1705 results about "Collision detection" patented technology

The invention relates to the technical field of intelligent building data processing, and provides a BIM-based bridge collision detection method, which is used for solving the problem of collision early warning lag caused by space-time dislocation of a static model and real-time monitoring data in bridge construction. A comprehensive point cloud data set with a unified space-time reference is generated through multi-source data dynamic fusion and a quantum optimization algorithm, a self-evolutionary dynamic BIM model is constructed, and digital mapping of millimeter-level precision of a construction scene is achieved. A collision risk prediction model is constructed based on causal reasoning and multi-physics field coupling, a multi-dimensional relationship among construction parameters, environment variables and structural response is associated, and a linkage effect caused by mechanical motion is predicted. According to the method, the time dimension limitation of a traditional static model is broken through, full-process closed-loop control of perception-analysis-decision-verification is formed, the real-time performance of collision early warning and the controllability of construction safety are remarkably improved, and the method is suitable for high-precision construction scenes such as complex bridge rotation and cantilever casting.

The invention provides a vehicle surrounding obstacle detection method and system based on a multi-modal sensor, and relates to the technical field of intelligent driving, and the method comprises the steps: obtaining ultrasonic radar point clouds and millimeter wave radar point clouds at two sides of a vehicle, and image data at the rear side of the vehicle; the radar point clouds are clustered, and the spatial position, the movement speed and the reflection section characteristics of an obstacle are extracted; performing target detection on the image data, and outputting to obtain a bounding box and texture features of an obstacle; generating preliminary multi-modal data, inputting the multi-modal data into a collision detection model, respectively entering a radar branch network and a visual branch network to extract point cloud spatial-temporal features and image semantic features, and performing weighted fusion on the point cloud spatial-temporal features and the image semantic features through a Transform mechanism to obtain a collision detection result; outputting the three-dimensional position, the movement track, the type label and the collision risk probability of the obstacle; and when the collision risk probability exceeds a preset threshold value, triggering a corresponding early warning or control instruction.

The invention relates to a mechanical arm safe obstacle avoidance control method and system based on a high-order control obstacle function, aiming at a multi-degree-of-freedom mechanical arm system with an obstacle in a task trajectory space, the high-order control obstacle function suitable for a high-relative-order system is used, and the method comprises the following steps: establishing a dynamic model of a multi-degree-of-freedom mechanical arm; designing a stable tracking controller based on the task trajectory in combination with a backstepping control method; an obstacle collision detection model is established, and safety constraints are provided for a control system through a high-order control obstacle function; and in combination with the control constraint and the optimal control problem, solving the optimal control input through quadratic programming. According to the method, the optimal task trajectory tracking can be completed on the premise that the tail end of the mechanical arm meets the safety constraint, the calculation complexity is effectively reduced, and the real-time performance is guaranteed.

The invention discloses a BIM model structure design review method and system based on a large model, and relates to the technical field of building information modeling, and the method comprises the steps: carrying out BIM model data preprocessing based on an AI large model; adopting an AI large model built-in rule engine to perform structural design specification review on the BIM model, and automatically generating a review report based on a natural language processing technology; bIM model collision detection is executed based on a deep learning algorithm, potential structure conflicts are identified, error points are displayed in combination with three-dimensional visualization, and adjustment suggestions are provided according to historical data and an optimization algorithm. According to the method, the data quality and consistency are improved, key information in the BIM model is clearer and more concise, the accuracy of the review process is improved, potential problems in the structural design process can be found and processed in time, the overall intelligent level of the BIM model is improved, and the building design process is more accurate, intelligent and efficient.

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 invention provides an agent path planning method based on improved RRT and related equipment, and the method comprises the steps: 1, obtaining a current position and a target position of an agent, and constructing a search tree; 2, in the expansion process, sampling is carried out based on a dynamic weight target bias sampling strategy; extending a distance of a dynamic step length from the extension starting point to the extension direction based on a dynamic step length adjustment strategy to obtain a new node, and performing kinematics constraint detection and collision detection on the new node; 3, obtaining an initial path through path backtracking; step 4, when a dynamic obstacle is detected, re-planning a path section conflicting with the dynamic obstacle in the initial path based on an incremental re-planning strategy to obtain a final path for indicating the intelligent agent to move; otherwise, taking the initial path as a final path. According to the invention, the accuracy of path planning can be improved.

The invention discloses an unmanned vehicle intelligent obstacle avoidance method and system based on a multi-modal sensor, and relates to the field of automatic driving and intelligent traffic. According to the technical key points of the invention, data of a laser radar and a depth camera are aligned through a space-time registration module; the laser radar point cloud is preprocessed, obstacle point cloud is segmented, fusion clustering is carried out in combination with three-dimensional semantic seed points output by a depth camera, and an obstacle cluster with a semantic tag is generated; and calculating a three-dimensional directed bounding box (OBB) of an obstacle, dynamically adjusting a safety distance according to the speed of the vehicle, expanding the OBB of the vehicle, and carrying out collision detection by adopting a separation axis theorem. When a collision risk is detected, the system sequentially triggers a first-level early warning instruction and a second-level emergency braking instruction, and safe and efficient unmanned vehicle dynamic obstacle avoidance is achieved. According to the method, the advantages of multiple sensors are fully utilized, the obstacle detection precision and the response speed are effectively improved, and reliable technical support is provided for application of the unmanned driving technology in a complex road environment.

Systems and methods are described for obtaining accurate responses from large language models (LLMs) and chatbots, including for question and answering, exposition, and summarization. These systems and methods accomplish these objectives via use of noun phrase avoiding processes such as a noun phrase collision detection process, a query splitting process, and a topical splitting process as well as by use of formatted facts, formatted fact model correction interfaces (FF MCIs), bounded-scope deterministic (BSD) neural networks, processes and methods, and intelligent storage and retrieval (ISAR) systems and methods. These systems and methods avoid and bypass noun phrase collisions and correct for errors caused by noun phrase collisions so that hallucinations are eliminated from LLM responses.

The invention discloses a multi-fingered dexterous hand grabbing posture generation method and system based on CVAE and a Ball Query algorithm, and belongs to the technical field of robot grabbing control. The method comprises the following steps: (1) a data sampling step; (2) a data preprocessing step: carrying out standardization processing on the collected data, generating enhanced point cloud data and constructing a training data set; (3) a model training step: through a multi-scale feature extraction module, combining global semantics and local geometric features extracted by a Ball Query algorithm, generating a grabbing attitude by using a conditional variation auto-encoder, and optimizing model parameters through reconstruction loss and KL divergence; and (4) real-time deployment: integrating the trained model to a physical platform, screening candidate grabbing postures based on parallel collision detection, and realizing real-time grabbing control in combination with inverse kinematics verification. The problem that a traditional method is insufficient in generalization ability in complex object grabbing is effectively solved, and self-adaptive grabbing of unknown objects is achieved while grabbing stability is guaranteed.

The invention discloses an anti-collision monitoring system based on a depth estimation and instance segmentation fused three-dimensional model, particularly relates to the field of intelligent driving security and protection, is used for solving the problem of target recognition and anti-collision in an environment, realizes efficient feature extraction of global semantics and local textures through a multi-branch network structure, and ensures the accuracy and comprehensiveness of target segmentation. In combination with a cross-frame identity association and conflict detection mechanism, the consistency of target identities is effectively maintained, and the mismatching problem caused by shielding or similar appearances is reduced; multi-scale space-time shielding mode analysis and boundary motion consistency verification are adopted, a fusion algorithm is utilized to comprehensively evaluate shielding complexity and segmentation robustness, a high-risk shielding area is identified, secondary difference correction is executed, and space positioning information of a target is remarkably optimized; and finally, integrating the optimized segmentation and depth data into a global coordinate system, constructing a high-precision and coherent three-dimensional semantic scene, and providing stable and high-quality input data for collision detection and trajectory prediction.

The invention discloses a mixed collision detection method in a virtual operation simulation system. The method comprises the following steps: 1) constructing a surgical instrument and soft tissue model; 2) dividing a virtual space into grids with the same size, indexing an object model, accelerating the construction and updating of a spatial information hash table by utilizing GPU multithreading, mapping the grids occupied by all primitive bounding boxes into the hash table, and determining objects in the same space according to the spatial hash table; 3) before object intersection solving, space reduction is carried out, and hash table data is optimized; 4) constructing a hierarchical bounding box for an object which may collide, and performing intersection detection; if it is detected that a certain node or child nodes of the node intersect, the next step is executed, and otherwise, detection is pushed out; and 5) accurately judging whether the basic triangular units contained in the nodes in the step 4) are intersected or not, and completing collision detection. According to the method, the problem of missed detection and wrong detection in the existing discrete collision detection algorithm is effectively solved, and the detection algorithm has excellent accuracy and calculation efficiency.

The invention discloses a logistics full-link risk control method and device based on an AI large model and a storage medium, and relates to the technical field of intelligent logistics, and the method comprises the steps: obtaining a logistics business risk control requirement inputted by a user through an interactive interface; analyzing logistics business risk control requirements, extracting logistics risk factors, and generating a structured risk control rule based on an industry knowledge base and business data in combination with a machine learning algorithm and a large model; identifying and solving rule conflicts of the structured risk control rule by using a collision detection algorithm; dynamically adjusting a rule threshold based on business volatility to obtain an optimized risk control rule; and pushing the risk control rule to a service supervision system based on the message queue or the API interface, and judging whether to trigger interception, alarm or transportation path correction operation based on a service node of the service system. The logistics risk control efficiency is improved, and the requirements of modern logistics for accuracy and real-time performance are met.

A three-dimensional encasement reinforcement learning method based on multi-modal sensing distillation comprises the steps that a high-fidelity physical simulation environment is constructed, strategy optimization is achieved through a teacher-student double-stage framework, a teacher network fuses vision, article attributes and internal physical state privilege information, and a high-stability encasement strategy is trained through hierarchical action masks and domain randomization; a student network only depends on visual input, teacher action distribution and value functions are aligned through KL divergence and L2 loss, and knowledge distillation is achieved; after deployment, a motion mask is generated in combination with lightweight collision detection. A failure scene can be played back to a simulation environment through a playback mechanism, and a student network is continuously optimized by using a teacher strategy. According to the method, the space utilization rate is remarkably improved in simulation and reality, the turnover rate is reduced, complex physical constraints can be adapted without expensive sensors, and an efficient and robust solution is provided for industrial automation.

The invention provides a middle and primary school multi-person interactive teaching method and system based on a VR technology, and relates to the technical field of virtual reality, and the method comprises the steps: generating a model through deep learning based on pre-obtained teaching aid model data, determining subcomponents, combining a teaching aid generation engine, and constructing a virtual teaching aid; a color image and a depth image are obtained through a structured light depth camera, two-dimensional pixel coordinates are obtained, depth information is combined, a three-dimensional skeleton curve of limb movement of a student is generated, an optical motion capture result is obtained, an inertial motion capture result is obtained through inertial drift calibration based on the three-dimensional skeleton curve, and a limb movement three-dimensional track of the student is reconstructed; generating a force feedback signal by solving a kinetic equation through a collision detection algorithm based on the three-dimensional trajectory of the limb movement of the trainee; and rendering the virtualization model into a virtual teaching scene, synchronizing the limb movement three-dimensional track and the force feedback signal in real time, and generating a multi-person collaborative interaction process of the virtual teaching aid.

The invention provides a machine grabbing learning method fusing shape features, contact modeling and physical constraints, and the machine grabbing learning method is a robot grabbing posture learning method capable of differentiating. According to the method, a three-dimensional point cloud serves as input, a deep neural network based on sparse voxel convolution is adopted to extract multi-scale shape features, and potential grabbing points and attitude parameters thereof are predicted. The differential contact modeling is realized by constructing a local area of direction perception and extracting geometric features reflecting the contact relationship between the mechanical claw and the object. Furthermore, the collision probability of the grabbing posture is estimated based on an implicit neural network, and a differentiable collision detection module is constructed. Meanwhile, physical constraints such as friction closing, surface alignment and geometric symmetry are introduced to serve as regular terms to jointly optimize grabbing scores, collision risks and stability; according to the method, end-to-end training is supported, efficient, robust and deployable grabbing posture estimation is achieved, and the method is suitable for various automatic grabbing tasks such as industrial robots and service robots.

The invention belongs to the field of data analysis and processing, and discloses a virtuality and reality combined automobile automatic driving test method. Comprising the following steps: connecting a sensor suite and an automatic driving system of an automobile with a virtual twin center by using a CAN bus or an Ethernet interface, operating the automatic driving system, and generating a performance report; the method comprises the following steps: initializing raindrop attributes, setting the transparency of raindrops based on real environment data, introducing a complex wind field model and a surface ponding dynamic evolution mechanism, carrying out collision detection on all raindrop pairs by using a space segmentation algorithm, and simulating dynamic behaviors of the raindrops in the air based on a discrete element method and a smoothed particle fluid dynamics method. Visual rendering is carried out on the water spray effect; under the influence of raindrop physical characteristic modeling, output of laser radar point cloud scattering modeling, camera image fuzzy modeling, millimeter wave radar signal attenuation and scattering modeling and ultrasonic sensor interference modeling is iteratively updated, and automatic driving testing of an automobile under virtual-real combination is achieved.

The invention discloses a mobile robot path planning method and system based on a circular trajectory control obstacle function, and aims to realize trajectory smooth control in an obstacle avoidance process. Firstly, an envelope circle is used for modeling an obstacle, an actual boundary is approached in a continuous and simple geometric form, and the calculation complexity of collision detection is reduced. Secondly, designing a control obstacle function based on a circular trajectory, constructing a derivable constraint in combination with a geometrical relationship between a tangent line and an obstacle boundary, and achieving trajectory smoothing, reducing speed fluctuation and prolonging the service life of an execution mechanism while guaranteeing a safe distance. For disturbance caused by factors such as ground unevenness, historical data are learned by using a Gaussian process, the disturbance trend is predicted in real time, and the motion stability is improved. And finally, through nonlinear optimization solution, generating control input with safety, continuity and disturbance adaptive capability. According to the method, geometric modeling, safety constraint, disturbance prediction and a dynamic adjustment mechanism are fused, and the safety and adaptability of robot path planning are remarkably enhanced.

The invention discloses a shaping robot, a shaping system and a grain processing method thereof. An integrated moving and transferring device is used as a chassis for bearing all modules; the shaping industrial robot is used for driving a cutter on the mechanical arm to conduct shaping machining. The medicine scrap sucking and cleaning device is used for cleaning scraps generated by processing; the tool changing magazine is used for placing and managing tools and comprises a quick-changing tool rest, and a detection sensor used for detecting whether the tools exist or not is arranged on the quick-changing tool rest; the control system comprises a coordinate system management module, a tool path planning module, a robot kinematics module, a collision detection module, a motion simulation module and a robot program generation module. Automatic machining positioning, automatic machining path planning and automatic cutting tool switching and management can be achieved; the automation degree of grain cutting machining is effectively improved; in the shaping process, temperature and contact force detection sensors are used for detection, and early warning protection in the machining process is achieved.

The invention provides a cylinder processing cutter path adaptive optimization generation method, which belongs to the technical field of cylinder processing, and adopts fractal dimension analysis to identify surface geometric complexity and determine a minimum repetitive unit, and applies a four-color theorem to carry out non-intersection area division on the surface, so as to improve the processing precision of the cylinder processing cutter path. Multi-axis linkage machining parameters are initialized, global path planning and cutter axis vector optimization and collision detection are performed based on an improved Di jkstra algorithm, path adaptive adjustment is performed according to local curvature change of a minimum fractal matrix, a game model is established, and coevolution of a double-layer game model is realized by adopting a cross optimization rule. And finally, an optimized tool path NC code containing the position coordinates, the attitude angle and the feeding speed is generated, and the technical problem that the machining efficiency and the surface quality are difficult to consider in tool path planning under the complex geometrical characteristics of the cylinder surface is solved.

The invention relates to the field of mobile robot motion planning, and discloses a quadruped robot motion planning method and system based on height self-adaption. The method comprises the following steps: constructing 3D and 2D local obstacle maps according to coordinate transformation, and calculating a grid vertical distance through ray casting to generate a 2.5 D local obstacle map; determining an initial control sampling space by combining speed, acceleration and height constraints; discretizing a sampling space and simulation time, deducing a control value sequence and recursively calculating a local trajectory; then calculating a shaft alignment bounding box in a directed bounding box of the robot, screening grid units in the shaft alignment bounding box, comparing the height of a machine body with the allowable height of grids, and rejecting collision trajectories to obtain a feasible trajectory set; and finally selecting an optimal track by the evaluation function, extracting a control value and sending the control value to hardware for execution. According to the method, the 2.5 D local obstacle map containing height information is constructed, the four-dimensional control sampling space is designed, and the robot height self-adaptive adjustment is realized in combination with the collision detection and evaluation function.

The invention discloses a collision identification method and system for a window cleaning robot, and relates to the technical field of robot environment perception, and the method comprises the steps: carrying out the time difference compensation and space synchronization based on a glass material type and collision detection parameters through a distributed perception collaborative analysis method, and generating a three-dimensional space vibration information matrix; enhancing the three-dimensional space vibration information matrix through a dynamic wavelet packet decomposition algorithm and a sliding window analysis method according to the type of a glass material; according to the enhanced three-dimensional space vibration information matrix, collision coordinates are calculated through a time difference positioning algorithm, the characteristic frequency of the vibration waveform is analyzed, and collision characteristic information is obtained; based on the collision feature information, combining safety parameters of glass material types, adopting a hybrid decision algorithm to analyze the collision feature information, and generating and executing a robot obstacle avoidance instruction; according to the method, the high-resolution three-dimensional vibration field is constructed through space-time collaborative modeling, and the collision coordinate calculation precision and the anti-interference capability are improved.

The invention relates to a biological soft tissue virtual simulation method and system and a medium, and the method comprises the following steps: constructing a three-dimensional soft tissue model based on medical image data, dispersing the three-dimensional soft tissue model into a particle system, and binding initial constraint parameters; detecting collision between the particles and the surgical instrument based on a symbolic distance field technology, if collision is not detected, outputting the positions of the particles, generating a simulation result, if collision is detected, applying repulsive force to the particles to correct a deformation path, judging whether stress is balanced or the maximum number of iterations is reached, if yes, returning to perform collision detection, and if not, returning to perform collision detection. The particle speed is updated in real time, the particle motion trend is predicted through an implicit time integration algorithm, position constraint, volume constraint, shape constraint and physical constraint are solved in a coupling mode through a Gaussian-Seidel iteration method, constraint rigidity is dynamically adjusted to be matched with real organization characteristics, and the particle position is updated. Compared with the prior art, the method has the advantage that deformation accords with a real physical change rule.

The invention provides a three-dimensional space collision avoidance system based on multiple tower cranes, and relates to the technical field of port hoisting operation, a three-dimensional voxel grid VoxelGrid space map is constructed, and the three-dimensional space collision avoidance system comprises a first horizontal coverage map, a second descending coverage map, a third fan-shaped area occupation map, a fourth track occupation area map and a fifth interference area map; the system can identify the space overlapping area of the tower crane operation path at the voxel level, breaks through the limitation of the traditional path planning method on the dimension and precision of space modeling, and enhances the fine granularity and accuracy of collision detection. A dynamic acquisition module and a dynamic interference module are introduced, dynamic disturbance caused by factors such as stormy waves and tides on a ship in a port operation environment can be sensed in real time, the deviation trend of the tail end of the lifting appliance is predicted, target correction and track compensation are carried out before track execution, and the situation that the lifting appliance is accidentally touched or falls off due to track drifting is effectively promoted to be reduced.

The invention provides a three-dimensional object collision detection parcel grid generation method and system, a storage medium and a program product, and the method comprises the steps: extracting all vertex data of a first object according to a sub-Mesh data set after serialization of a three-dimensional model, and determining an initial center point; each vertex of each piece of sub Mesh data is converted from a local coordinate system to a global world coordinate system, and a point cloud data set is generated; constructing an initial convex hull by adopting a matrix hierarchical extremum retrieval algorithm, and generating a final convex hull by adopting a conflict graph and incremental convex hull algorithm; initializing a radius coverage model by taking the geometric center of the model as a sphere center; performing subdivision according to longitude and latitude to generate a hierarchical ball grid; emitting rays, correcting vertex positions layer by layer, approaching the surface of the model, and outputting a collider network. Through the overall point cloud set, the incremental convex hull algorithm and the spherical grid contraction technology, unified topological wrapping of the multiple three-dimensional objects is achieved, the visual fidelity and the collision precision are ensured, and resource consumption is reduced.

The invention discloses an ocean engineering equipment coupling collision dynamics modeling simulation method and device, belongs to the technical field of ship and ocean engineering virtual simulation, and particularly relates to ocean engineering equipment rigid-flexible multi-body coupling collision dynamics modeling simulation. The problems that an existing simulation method is low in collision detection efficiency and not accurate enough in contact force calculation are solved. The method comprises the following steps: a motion simulation step: performing simulation by adopting an operation equipment time domain motion simulation model, updating an external acting force according to an obtained contact force, solving to obtain the acceleration of the operation equipment, performing integration through a fourth-order Runge-Kutta method to obtain the motion speed and pose of the operation equipment, and completing simulation. The ocean engineering equipment coupling collision dynamics modeling simulation method and device are suitable for dynamics modeling simulation of ocean engineering equipment rigid-flexible multi-body coupling collision.

The invention provides a tower crane path planning method, device and equipment based on polar coordinate recursive division, and relates to the field of path planning. The method comprises the following steps: acquiring related information of a hoisting point, a target point, a tower crane, a hoisted object and an obstacle, and establishing a polar coordinate system by taking the position of the tower crane as a circle center; further obtaining a tower crane hoisting range represented by a circular ring cylinder; then, dynamically and recursively dividing the hoisting range of the tower crane into a plurality of sub-bodies in different modes until a division termination condition is met; then, under the condition that the lifting point and the target point are not in the outer boundary frame of the sub-body, on the premise that the division termination condition is met, the lifting point and the target point are used as vertexes to be segmented to obtain new sub-bodies; calculating to obtain an optimal path by adopting an A * algorithm and combining a cost function, and optimizing to obtain an optimized path; and collision detection between the obstacle on the optimized path and the hoisted object is executed until the detection result is safe, a planned path is obtained, and the tower crane is controlled to operate. The path planned by the method is high in operability and safety.

The invention relates to the technical field of artificial intelligence, can be applied to business scenes such as automatic driving and intelligent transportation, financial science and technology, medical health and the like, and discloses a three-dimensional scene event analysis method, device, equipment and medium. Generating a three-dimensional bounding box for a dynamic target in each frame of multi-view image data, fusing the information of the three-dimensional bounding box with the features of the semantic graph, generating a refined three-dimensional voxel semantic graph, aggregating multiple frames of refined three-dimensional voxel semantic graphs, constructing a motion track of the dynamic target, and detecting a space overlapping event based on the motion track. And generating a collision event description based on the relative motion state, and generating an attribution analysis result of the event. According to the method, the accuracy and automation level of collision detection and responsibility analysis in a dynamic scene are improved by fusing the multi-frame image information and the three-dimensional voxel data and combining the target position and the motion state.

An offline programming method for a full-six-axis CNC rough machining and polishing device. The method comprises: importing a three-dimensional model of a product into CAM software, interactively setting information of a workpiece coordinate system and a tool coordinate system of the three-dimensional model, selecting a route on which an operation is required, and generating path data; importing the three-dimensional model and the path data into offline programming software, and performing simplification processing on the path data; implementing an overall offset function, a single-point offset function and posture adjustment of the path data in the tool coordinate system; implementing simulation running of a tool and collision detection; on the basis of the path data and tool data, generating an NC program conforming to a program standard; and a six-axis device creating the workpiece coordinate system on the product; and monitoring a running state. Therefore, problems such as the polishing programming efficiency of products of complex structures being low, the follow-up reading, modifying and positioning being time-consuming due to the fact that CAM software exports excessive path data, and there being a certain difference between a model generation path and an actual device running path are solved.

The invention discloses a building collision detection method based on BIM cooperative multi-agent reinforcement learning, and belongs to the technical field of building engineering. The method comprises the following steps: firstly, acquiring geometric data and pipeline distribution information from a preset building information model, and determining model block granularity through analysis to obtain a sub-model set; then, a multi-agent system is adopted to distribute monitoring responsibilities, edge geometrical shape data and physical connection point locations are extracted, potential conflict areas with overlapped boundaries are judged, and a collision probability distribution diagram is generated; exchanging real-time data by setting an information synchronization period between intelligent agents to obtain local conflict distribution details, introducing real-time change data to train the intelligent agents by adopting a reinforcement learning algorithm, and updating a monitoring priority and a cooperative action sequence; and if the conflict points which are not solved still exist, local collision detection is carried out by adopting a distributed computing framework, and finally, efficient and accurate building information model collision detection is realized by adaptively adjusting sub-model division and task allocation rules.

The invention relates to the technical field of industrial robot welding control, and provides an off-line programming-based elevator car bottom welding path field debugging method, which comprises the following steps of: constructing a three-dimensional process simulation model of a welding robot and an elevator car bottom, and establishing a geometric mapping relationship between the model and a physical scene; virtual welding scene parameters and robot body parameters are configured in the offline programming system; generating an initial welding track based on the 45-degree inclined welding surface, and executing multi-dimensional collision detection and kinematics verification; the optimized welding track is coded into an industrial robot instruction in an ANSI / UTF-8 format, and the industrial robot instruction is deployed to a physical welding system; collecting multi-source sensing data in the welding process in real time, wherein the multi-source sensing data comprise six-axis attitude parameters, process parameters and environmental parameters; and a dynamic comparison mechanism of the actual welding data and the simulation prediction data is established, and when the deviation exceeds a preset threshold value, an iterative optimization closed loop is triggered. The method has the beneficial effects that the efficiency is improved, the precision is guaranteed, the process stability is enhanced, and the compatibility is expanded.