116 results about "Collision model" patented technology

A method predicts trajectories of traffic objects to avoid collisions. The method estimates the probability for at least two traffic objects to collide, and predicts a potential movement of the traffic objects presumably involved in the collision after the collision. This information about a potential movement of the traffic objects can be used to plan a suitable trajectory path of an evasion manoeuvre for a host-vehicle employing the method. A system detects the collision situation and applies crash situation models to predict the future dynamic properties of other traffic objects that collide or are about to collide with each other. The method and system applies specific crash models like collision models, models derived from crash simulations and tests or models of human reactions in emergency situations.

The invention provides a computer-aided design method for building a tooth occluding relation. In a three-dimensional visual environment, a doctor is assisted to build a new occluding relation model on a computer through an intuitive image and an objective quantitative index, so that orthodontic and orthognathous surgical treatment are better guided. The method comprises the following steps: (1) acquiring and reading a three-dimensional data models of upper and lower jaw dentitions; (2) selecting canine fossa corresponding points from the three-dimensional data model of the dentitions; (3) calculating canine fossa corresponding point vectors and a point cloud distance between upper and lower jaws, and displaying a canine fossa corresponding vector diagram and a two-dimensional collision detection chromatogram; (4) moving the three-dimensional data model till the upper and lower jaws are under a good occluding corresponding relation; (5) calculating a three-dimensional collision model; (6) performing Boolean operation on the calculated three-dimensional collision model and the three-dimensional data model of the upper and lower jaw dentitions obtained in the step (4), and removing interference to obtain a virtual occluding model; and (7) saving the built virtual occluding model, and exporting the saved virtual occluding model.

The invention provides an accurate positioning and intelligent navigation method for an oral implanting robot. The method comprises the following steps: (1) planning a digital tooth implanting scheme;(2) designing a personalized fixing structure of a positioning marker; (3) designing a standard positioning bracket of the positioning marker; (4) generating the positioning marker; (5) acquiring position coordinates of an implant in a three-dimensional implanting scheme; (6) constructing an oral collision model; (7) constructing and correcting an actual scene coordinate system; (8) planning a motion path of the robot and performing offline programming; and (9) performing implanting operation of the robot. According to the method, accurate calculation of target position coordinates of an endeffector of the robot in a global coordinate system in the three-dimensional implanting scheme is realized before an operation, the precision of an optical positioning and navigation system is corrected by utilizing contact position feedback of the robot, and the collision model of the end effector of the implanting operation and dynamic planning of the motion of the robot are constructed.

The embodiment of the invention discloses a touch interaction method, a touch interaction device and a touch wearable device, which are suitable for a process of interaction between a hand of a user and a virtual reality (VR) or augmented reality (AR) scene. The method comprises the following steps of obtaining the gesture information of the hand of the user; obtaining a three-dimensional hand model corresponding to the gesture information of the hand of the user according to the gesture information of the hand of the user; detecting a collision model colliding with the three-dimensional handmodel through a collision detection algorithm; determining a stress model corresponding to the collision model, and determining the stress information of the three-dimensional hand model according tothe stress model; generating a collision touch instruction according to the stress information; and sending the collision touch instruction to the touch wearable device, wherein the collision touch instruction is used for enabling the touch wearable device to control a vibration motor in the device to vibrate. According to the embodiment of the invention, the vibration touch feedback which is based on the user gesture interaction and corresponds to the stress information is realized, and more real and richer touch experience is provided for the user.

The invention discloses a method for calculating end contact collision force of a spatial robot. The method comprises the following steps of simplifying mechanical design three-dimensional CAD modelsof a capture apparatus and a captured apparatus; performing feature geometric element extraction on built triangular plate element models of the capture apparatus and the captured apparatus; accordingto geometric feature models of the capture apparatus and the captured apparatus, obtaining collision point positions and embedding depth quantities of the capture apparatus and the captured apparatus; building collision models of the capture apparatus and the captured apparatus; through a collision embedding quantity and a collision embedding speed, obtaining collision force; through a tangentialspeed of the collision embedding speed, the collision force and a frictional coefficient, obtaining contact frictional force; and in combination with the collision force and the contact frictional force, obtaining a collision force model. For an irregular target geometric configuration, an efficient collision detection method for simplifying geometric features is provided, and support is providedfor simulative verification work of manipulator joint bearing and capture control schemes.

The invention relates to a collision prediction method for a three-figure grasper and provides a collision prediction method for a three-figure grasper of a space robot to solve the problem that a method for predicting a collision when the space robot performs grasping operation in orbit is low in efficiency. The collision prediction method is implemented through the following steps: 1, designing a three-dimensional model of a three-figure grasping mechanism of the space robot, and building a mathematical model according to the three-dimensional model; 2, performing collision detection of the three-figure grasping mechanism according to the three-dimensional model and the mathematical model which are built in Step 1 to obtain a collision model, and calculating a collision force according to intrusion of the collision model; and 3, building a kinetic model of the three-figure grasping mechanism of the space robot by using the collision model and a mechanical arm system model, and designing a control system model of the three-figure grasping mechanism of the space robot according to the kinetic model of the three-figure grasping mechanism. The collision prediction method is applied to the field of three-figure grasper collision prediction.

The invention discloses a whole vehicle head-on collision simulation suspension and a failure method thereof. The method comprises the following steps: 1, inputting suspension failure force; through collision test output or suspension engineers, shear failure force and pull-out force of the metal casting cantilever under high-speed impact are provided; the tensile strain of the sheet metal part isobtained through a material tensile test; 2, building a suspension failure model; wherein the sleeve and the first mounting bracket are suspended; the second mounting bracket uses a shell unit; connecting the suspension model. The method comprises the steps that firstly, a sleeve is arranged in a suspension failure model, the sleeve is coupled with a rubber node, the built suspension failure model is connected to a vehicle body and a power assembly system through Bolt according to the input failure force, a complete vehicle front collision model is built, thirdly, the model is debugged, debugged, calculated and analyzed, a result is subjected to post-processing, and a key curve, pictures and animations are output. According to the invention, a rubber (MAT7 MAT-BLATZ-KO-RUBBER) material isadopted, so that the problem of failure when the suspension is subjected to front high-speed impact can be effectively improved, and a real collision process can be better reflected.

The present disclosure generally relates to a robotic gripping system and method that utilizes vacuum suction and finger grasping, wherein the suction and grasping are actuated based on a dynamic collision model. In an exemplary embodiment, the present disclosure is directed to generating collision scenes of a surrounding environment which is used to determine possible collisions in a motion path, and which is used to selectively actuate the vacuum suction and/or finger grasping.

The embodiment of the invention discloses a ball-hitting method and device for a table tennis robot. The method comprises the following steps: acquiring track points of a preset number of table tennis balls, forecasting flight tracks of the table tennis balls, and acquiring positions Phit, incident velocities Vin and remaining times t of best hitting points after the table tennis balls enter an operation space of the robot; calculating the reflection velocities VOut of the hit table tennis balls; calculating racket velocities VR and postures WTR according to collision models of the table tennis balls and a racket through the incident velocities Vin and the reflection velocities Vout of the table tennis balls at the positions Phit of the best hitting points; driving the racket at the tail end of the robot to finish a hitting action within the remaining times according to the racket speeds VR and the postures WTR. By adopting the ball-hitting method and device for the table tennis robot, the racket velocities and directions are configured, and the racket velocities and postures are calculated by the collision models of the table tennis balls and the racket, so that accurate drop point control of the tablet tennis balls on a half table of an opponent is realized after table tennis robot hits the table tennis balls.

The invention discloses a fabric deformation simulation method which, based on the classic spring-mass model, introduces the concept of a semi-rigid spline, and takes into full consideration of stretching property, compressing property, cutting property, bending property and surface roughness of the fabric, and effectively addresses the problem of anisotropy and superelasticity in fabric deformation simulation, and increases real sense of fabric deformation simulation. In aspect of numerical integration, compared with traditional explicit euler method and implicit euler method which have defects of slow solution speed, the method of the invention Verlet integration method which has substantial increase in velocity and computing stability. In aspect of collision treatment, the method further simplifies a collision model, and only considers collisions of "top pint-triangle" type and "edge-edge" type that occur in large amount in fabric simulation, which effectively reduces times for collision treatment and accelerates computing velocity.

The invention discloses a V2X system-based collision pre-warning method. The method comprises the steps of establishing a rectangular plane coordinate system by taking the centroid of a main vehicle as an original point, taking the driving direction of the main vehicle as an X axis and taking the left-side direction of the main vehicle as a Y axis after the main vehicle is started; enabling the main vehicle to obtain the driving state of a far vehicle and adding the far vehicle into the rectangular plane coordinate system so as to establish a collision model for the main vehicle and the far vehicle; carrying out calculation to determine whether the main vehicle and the far vehicle satisfy a collision pre-warning condition or not; if both the vehicles satisfy the collision pre-warning condition, giving collision pre-warning; and otherwise, not carrying out reminding. The invention further discloses a device for realizing the method and a storage medium, in which a program for realizingthe method is stored. According to the method, the device and the storage medium, the effects of enlarging the vehicle collision pre-warning range, pre-warning the vehicles which ignore the obstaclesand prompting the collision threaten sources are achieved.

The invention discloses a well drilling simulation method based on a well wall-drill string-drilling tool-drill bit-rock system. The invention belongs to the field of petroleum-natural gas explorationand development. The invention discloses a well drilling simulation method based on a well wall-drill string-drilling tool-drill bit-rock system, and aims to provide a reference basis for well drilling acceleration evaluation on site. According to the method, the method is characterized in that a finite element model based on a well wall-drill string-drilling tool-drill bit-rock system is established, and the method comprises the following specific steps that S1, establishing a finite element simulation grid model comprising a well wall, a drill rod, a drilling tool, a drill bit and rock; S2,testing different well pressures and different stresses of different sampled rocks by using a data acquisition system, and acquiring data for finite element model calculation; and S3, establishing arandom contact collision model of the drilling tool and the well wall and an interaction model between the drill bit and the rock. Sampled rock is experimented through the data acquisition system, acquired data is more real and reliable, and the method can be implemented in practical application.

The invention discloses an information processing method and device. The method comprises the steps that a collision model meeting the collision conditions is determined, and the collision model corresponds to at least one game model in a game scene; attribute information of the collision model is obtained; the artistic effect and/or program function corresponding to the game model related to thecollision model is determined according to the attribute information. Accordingly, the technical problem that in related technologies, the logic of the function realized by the collision model is complex, the function capable of being achieved is monotonous, and the game operation requirements cannot be met is solved.

The invention discloses a characteristic ice resistance test device and test method for simulating polar ship ice collision, which relate to the technical field of collision tests. The device comprises a simulated polar region low-temperature pool, a polar region floating ice preparation system, an auxiliary connecting mechanism and a collision test simulation control system. The method comprisesthe following steps of S01, filling ice-making seawater, S02, making ice, S03, forming floating ice surface patterns, S04, constructing a collision simulation environment, S05, performing a collisionsimulation test, and S06, visually displaying the collision model. The real situation of the arctic floating ice, the navigation environment of the polar icebreaker and the ship ice collision effect and phenomenon are simulated to the maximum extent, the ship ice collision test is ensured to be close to authenticity and effectiveness to the maximum extent, and the method has the advantages of being high in accuracy, authenticity and practicability and capable of achieving repeated tests.

A fast progressive optimal mechanical arm obstacle avoidance path planning method comprises the steps that work space obstacle environment information is obtained, a mechanical arm collision model and a kinematics model are established, and the initial state and the target state of a joint space form are determined; an initial path is quickly obtained through a double-tree opposite growth strategy; then a heuristic hyper-ellipsoid sampling subspace is established, and sampling, dual-tree growth and path optimization are performed in the subspace; a path contraction algorithm further optimizes an existing path and accelerates compression of a hyper-ellipsoid space; and a strategy that multiple times of sampling growth optimization are matched with one time of updating of the shortest path enables a search tree to fully explore the space and optimize the path, and excessive useless path shrinkage is avoided. According to the method, multiple heuristic ideas are fused, the rapidity and optimality of an RRT path planning algorithm are balanced, and the collision-free path can be obtained in a rapid, progressive and optimal manner.

The invention discloses a three-dimensional analysis method for the motion trails of falling rocks in any shape on a rock-soil side slope. The method comprises the following steps: establishing a three-dimensional model of falling rocks in any shape and a slope surface under a system coordinate system; judging whether falling rocks contact with the slope surface at each moment through a contact search algorithm; calculating the contact force when the falling rocks are in contact with the slope surface through a contact collision model; establishing a falling rock motion equation according to the contact force and the gravity effect; and solving the motion equation by adopting a time step method to obtain the motion trails of the falling rocks. The falling rock and slope model in any shapeis established, the falling rock motion equation is established according to the contact search algorithm and the contact collision model between the falling rocks and the slope, the three-dimensionalmotion trail of the falling rocks along the slope is simulated, and the difference between the prediction result of the motion trails of falling rocks and the actual situation is reduced.

The invention discloses a stability control method and system aiming at space non-cooperative target capturing. The method comprises the following steps: S1, establishing a dynamic collision model ofa non-cooperative target; and S2, determining interaction force produced by the collision of a mechanical arm and the target based on the dynamic collision model of the non-cooperative target in the step S1; establishing a self-adaptive impedance control model, and serving the interaction force as input quantity of the self-adaptive impedance control model, and then acquiring correction quantity of a mechanical arm location. Through the method disclosed by the invention, the system instability problem caused by the low-rigidity parameter under large collision impact is solved, a rigidity and dampness online adjusting mechanism is designed by considering a coupling relation of the rigidity and a damping parameter, the stability of the system in the low rigidity is improved, and the responsespeed of the system in high rigidity is improved.

The invention relates to the field of artificial intelligence, and discloses a risk prevention method, device and equipment based on a collision model, and a storage medium. The risk prevention methodbased on the collision model comprises the following steps: carrying out traffic simulation on a mixed flow, preprocessing simulation output data, determining the most critical parameters of a modelto be established, and constructing the collision risk model based on the preprocessed simulation output data and the most critical parameters, and finally, calculating a successfully predicted traffic accident percentage of the collision risk model, and executing active safety related intervention measures based on the successfully predicted traffic accident percentage. Potential traffic accidentrisks can be effectively prevented, and the occurrence rate of traffic accidents is reduced.

The invention relates to a collision probability real-time evaluation method based on finite-dimensional distribution. The method comprises the following steps: 1, establishing a control model and a collision model of a to-be-evaluated system; 2, generating sampling points at equal time intervals according to the to-be-predicted time interval; 3, roulette is repeatedly carried out, and sampling points distributed at equal intervals according to probability are generated; 4, based on the control model of the to-be-evaluated system, finite-dimensional distribution of the centroid position is solved; And step 5, performing Cholesky decomposition on the covariance matrix with the finite-dimensional distribution of the centroid position to obtain a specific generation mode. 6, predicting the position of the obstacle rigid body and solving the filtered finite-dimensional distribution; 7, reconstructing the coefficient matrix to obtain a specific generation mode of filtered finite-dimensionaldistribution; And 8, independently generating the finite-dimensional distribution obtained in the step 7 for multiple times, and estimating the real probability by the collision frequency of the discrete points. And at the next evaluation decision moment, the algorithm returns to the step 6 to continue to calculate.

The invention belongs to the technical field of air control, and relates to an aircraft longitudinal interval calculation method and system and a readable storage medium. The airplane longitudinal interval calculation method provided by the invention comprises the following steps of: adding a strong vortex field wake influence length into a longitudinal size of a traditional Reich collision model to obtain an improved Reich collision model; and solving aircraft longitudinal intervals corresponding to different front and rear aircraft combinations through the improved Reich collision model on the basis of CNS performance in an airspace environment, the aircraft longitudinal intervals being used for airspace planning. According to the aircraft longitudinal interval calculation method and system and the readable storage medium, the strong vortex field wake influence length is added into the longitudinal size of the traditional Reich collision model, the strength of the trailing vortex capable of being borne by a rear aircraft is reasonably considered, and the strength is combined with the CNS performance in the airspace, so that an aircraft longitudinal interval shorter than an interval formulated by ICAO is obtained; and a controller uses the method to guide the interval between a front aircraft and the rear aircraft, so that the interval between the front aircraft and the rear aircraft is reasonably shortened, and the aircraft capacity of the airspace is improved.

The invention relates to a method for increasing the movement stability of a driving mechanism of a spaceborne antenna with a gap. The method is based on multibody system dynamics theories, flexible multibody system dynamics and a kinematic pair gap contact collision model. A spaceborne antenna driving mechanism dynamics model which taking a kinematic pair gap into consideration is established, and the influence of the gap on the dynamic characteristics of a reflecting plane of the spaceborne antenna is analyzed through value simulation. Minimizing the maximal peak value of movement acceleration jitter of the reflecting plane of the spaceborne antenna is taken as an optimization target. The element contact collision parameters of the kinematic pair with a gap are optimized without changing the basic structural parameters of the driving mechanism of the spaceborne antenna, and the auxiliary material of the elements of kinematic pair with a gap is selected to improve the movement stability of the driving mechanism of the spaceborne antenna. The element contact collision parameters of a kinematic pair with a gap are optimized, and proper auxiliary material of the kinematic pair is selected to substantially reduce the impact effect caused by gap contact collision of the kinematic pair, and reduce the influence of the gap on the movement stability of the driving mechanism of a spaceborne antenna. The method is simple, feasible and practical, and can be widely applicable to driving mechanisms of various spacecrafts.