-precision measurement intelligentization of complex parts.

The invention discloses a method for automatically searching a crane station, which belongs to the technical field of cranes, is used for crane station selection, and comprises the following steps: carrying out preliminary selection on the crane station according to vectorized field photogrammetric data to obtain a selectable set of the crane station; detecting the feasibility of the optional set of the filtered crane stations on the basis of the field site cloud data to obtain feasible crane stations, and performing collision check detection during secondary hoisting on each feasible crane station on the basis of the field site cloud data and crane parameters in the feasible crane stations to obtain a unique feasible crane station. According to the method, a standardized decision-making model and a quantitative analysis system are established, so that the dependence on personal experience is effectively reduced, and the scientificity and consistency of a station scheme are improved; automatic data processing and an intelligent algorithm are adopted, site parameters and equipment information are rapidly analyzed, and the scheme making period is greatly shortened.

The application discloses an automatic emergency steering control method considering driver comfort, comprising the following steps: a vehicle-mounted sensor acquires ego vehicle information, a camera, a millimeter wave radar and an angular radar sensor acquire front three-lane dangerous target information; according to the dangerous target information, a dangerous target with minimum TTC, minimum relative longitudinal distance or minimum relative lateral distance is judged as a main dangerous target through arbitration, and information of the main dangerous target is output; according to the ego vehicle position, a path cluster is planned by combining a quintic polynomial and a scattering point method, and the optimal path is screened out through collision checking; according to the ego vehicle information, longitudinal speed planning is carried out, and an optimal longitudinal speed curve is planned; aiming at the optimal path, far and near preview points are adopted, a far point is processed by using a steady yaw angular velocity gain, a near point is processed by using PID control, and a final steering wheel turning angle is obtained through superposition; aiming at the optimal longitudinal speed planning curve, a feedforward and feedback combined method is adopted to calculate a final expected acceleration.

The invention belongs to the technical field of equipment installation, and particularly relates to a crane sliding contact line pre-installation method which comprises the steps that installation information is obtained, and the installation information is obtained based on design requirements and installation requirements; basic modeling is conducted, specifically, BIM basic modeling is conducted based on the installation information, and the installation modes of a sliding contact line, a thermal expansion device, a connector and a support are determined; the installation quality is controlled, and the safe use function requirement is met; the model is deepened, construction simulation is carried out based on BIM basic modeling in combination with the actual situation of the site, and installation simulation is carried out on a sliding contact line, a thermal expansion device, a connector and a support; performing collision inspection, performing collision inspection on the deepened model, and if each part is collided, returning to the step 3 to continue model deepening until the collision inspection result is no collision; and generating a construction drawing and a material amount, and generating a construction drawing and an engineering material amount list after no collision condition is confirmed through collision inspection.

The invention relates to the technical field of mechanical arm obstacle avoidance path planning, in particular to a multi-degree-of-freedom mechanical arm obstacle avoidance path planning method based on three-dimensional reconstruction, which comprises the following steps: step 1, three-dimensional environment perception and dynamic modeling; preferentially offsetting and expanding the near-obstacle nodes towards the concave area or the hole center to generate a candidate node set; and 4, three-dimensional grid collision verification and safe path correction are conducted, specifically, the working space of the mechanical arm is divided into three-dimensional voxel grids, and collision detection is achieved by judging whether path nodes fall into obstacle object elements or not. According to the method, the laser radar and the depth camera are adopted to synchronously collect data through hardware triggering, statistical filtering denoising and three-dimensional grid modeling are combined, geometrical characteristics of static obstacles and motion parameters of dynamic obstacles are restored, and the collision risk caused by environmental perception errors of the mechanical arm is effectively avoided.

The application provides a method and system for three-dimensional reconstruction and optimized arrangement of a pile cap steel bar based on an Allplan platform, and the method comprises the following steps: obtaining three-dimensional information of a pile head steel bar and a concrete cushion, and constructing a three-dimensional model of the pile head steel bar and the concrete cushion; constructing a three-dimensional model of a bottom steel bar mesh of the pile cap; performing collision checking on the pile head steel bar and the bottom steel bar mesh of the pile cap, and obtaining collision points and collision depths of the colliding steel bars; counting the collision points and the collision depths of the colliding steel bars in a range of the pile head steel bar, and translating each colliding steel bar by the maximum collision depth; performing collision checking on the pile head steel bar and the bottom steel bar mesh of the pile cap again, and translating each colliding steel bar by the maximum collision depth again until there is no colliding steel bar. The application can guide the industrialized production and installation of the pile cap steel bar, improve construction quality and work efficiency, avoid problems such as rework and material waste, save construction cost, and promote the improvement of the prefabrication rate of the bridge pile cap steel bar parts.

The application discloses a kind of static collision checking method, system and electronic equipment of three-dimensional model, including selecting a group of three-dimensional model to be carried out collision checking, obtaining the circumscribed bounding box of the whole group of three-dimensional model;The total volume V1 of the bounding box is calculated, the sum V2 of the volume of all three-dimensional models in the bounding box, calculate V=V1-V2, if V≤0, then directly determine that there is collision between the three-dimensional model in the bounding box.The calculation efficiency is extremely high, and the volume V1 of one bounding box is very simple and fast operation, and each model volume V2 can be calculated in advance or quickly obtained according to model parameters, especially the volume of pipe model, and the volume of regular model is easily obtained.The preliminary judgment can be completed by one subtraction and comparison, and the calculation complexity is extremely low, far lower than the complexity of traditional two-by-two intersection detection.

The invention provides a GIM model-based soft and hard collision batch verification method and system for a hanging point of a strain insulator string of a power transmission line and a storage medium, and relates to the technical field of hanging collision verification of the strain insulator string. The soft and hard collision batch verification method and system for the hanging point of the strain insulator string of the power transmission line in the GIM model can automatically and precisely carry out soft and hard batch collision inspection on the hanging point of the strain insulator string in the GIM model. Comprising the following steps: identifying all to-be-detected strain insulator string tower hanging points and corresponding hardware fitting components from a model; constructing a refined model library; completing preliminary import and placement of the refined model; precise alignment of the hardware fitting assembly and the refined tower hanging point model in spatial positions and postures is realized; driving the refined model to evolve from a static installation state to a dynamic space state under a specific operation condition; and in the dynamic space state, hard collision checking is performed on each checking unit. According to the invention, designers are liberated from tedious and repeated work, and the verification efficiency is improved in order of magnitude.

This invention relates to an intelligent optimization design method for substations based on a functional module library. A general design scheme library for substation projects is established, and a method for dividing substation functional modules is proposed. Typical design schemes are divided into modules according to different regions, voltage levels, and electrical equipment functions, establishing a three-dimensional functional module library for intelligent substation design. Basic engineering information such as voltage level, outgoing line scale, and layout is input and intelligently analyzed and matched with typical functional modules in the scheme library. The modules are then merged using the same coordinate system to find the optimal reusable scheme. Based on the actual engineering situation, the matched scheme is intelligently optimized. Simultaneously, the rationality of the intelligent optimization scheme is verified through three-dimensional verification functions, including refined verification of the three-dimensional model, soft and hard collision checks, high-voltage equipment selection calculations, lightning protection calculations, safe clearance calculations, and fire protection verification.

The application relates to a nuclear power plant conventional island digital design model progress review method, device and system, the method comprising the following steps: receiving three-dimensional model data sent by each design professional terminal; performing automatic collision checking according to the three-dimensional model data; and feeding back model checking results to the related design professional terminal, so that the arrangement cooperation between the professionals in the design process can be realized, the cooperation between the nuclear power plant conventional island model professionals in the design is improved, the design product quality is improved, the drawing progress and the construction progress are guaranteed.

The invention discloses a method for inspecting tree felling on a plane cross-section diagram, and relates to the technical field of intelligent operation, maintenance and design of high-voltage transmission lines. A traditional tree verification method adopts static measurement, does not consider dynamic factors such as wire windage yaw swing and tree growth, and has the problems of safety margin distortion and poor terrain adaptability. According to the method, a four-layer progressive verification system of main line-side line-special terrain-sporadic tree is adopted, wherein the main line adopts a self-defined tree cutting line to carry out static rapid screening; performing dynamic collision verification on the left and right side lines by establishing a terrain triangular model and inputting a windage yaw safety height; carrying out intelligent addition and verification on dangerous points outside the special terrain; and the sporadic tall trees are directly verified according to the actually measured heights. The conversion from passive operation and maintenance to active design prevention is realized, and the single-span analysis time is greatly shortened; based on two-dimensional drawing operation, the cost is low, the felling range is accurately delimited through dynamic and static combined verification, and the safety and environmental protection requirements are effectively balanced.

The application provides an unmanned aerial vehicle path planning method and system coupling a wind field and a potential field method, and belongs to the technical field of unmanned aerial vehicle path planning, and comprises the following steps: obtaining air pressure data and environment data of a target region; constructing a two-dimensional grid map of the target region, calculating the gradient of the air pressure of a grid point based on the air pressure data to obtain a simulated wind field, initializing a sampling space based on the environment data, and establishing a potential field; performing random sampling in the sampling space, controlling the growth direction of the next expansion of a random tree based on the coupling force of the simulated wind field and the potential field, and generating a new node along the direction; performing collision checking on the generated new node; backtracking from the last sampling point around a target point to a starting point to determine a path, and performing pruning and smoothing to complete path planning. The application guides the sampling direction by coupling the wind field and the potential field, so that the consumption of flight energy is reduced.

The unmanned aerial vehicle and ground vehicle cooperative scheduling method and system for logistics distribution relate to the field of logistics transportation management; discrete rack network flow, initial predicted arrival time step of unmanned aerial vehicle and space-time conflict probability matrix are obtained; the initial predicted arrival time step is matched with the discrete rack network flow for collision checking, when there is compartment occupation or less than the preset wake interference time threshold value, the conflict probability value is assigned as 1 and the flight trajectory is re-planned until the conflict probability value converges to zero; based on the matrix with zero conflict probability value, a scheduling control chain containing a pre-time difference parameter is generated and issued to the ground vehicle to release the unmanned aerial vehicle in time; the pre-time difference parameter of the vehicle not yet released is dynamically fine-tuned in the flight stage; in the mounting stage, the preset wake interference time threshold value of the next period is adaptively updated according to the mounting beat error value. The application eliminates the nonlinear interference of time slip and wake interference on airspace safety, and improves the reliability of distribution resource scheduling.

A method for checking for interference from objects using collision maps. A CAD model of a workpiece is converted into an obstacle height map, which defines an obstacle height above a reference plane for each cell of a grid. A CAD model of a tool is used to create a tool height map. The obstacle height map and the tool height map are used to create a collision map, which defines a collision-free tool height above each grid cell of the collision map. The collision map is created by scanning the tool height map over the obstacle height map and determining, for each scan point, a height on the tool height map at which there is no interference between any pixel of the tool height map and a corresponding pixel of the obstacle height map.A collision check for a tool trajectory is then performed by comparing trajectory check points with raster cells of the collision map.

The invention discloses an assembly type subway station prefabricated part installation and construction method, which belongs to the technical field of subway station construction, and comprises the following steps of: disassembling an underground station into a plurality of prefabricated parts in sections, rings and blocks; the BIM technology is used for carrying out collision check before construction, construction simulation of the prefabricated parts is carried out, and the prefabricated parts are subjected to whole-process informatization management through the two-dimensional code technology; the prefabricated parts are transported to a construction site after being subjected to standardized centralized prefabrication in a factory; the prefabricated parts are installed layer by layer one by one through hoisting equipment; a full-wrapping outer waterproof system is adopted, the self-waterproof performance of the structure is fully utilized in a prefabricated part and cast-in-place overlapping mode, a circular embedded compression sealing body and a polyurethane waterproof sealant waterproof structure are adopted at the abutted seam of the prefabricated parts, and the waterproof performance of the station is improved. The construction method is wide in stratum application range, the prefabricated parts are installed by adopting an assembly overlapping integral type station construction technology and an assembly type whole set of machinery, the construction efficiency is high, and the waterproof effect is good.

The invention relates to a method for checking a planned trajectory (T) of a vehicle (1) for collision-free travel based on an environment model (2, 2') comprising a plurality of cells (Z), wherein the cells each correspond to an environmental area in the vicinity of the vehicle (1) and each cell (Z) is assigned information indicating whether the environmental area represented by the cell (Z) can be traversed without collision, wherein the first environment model (2) is provided by a first processor (P1) having a first safety integrity level that is lower than a safety level required for checking the trajectory (T) for collision-free travel, wherein the first processor (P1) determines at least one trajectory (T) to be checked for collision-free travel based on the first environment model (2), wherein the first environment model (2) or a different environment model (2) is used to determine the trajectory (T) to be checked for collision-free travel.a second, information-reduced environment model (3) is generated from the first environment model (2) or the further environment model (2') by reducing the first environment model (2) or the further environment model (2') to information relevant for the collision check of the trajectory (T), and wherein a second processor (P2), which has a second safety integrity level that is at least equivalent to the safety integrity level required for checking the trajectory (T) for collision-free operation, performs a collision check of the trajectory (T) based on the second, information-reduced environment model (3).

Techniques for determining that a reference trajectory is free of intersections or potential collisions with objects are discussed herein. Trajectories being generated by a primary computing device of a vehicle can be utilized to select or determine a reference trajectory to be followed by the vehicle. A secondary computing device of the vehicle can identify a current offset from the reference trajectory and utilize the offset with a kinematics model to determine a trajectory that is predicted for the vehicle to drive to return to the reference trajectory. Validation of the reference trajectory may be based on predicted collision data determined using the tracker trajectory. The predicted collision data can be utilized to control the vehicle to follow the reference trajectory or a stop trajectory.

The invention discloses a precision control process for segmented integration of an FPSO (floating production storage and offloading) internal turret single-point mooring system, which comprises the following steps of: arranging and manufacturing a datum point in a moon pool of an FPSO ship body, rechecking the datum point, and arranging a control target on the datum point in advance to improve the measurement accuracy; a three-dimensional scanner is used for conducting collision inspection on the single-point lower tower body and the moon pool, whether collision positions exist in the lower tower body carrying process or not is simulated and analyzed, and the positions where collision possibly occurs are modified or temporarily dismantled; a lower tower body control point is arranged, precision control and precise positioning are conducted in the whole process that the lower tower body is hoisted and integrated to the moon pool, and after in-place welding inspection is completed, a post-welding datum line of the lower tower body is confirmed and corrected. According to the segmented integration precision control process for the FPSO internal turret single-point mooring system, the situation of frequent reworking and modification is avoided, high rotation precision is guaranteed, and the overall construction cost of the single-point mooring system is reduced.

The embodiment of the invention provides a vehicle driving control method and device, electronic equipment and a vehicle, when the vehicle is in a normal mode, a first planning path output by a main driving control assembly is determined, and a second planning path output by a standby driving control assembly is determined; performing cross check on the first planning path and the second planning path to obtain a first collision check result and a second collision check result; executing fault verification on the main driving control component and the standby driving control component; and if the main driving control assembly and the standby driving control assembly pass the fault verification, the control mode of the vehicle is determined according to the first collision verification result and the second collision verification result. According to the embodiment of the invention, the collision risk caused by the fault of the control component is effectively avoided, the problem of insufficient fault diagnosis coverage rate of the control component is solved, the safety and usability of the system are remarkably improved, and safe parking can be realized under extreme conditions on the premise of not introducing a third control component.

The invention relates to a method for checking a planned trajectory (T) of a vehicle (1) for collision-free travel based on an environment model (2, 2') comprising a plurality of cells (Z), wherein the cells each correspond to an environmental area in the vicinity of the vehicle (1) and each cell (Z) is assigned information indicating whether the environmental area represented by the cell (Z) can be traversed without collision, wherein the first environment model (2) is provided by a first processor (P1) having a first safety integrity level that is lower than a safety level required for checking the trajectory (T) for collision-free travel, wherein the first processor (P1) determines at least one trajectory (T) to be checked for collision-free travel based on the first environment model (2), wherein the first environment model (2) or a different environment model (2) is used to determine the trajectory (T) to be checked for collision-free travel.a second, information-reduced environment model (3) is generated from the first environment model (2) or the further environment model (2') by reducing the first environment model (2) or the further environment model (2') to information relevant for the collision check of the trajectory (T), and wherein a second processor (P2), which has a second safety integrity level that is at least equivalent to the safety integrity level required for checking the trajectory (T) for collision-free operation, performs a collision check of the trajectory (T) based on the second, information-reduced environment model (3).

A method for operating an adjustment system for an interior of a vehicle, wherein a collision-free adjustment path from an initial configuration to a final configuration is determined in a path planning routine by the control arrangement by way of intermediate configurations, wherein a collision check is performed for the intermediate configurations, in which the respective intermediate configuration is checked for the presence of a collision based on a kinematics model and a geometry model, wherein the collision-free adjustment path is generated based on the intermediate configurations and depending on the results of the collision check. A prediction of the presence of a collision is generated for the intermediate configurations by the control arrangement with the aid of a predetermined collision model based on a trained machine learning model and that the intermediate configurations are subjected to the collision check or rejected depending on the prediction of the collision check.