25 results about "Collision dynamics" patented technology

The invention relates to the technical field of traffic accident analysis, and discloses an intelligent analysis method for vehicle and pedestrian collision accident liability, and the method comprises the steps: firstly obtaining multi-source heterogeneous accident data, fusing a cross-platform data source through employing a federal learning framework when the data is insufficient, and reconstructing an accident scene three-dimensional coordinate system; and then, based on a multi-modal data fusion result, constructing a traffic participation entity relation topology model by using a graph neural network, and generating an accident dynamic evolution graph. Then, establishing a collision dynamics digital twin model by utilizing a physical engine, extracting a key collision feature vector, and constructing a responsibility probability distribution model based on a generative adversarial network; and optimizing a responsibility judgment strategy by adopting a double-layer reinforcement learning framework, verifying a physical simulation result through a hierarchical verification mechanism, analyzing a responsibility judgment logic chain, and finally outputting a responsibility analysis report with an interpretable label. The method can accurately and intelligently analyze the accident liability, and has good interpretability.

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 discloses a flexible finger friction contact collision dynamics simulation method based on an absolute node coordinate method, which comprises the following steps: simplifying a finger of a flexible manipulator into a connecting rod system, taking a tail end knuckle as a flexible beam for consideration, and carrying out unit division on the flexible beam system based on the absolute node coordinate method; a contact collision process is described by using an additional constraint method, meanwhile, switching of a viscous state and a sliding state is considered, a friction-containing flexible finger contact collision dynamic model is established, and a dynamic equation of a system is solved by adopting a double-circulation implicit integral algorithm; and obtaining a curve graph that the flexible finger tail end displacement changes along with time and the finger tail end contact force changes along with time. The invention provides a new frictional contact collision dynamic model for a flexible manipulator system, and provides more perfect data information and image information for researchers in the field.

The invention relates to a motion control method and device, a robot and a storage medium, and the method comprises the steps: carrying out the tracking of a state variable error and a control input error in the remaining flight time under a constraint condition under the condition that the robot is in a flight state, and obtaining a state variable optimization result and a control input optimization result, the residual flight time comprises the time from the current moment to the completion of the current action, the state variable error comprises an error between a state variable in a preset reference trajectory and a state variable optimization result, and the control input error comprises an error between control input in the reference trajectory and a control input optimization result; the constraint condition comprises at least one of centroid dynamics constraint, full kinematics constraint and collision dynamics constraint; and controlling the robot to move according to the state variable optimization result and the input optimization result.

The invention relates to a motion control method and device, a robot and a storage medium, and the method comprises the steps: controlling the robot to move according to a reference state in a reference track and a feedback state of the robot when the robot is in a take-off stage; and when the robot is in a landing stage, tracking a state variable error and a control input error in the remaining time of the landing stage under constraint conditions to obtain a state variable optimization result and a control input optimization result, and controlling the robot to move according to the state variable optimization result and the control input optimization result, the state variable error comprises an error between a specified state and a state variable optimization result, the control input error comprises an error between specified control input and a control input optimization result, and the constraint condition comprises at least one of a centroid dynamics constraint, an all-kinematics constraint and a collision dynamics constraint.

The invention discloses an efficient simulation method for collision between long ellipsoid particles and a wall surface based on discrete elements, and belongs to the technical field of gas-solid two-phase flow numerical simulation. The method comprises the steps that a universal long ellipsoid particle-wall surface collision elastic force model is established, and the model represents a universal function relation between elastic force and particle geometry, material attributes and kinematics state parameters; based on the elastic force model and the momentum theorem, constructing a particle-wall surface collision dynamic model; based on the kinetic equation, a discrete time method and a numerical integration algorithm are adopted, and force, speed and energy parameters, changing along with time, of the long ellipsoid particles and the wall face in the whole collision period are solved. According to the method, the analytic model is embedded into a discrete element simulation framework to replace calculation-intensive finite element solution, so that second-level efficient solution is realized while the calculation precision is ensured, and the calculation efficiency is remarkably improved.

The invention relates to a contact collision dynamics modeling method for a spacecraft flexible multi-body system, which is used for simulating collision force generated by mutual contact collision of flexible collision bodies of a service satellite and a target satellite. Establishing a spacecraft flexible multi-body system kinetic equation containing the flexible collision body; calculating and considering a relative motion relation of the flexible collision body Tf relative to the flexible collision body Se and geometric deformation of all contact points on the two flexible collision bodies; calculating a normal collision force FNp and a tangential friction force Ftp of each contact point p; according to the normal collision force FNp and the tangential friction force Ftp of the position of each contact point p, and calculating the concentrated collision force acting on the distributed collision force rigid body of the vibration of the flexible component of the service satellite where the flexible collision body Se is located and the concentrated collision force acting on the movement of the flexible component of the service satellite where the flexible collision body Se is located and acting on the distributed collision force rigid body of the vibration of the flexible component of the target satellite where the flexible collision body Tf is located and the concentrated collision force acting on the movement of the flexible component.

The invention discloses a train collision energy absorption optimization method based on joint simulation, and the method comprises the steps: obtaining the compression force of a coupler and an anti-creeper, inputting the compression force of the coupler and the anti-creeper into a pre-constructed agent model, and obtaining an optimization result outputted by the agent model; the construction method of the proxy model comprises the steps that the marshalling condition of a target train is obtained, a simplified collision dynamics model is constructed, and a simulation configuration file output by the simplified collision dynamics model is obtained; the simulation configuration file is subjected to parameterization adding operation, then simulation is conducted, a simulation result file is obtained, and the parameterization adding operation comprises segmented parameterization of energy absorption curves of the anti-creeper and the car coupler, car body weight parameterization and initial speed parameterization; according to the method, the simplified collision dynamics model is established, the energy absorption curve is segmented and parameterized, optimization is carried out based on joint simulation, and the optimization efficiency is effectively improved.

The invention belongs to the technical field of friction plates, and particularly discloses a method and a system for acquiring bending-twisting-shaft-swinging coupling random collision dynamic characteristics of a floating support friction plate, and the method comprises the following steps: acquiring basic parameters of the floating support friction plate and an inner hub, constructing a three-dimensional tooth surface profile of the floating support friction plate and the inner hub in an ideal state, and obtaining a three-dimensional tooth surface tooth profile, a contact position pressure angle and a separation distance in a random irregular motion state; and calculating the comprehensive rigidity of the floating support friction plate at the meshing position and the nonlinear normal collision force at the meshing position of the floating support friction plate and the inner hub gear teeth, constructing a bending-twisting-shaft-swinging coupling vibration random collision dynamic model of the inner hub and the floating support friction plate, and determining the dynamic characteristics of the inner hub and the floating support friction plate at each moment. By the adoption of the technical scheme, the influence of the coupling effect between meshing deviation excitation and rigidity excitation of the inner hub and the friction plate gear teeth is considered, high calculation efficiency is guaranteed, and a more accurate dynamic response rule is obtained.

The application discloses a kind of vehicle micro-collision capture and trajectory reconstruction method and system under anti-shielding environment, comprising: constructing dynamic shielding perception vehicle semantic space-time graph, locking the visible rigid connection feature site of shielding risk target;Based on phase amplification, the feature site is analyzed in frequency domain micro-motion, and vibration fingerprint feature vector is extracted in combination with vehicle type-modal frequency fingerprint library;By introducing impulse-momentum theorem as the neural network of physical constraint, the vibration fingerprint feature is inferred and regressed collision impulse of collision event;Using the denoising diffusion model with collision impulse as the condition, the vehicle trajectory in the shielding area that meets the collision dynamics is repaired and generated.The application analyzes the micro-vibration of unshielded parts to infer collision, and integrates physical principles into neural networks, solving the problems of difficult micro-collision detection and trajectory distortion under shielding, and generating trajectories that retain collision dynamics characteristics, providing strong evidence for accident liability determination.

The invention relates to the technical field of train crashworthiness performance analysis, and discloses a model data processing method and system for a train energy absorption structure in collision simulation, so as to reduce cost, increase efficiency and ensure reliability. The method comprises the following steps: taking a force-displacement curve of each sample in a first data set as input and output of a self-supervised network model, and extracting an intermediate layer hidden variable corresponding to each force-displacement curve after dimensionality reduction in the self-supervised network model; according to the second data set, training, verifying and testing structural parameters of the energy absorption structure and a new network model of which the output is a hidden variable of the middle layer; combining the new network model with a decoder part of the self-supervised network model to obtain a target model based on a structure parameter prediction force-displacement curve; and embedding the target model into a marshalling train collision dynamic model, and predicting and outputting a force-displacement curve required by collision simulation according to input data of a dynamic simulation environment.

The invention discloses a model shrinking method for a ship and bridge collision experiment. The method comprises the following steps: simplifying a ship and bridge collision model; establishing a ship-bridge collision dynamics similarity model; based on the established mechanical similarity model, carrying out ship and bridge collision model shrinkage verification; on the basis of a model shrinkage verification result, performing model shrinkage model optimization iteration; and an optimized shrinkage model is obtained. The invention provides a systematic model shrinkage design method based on geometric similarity, material invariance and dynamic similarity principles. According to the method, a system verification system of an energy consumption path, a force-displacement curve and a failure mode is constructed, and the consistency of a mold shrinkage result and a full-size prototype in multiple dimensions is ensured. According to the optimization iteration design method of the shrinkage model, accurate reduction of complex plastic deformation and energy dissipation characteristics of the ship bow in collision can be achieved.

The invention provides a pre-capture configuration optimization method for a double-branch modular robot, and the method comprises the steps: constructing a kinematics and dynamics model of the double-branch modular robot through a three-dimensional model of the double-branch modular robot; according to the double-branch modular robot dynamic model, a contact model between the robot and a captured target is determined, and a contact collision dynamic equation of the double-branch modular robot is constructed; according to contact collision analysis before the double-branch modular robot captures the target, key factors before the double-branch modular robot captures the target are considered, and a performance evaluation index and an optimization model are constructed; and through a multi-objective optimization algorithm, solving to obtain a configuration solution set before the double-branch modular robot captures, and according to a good and bad solution distance method, obtaining an optimal configuration before the capturing. According to the technical scheme provided by the embodiment of the invention, the disturbance between the tail end pose and the base pose of the double-branch modular robot before capturing can be effectively reduced, and the contact collision force is reduced.

The invention belongs to the technical field of structural collision safety, and particularly relates to an equivalent static collision load calculation method based on an energy principle. The method comprises four processes of constructing a structure collision energy equation based on an energy principle, establishing a collision dynamic equilibrium equation based on a minimum energy principle, defining an equivalent static collision load based on a mechanical equilibrium principle and establishing an equivalent static collision load expression based on a position finite element method. The equivalent static collision load calculation method capable of visually representing the collision strength is constructed, and then a feasible technical scheme is provided for structural collision strength evaluation and structural collision optimization design. According to the equivalent static collision load calculation method based on the energy principle, calculation of the equivalent static collision load can be rapidly and directly achieved, and an effective solving method is provided for calculation of the equivalent static collision load.

The present invention provides an intelligent control device and method for the launching speed of an electromagnetic coil gun. The device includes an electromagnetic drive loading mechanical system, a laser speed measurement control system, an electric control switch control system, a capacitor capacitance control system, an intelligent transformer control system, and a computer host control system. The method is as follows: a program is written by the computer host, and with the help of the capacitor capacitance controller and the intelligent transformer controller, the size of the capacitor capacitance and the charging voltage are regulated; the program instructions of the computer host are executed through the electric control switch controller and the laser speed measurement controller to control the discharge moment of each copper coil and measure the speed of the magnetic bullet after acceleration of each copper coil; the magnetic bullet is launched repeatedly for multiple times, and various data are recorded and fed back to the computer host. The present invention is convenient for loading and unloading, precisely controllable, intelligent in operation, safe and reliable, and can automatically adjust and intelligently accelerate the projectile to the order of kilometers per second, laying an experimental foundation for the research on high-speed collision dynamics problems.

The present invention relates to the technical field of train crashworthiness performance analysis, and discloses a method and system for processing model data of a train energy absorption structure in collision simulation to achieve cost reduction and efficiency improvement and ensure reliability. The method includes: using the force-displacement curve of each sample in the first dataset as the input and output of a self-supervised network model, and extracting the intermediate layer hidden variables respectively corresponding to each force-displacement curve after dimensionality reduction in the self-supervised network model; then training, validating and testing a new network model with the structural parameters of the energy absorption structure as the input and the intermediate layer hidden variables as the output according to the second dataset; combining the new network model with the decoder part of the self-supervised network model to obtain a target model for predicting the force-displacement curve based on the structural parameters; embedding the target model into the coupled train collision dynamics model to predict and output the force-displacement curve required for collision simulation according to the input data of the dynamic simulation environment.

The invention relates to the technical field of rail vehicles, and discloses a rail vehicle and vehicle energy absorption structure crashworthiness collaborative optimization method and system, and the method comprises the steps: obtaining an energy absorption structure impact characteristic data set under different structure parameter configurations, building a structure level depth proxy model, and predicting a load characteristic curve and a deformation mode image of an energy absorption structure; inputting an energy absorption structure load characteristic curve output by the structure hierarchy depth agent model into a vehicle collision dynamic model, carrying out vehicle-level collision simulation, constructing a vehicle hierarchy depth agent model, and predicting vehicle collision response; based on the deformation mode image obtained by the structure level depth agent model and the vehicle collision response obtained by the vehicle level depth agent model, carrying out multi-target rail vehicle / energy absorption structure collision resistance cooperative constraint optimization to obtain an optimization scheme; the problems that an existing collision optimization method for the railway vehicle and the energy absorption structure is low in calculation efficiency and poor in optimization result reliability are solved.

The present disclosure relates to a motion control method, device, robot and storage medium, the method comprising: in the case that the robot is in a free state, tracking state variable errors and control input errors in a remaining free time under constraint conditions to obtain state variable optimization results and control input optimization results, wherein the remaining free time comprises a current time to a time when a current action is completed, the state variable errors comprise errors between state variables in a preset reference trajectory and the state variable optimization results, the control input errors comprise errors between control inputs in the reference trajectory and the control input optimization results, and the constraint conditions comprise at least one of a center of mass dynamics constraint, a full kinematics constraint and a collision dynamics constraint; and controlling the robot to move according to the state variable optimization results and the input optimization results.

The invention belongs to the technical field of bearing state monitoring, and discloses an insulation bearing residual life prediction method and related equipment, and the method comprises the steps: obtaining a vibration signal of a target insulation bearing, and carrying out the preprocessing of the vibration signal; performing inner and outer ring collision process simulation based on an inner and outer ring collision dynamic model of the target insulated bearing to obtain collision physical characteristics, obtaining actual measurement signal characteristics according to the preprocessed vibration signals, and fusing the collision physical characteristics and the actual measurement signal characteristics to obtain a characteristic vector; on the basis of a principal component analysis method, dimension reduction processing is carried out on the feature vectors, and health indexes are obtained; according to the health indexes, establishing a health curve model based on a random degradation model fitting method; according to the health curve model and a preset failure threshold value, predicting the residual life of the target insulated bearing; therefore, the residual life prediction reliability and precision of the insulating bearing can be improved.

An intelligent obstacle avoidance method for an autonomous vehicle, comprising: acquiring driving parameters of an autonomous vehicle (S001); acquiring a minimum obstacle avoidance area of the autonomous vehicle on the basis of the driving parameters of the autonomous vehicle, calculating an obstacle occupancy value of the minimum obstacle avoidance area of the autonomous vehicle at each moment, calculating a directional collision coefficient of the minimum obstacle avoidance area of the autonomous vehicle at each moment, and acquiring an autonomous vehicle occupancy and collision grid map on the basis of the directional collision coefficient of the minimum obstacle avoidance area of the autonomous vehicle (S002); calculating a collision dynamic adjustment coefficient on the basis of the autonomous vehicle occupancy and collision grid map, and calculating an obstacle avoidance search distance of the minimum obstacle avoidance area of the autonomous vehicle (S003); and using the obstacle avoidance search distance of the minimum obstacle avoidance area of the autonomous vehicle to perform obstacle avoidance path dynamic search planning on the autonomous vehicle at each moment (S004), so that the accuracy in the obstacle avoidance process of the autonomous vehicle is ensured. Also disclosed is an intelligent obstacle avoidance system for an autonomous vehicle.

The invention discloses a vehicle tiny collision capture and trajectory reconstruction method and system in an anti-shielding environment, and the method comprises the steps: constructing a vehicle semantic space-time diagram of dynamic shielding perception, and locking a visible rigid connection feature part of a shielding risk target; frequency domain micro-motion analysis is carried out on the feature part based on phase amplification, and vibration fingerprint feature vectors are extracted in combination with a vehicle type-modal frequency fingerprint database; by introducing an impulse-momentum theorem as a neural network of physical constraint, performing collision event reasoning on the vibration fingerprint features and regressing a collision impulse; and repairing and generating a vehicle track conforming to collision dynamics in the shielding region by using a denoising diffusion model under the condition of collision impulse. According to the method, the collision is inversely deduced by analyzing the microscopic vibration of the unshielded part, and the physical principle is integrated into the neural network, so that the problems of difficult detection of the small collision under the shielding and distortion of track restoration are solved, the track with the collision dynamic characteristics can be generated, and powerful evidence is provided for accident liability affirmation.

The present application relates to the field of rail vehicle technology, and discloses a rail vehicle and vehicle energy-absorbing structure crashworthiness collaborative optimization method and system, comprising: obtaining impact characteristic data sets of the energy-absorbing structure under different structural parameter configurations, and establishing a structural level deep proxy model to predict the load characteristic curve and deformation mode image of the energy-absorbing structure; inputting the load characteristic curve of the energy-absorbing structure output by the structural level deep proxy model into a vehicle collision dynamics model, carrying out vehicle level collision simulation, and constructing a vehicle level deep proxy model to predict the vehicle collision response; based on the deformation mode image obtained by the structural level deep proxy model and the vehicle collision response obtained by the vehicle level deep proxy model, performing multi-objective rail vehicle / energy-absorbing structure crashworthiness collaborative constraint optimization to obtain an optimization scheme; the present application solves the problems of low calculation efficiency and poor reliability of the optimization results of the existing collision optimization method of the rail vehicle and the energy-absorbing structure.

The invention specifically discloses a floating support friction pair impact dynamic load calculation method and system considering rough interface morphology characteristics, and the method comprises the steps: obtaining the basic parameters of a floating support friction plate assembly to be calculated, representing the three-dimensional rough surface morphology, calculating the total contact rigidity of the whole rough interface, and calculating the impact dynamic load of the floating support friction pair. Calculating the rough surface contact rigidity of the gear teeth, calculating the bending, shearing and axial compression rigidity of the gear teeth, the matrix deformation and the matrix rigidity, calculating the comprehensive rigidity and the time variation rigidity of a single tooth pair, and deducing the relative displacement of the inner hub and the friction plate gear teeth under the load effect; calculating the number of random impact collision gear teeth of the floating support friction pair and the collision force; a bending-twisting random collision dynamic model of a floating support friction plate and an inner hub system is established, and the impact dynamic load of a floating support friction pair is obtained by adopting a Runge-Kutta method. By adopting the technical scheme, the impact dynamic load of the tooth part of the friction pair is obtained by constructing the rough interface morphology feature-collision force-rigidity coupled random collision dynamic model.

The invention relates to a traffic conflict risk quantification method based on probability trajectory prediction and physical modeling. The method comprises the steps of obtaining video data of traffic participants at a target traffic scene and extracting state features to construct a trajectory data set; constructing a space interaction graph sequence, inputting the space interaction graph sequence into a trajectory prediction model of a fusion graph attention network and a Transform network, and generating a plurality of candidate trajectories and occurrence probabilities of the candidate trajectories; traversing candidate trajectory combinations of different traffic participants, identifying potential conflict points by adopting a high-order polynomial fitting trajectory and a numerical solution method, and calculating a conflict arrival time difference to perform conflict risk judgment; and constructing a collision dynamics model to calculate the expected impact energy of collision, and quantifying the risk severity of potential conflicts in combination with the occurrence probability of the predicted trajectory. According to the technical scheme, the uncertainty of future behaviors of traffic participants can be accurately described, and high-precision multi-modal trajectory prediction and comprehensive conflict risk quantitative evaluation are realized.

Ocean engineering equipment coupling collision dynamics modeling simulation method and device belong to the field of virtual simulation technology of ship and ocean engineering, especially relate to ocean engineering equipment rigid-flexible multi-body coupling collision dynamics modeling simulation. The method solves the problems of low collision detection efficiency and inaccurate contact force calculation existing in the existing simulation method. The method comprises the following steps: motion simulation step: adopting a time-domain motion simulation model of the working equipment to simulate, updating the external force according to the obtained contact force, solving the acceleration of the working equipment, and obtaining the motion speed and pose of the working equipment through the fourth-order Runge-Kutta method integration, and completing the simulation. The ocean engineering equipment coupling collision dynamics modeling simulation method and device are suitable for the dynamic modeling simulation of the rigid-flexible multi-body coupling collision of the ocean engineering equipment.