77 results about "Collision model" patented technology

A legged robot planning and control method and apparatus, a robot, and a storage medium. The method comprises: according to the motion state of a legged robot and swing parameters of each leg at the next moment, determining a foot-end reference state of each leg; for a leg to swing at the next moment, according to a foot-end dynamics model and a discrete collision model, planning a swing-leg trajectory having collision awareness; and, according to the motion state, a reference state sequence and the foot-end reference states, controlling the whole body of the legged robot, wherein for a leg which should be a planned supporting leg but is not in contact with the ground, whole-body control having collision awareness is performed according to a whole-body dynamics model and the discrete collision model. Thus, the problems are solved that legged robots in the prior art are limited in passive flexible buffering in collision, involves a large amount of control algorithm calculation and relatively low control precision, exhibit a relatively high degree of hardware wear and relatively short service lives, and cannot meet actual needs.

The invention discloses a visual perception and dynamic anti-collision intelligent closed-loop control method for a central control mechanical arm in a vehicle, and the method comprises the steps: S1, loading an improved YOLOv11 network detection model, and reading a video stream of a camera; s2, preprocessing each frame of image in the video stream, inputting the preprocessed image into the model, and performing target identification; s3, inputting an identification result into a dynamic safe area collision model, and performing coordinate conversion through a hand-eye calibration algorithm; calculating a relative position and a motion trend in combination with depth sensor data, and judging a risk level to generate a corresponding protection instruction; and S4, executing a hierarchical control strategy according to the risk level, updating the action track of the mechanical arm, and returning to the step S1 through a closed-loop feedback mechanism to adjust the safety threshold and the control parameters to form a complete'perception-decision-execution-optimization 'autonomous evolution closed loop. According to the method, the visual perception robustness and the target detection precision under the complex illumination condition are improved, and real-time dynamic anti-collision response and millisecond-level rapid obstacle avoidance are realized.

The invention relates to the technical field of new energy wind power, in particular to a wind power plant wake flow prediction method based on LBM-LES, and the method comprises the following steps: (1) obtaining wind resources and wind power plant topographic data, and constructing a wind power plant computational domain; (2) applying boundary conditions and material parameters: applying the corresponding boundary conditions to the computational domain according to the data obtained from the step (1), and endowing the material parameters; (3) embedding an LES large eddy simulation model in the LBM through the effective viscosity in the collision model, and meanwhile, dispersing a lattice Boltzmann equation and solving the lattice Boltzmann equation; the method has the advantages that a complex macroscopic flow motion equation does not need to be solved, instead, the lattice Boltzmann equation of the mesoscale is solved, and compared with a traditional method, the solving efficiency is greatly improved; secondly, a wind turbine is simulated by adopting a rotary actuating disc method, so that a wind power plant wake flow simulation result is closer to a real wind field, and the calculation precision is remarkably improved.

Provided are a planning and control method for a legged robot, an apparatus, a robot, and a storage medium. The method includes: determining, based on the movement state and the swing parameter of each leg at the next moment, a foot-end reference state of each leg, and planning, based on a foot-end dynamic model and a discrete collision model, an impact-aware swing leg trajectory for a leg that starts to swing at the next moment; and performing, based on the movement state, the reference state sequence, and the foot-end reference state, whole-body control on the legged robot, and performing, based on a whole-body dynamic model and the discrete collision model, impact-aware whole-body control for a leg that is a supporting leg in planning but does not touch the ground.

The invention discloses a pseudo-spectral convex optimization-based method for optimizing a low-thrust trajectory near an asteroid, which comprises the following steps of: establishing a kinetic equation of an orbital motion of a spacecraft near the asteroid, discretizing the kinetic equation through a flipped Radau pseudo-spectral method, establishing a problem of no gravitational field and no anti-collision constraint, and solving by using a convex optimization method to obtain an initial nominal solution; constructing a gravitational field model in the kinetic equation based on a four-mass-point model, and establishing an asteroid nearby anti-collision model; establishing a convex optimization problem of an anti-collision small-thrust trajectory near the asteroid through convex methods such as nominal value replacement and Taylor expansion; establishing a successive solution model, and obtaining an optimal solution through sequence convex optimization; according to the method, a flipped Radau pseudo-spectrum method and convex optimization combined pseudo-spectrum convex optimization method is adopted, the motion low-thrust trajectory optimization of the spacecraft near the asteroid is realized, and the calculation efficiency is improved by using a four-mass-point gravitational field model.

The invention relates to the technical field of particle simulation, and discloses a particle collision method, device and equipment based on physical simulation and a storage medium, and the method comprises the steps: determining the current parameter of each particle based on the initial parameter and external force parameter of each particle in a particle system; detecting collision information between the particles and / or collision information between the particles and other objects in the particle system through a collision detection algorithm; and updating the target collision parameter of each particle based on the collision model, the current parameter and the collision information. Through the above mode, by considering the initial parameters and the external force parameters of the particles, the motion state of the particles under the stress effect is simulated more accurately, and the collision information between the particles and between the particles and other objects in the system is detected by adopting the preset collision detection algorithm, so that the simulation effect is more vivid; powerful technical support is provided for simulating complex physical phenomena, and the accuracy of the particle collision effect is improved.

The invention discloses a weaponry damage simulation method, equipment, a medium and a product, and relates to the technical field of weaponry collision detection, and the method comprises the steps: building and hierarchically binding independent collision models (a collision surrounding body and an equivalent geometry) of weaponry functional parts, integrating physical attributes in the independent collision models, and carrying out the simulation of the damage of the weaponry. Therefore, collision detection and hit detection are carried out, and a local damage effect and an overall function failure effect are generated through a predefined hit effect spanning tree. According to the method, collision detection is refined to a functional component level, differential simulation of an internal damage effect is supported, physical attributes are integrated into simulation logic, and simulation authenticity is improved; penetration simulation of a complex multi-layer structure is supported, and the credibility of virtual battlefield training and experiments is improved; the damage effect is dynamically generated through the tree-shaped structure, linkage simulation of local details and overall performance is achieved, and therefore high-precision damage simulation of the weapon equipment component level is achieved.

The invention relates to the technical field of aviation safety, in particular to a short-distance parallel runway collision risk assessment method based on influence of front and side wind, which comprises collision risk assessment, Bayesian parameter estimation, linear regression analysis, dynamic front and side wind fitting and Monte Carlo analog simulation. The problem of small sample parameter estimation is solved by introducing a Bayesian parameter estimation method, crosswind parameters are calculated by combining linear regression analysis, positive crosswind data are fitted by applying Weibull distribution, and an influence rule of positive crosswind and an initial interval on collision probability is quantified through Monte Carlo simulation. According to the short-distance parallel runway collision risk assessment method based on the influence of the positive and crosswind, on the basis of a traditional collision model, a re-flight condition is incorporated into the model, complex scenes such as crosswind and re-flight are considered, a dynamic interval adjustment model is fused, and a new collision risk model is established; the crosswind grading minimum interval standard is provided for airline companies and air traffic control operation management, and the runway safety and the airport operation capacity are improved.

The application discloses a simulation method of output characteristics of a three-state inertial switch, comprising the following steps: S1, establishing an inertial model based on the structure of an inertial system in the three-state inertial switch and performing simulation and solution to obtain the mechanical response of a mass block in the three-state inertial switch; S2, establishing a collision model of a collision process of the mass block from a front collision to an output electrode based on the contact relationship between the mass block and the output electrode and performing simulation and solution to obtain an invasion displacement time history; and S3, establishing an electromechanical conversion model and taking the invasion displacement time history of the mass block and the electrode as the input of the electromechanical conversion model, and performing simulation on the electromechanical conversion model to obtain the voltage time history of the output electrode as the output characteristics of the three-state inertial switch. The application can accurately simulate the output characteristics of the three-state inertial switch under different penetration environments.

The invention provides a self-adaptive intelligent detection control system and method for preventing mistaken installation of an automobile, and the system comprises an information obtaining module, a point location prediction module, a point location correction module, a collision detection module, a path planning module, a speed planning module, a motion execution module, a motion judgment module, an information detection module, a deviation obtaining module and the like. The system optionally comprises a point location re-prediction module, a path re-planning module, a speed re-planning module and a motion re-execution module. According to the method, position information of a to-be-detected workpiece of a vehicle is obtained through a sensor and a global camera, a multi-coordinate system conversion relation is established, weight fusion is carried out, a target point position is predicted and corrected, path and speed planning is carried out in combination with a collision model, and a mechanical arm is controlled to complete detection tasks of a meeting mode, a tracking mode or an arrival mode in a non-stop-line state. And whether the workpiece is correctly assembled or not is judged through images acquired by the depth camera. According to the invention, full-automatic error-proofing detection can be realized under the condition of multi-vehicle-type mixed production, manual intervention is not needed, and the method has the advantages of high detection flexibility, high precision and high efficiency.

The invention belongs to the technical field of unmanned aerial vehicle trajectory planning, and discloses an unmanned aerial vehicle trajectory planning method and system based on a novel adaptive anti-collision model, and the method comprises the steps: generating an initial trajectory; constructing a speed self-adaptive cone anti-collision model; segmenting the initial trajectory, representing each segment of the initial trajectory by a group of control points, and calculating a relative trajectory convex hull of the initial trajectory and the control points; solving a normal vector and a safety margin for separating the relative trajectory convex hull and the anti-collision model; and constructing a linear inequality by using the normal vector and the safety margin, and performing trajectory optimization by taking the linear inequality as a collision avoidance constraint to obtain a final trajectory. According to the anti-collision model based on the unmanned aerial vehicle speed dynamic adjustment, the influence of the downwash effect on the adjacent unmanned aerial vehicle can be simulated and compensated more accurately, and the reliability and flexibility of an unmanned aerial vehicle system in a complex environment are greatly improved.

The invention relates to an operation identification method and device for loading and unloading carrying equipment in a warehouse and computer equipment. The method comprises the following steps: acquiring a to-be-strengthened data set in an area with a collision risk and a to-be-optimized data set in an area without the collision risk from a target point cloud data set in a warehouse collected by loading and unloading carrying equipment; performing obstacle detection on the to-be-strengthened data set to obtain an obstacle detection result; carrying out lightweight processing on the to-be-optimized data set to obtain an optimized data set; inputting the obstacle detection result and the optimized data set into an anti-collision model to obtain a predicted running track of the loading and unloading carrying equipment in the target time period; and performing operation identification on the loading, unloading and carrying equipment according to the predicted operation track, and controlling the operation of the loading, unloading and carrying equipment according to an identification result of the operation identification. By adopting the method, the accuracy of the identification result of operation identification of the loading and unloading carrying equipment can be improved.

The invention relates to the technical field of automobile safety performance development, in particular to a column collision sliding table test boundary parameter optimization method. Comprising the following steps: extracting related parts from a vehicle column collision passenger protection finite element collision model to obtain a simplified model; establishing a simulation column collision sliding table test finite element model; performing parameterization setting on key parameters in the model, and setting initial values and value ranges of the parameters; establishing a multi-objective optimization function and setting optimization constraint conditions; generating a DOE matrix of a plurality of groups of samples in a parameter value range, wherein each group of samples comprises a combination of all parameters; constructing a reduced order prediction model for predicting rib compression response under different parameter combinations; and with multi-objective function minimization as an objective, obtaining an optimal parameter combination meeting constraint conditions. According to the technical scheme, the calculation complexity can be reduced, the input boundary condition of the side column collision sliding table invasion equipment can be quickly determined, and the passenger injury condition under the whole vehicle column collision working condition can be highly reproduced.

The invention discloses a power plant safety intelligent early warning method based on a dynamic electronic fence, and the method comprises the steps: firstly analyzing the historical work ticket data of a power plant through a BERT-BiLSTM-CRF hybrid model, and recognizing an equipment entity, an operation type and a risk level; in combination with space coordinates of a power plant equipment three-dimensional model, an initial virtual safety boundary is automatically divided according to work ticket operation content, operation personnel operation actions, multi-person position relations and equipment states are fused in real time, and a buffer distance is dynamically adjusted to form a dynamic electronic fence; based on a dynamic electronic fence and high-precision positioning data, a group operation anti-collision model and a safe path planning strategy are established, a graded early warning mechanism is constructed, and corresponding grade early warning is triggered according to the real-time distance between an operator and the electronic fence through linkage of an intelligent wearable device and a power plant monitoring system. According to the invention, the intelligence and refinement level of power plant safety management can be significantly improved, and the occurrence rate of operation safety accidents is effectively reduced.

The invention discloses a method and system for monitoring a bubble contact angle in real time in a bubble impingement model, and belongs to the field of contact angle measurement. The problem that an existing contact angle monitoring method is not accurate is solved. According to the technical scheme, the method comprises the following steps: inversely fixing the surface of a to-be-tested sample in an experimental tank with a preset exposure area, and reserving a preset distance between the wall surface of the to-be-tested sample and a bubble generation channel at the bottom of the experimental tank so as to meet the space requirements of bubble generation and collision; the output end of the bubble generation channel outputs a single independent bubble, and a camera is started to record the collision dynamic process of the bubble and the wall surface of the to-be-detected sample; selecting a dynamic endpoint on the surface of the bubble in an image shot by a camera, calculating a dynamic angle in real time through a three-point method, and establishing a correlation model of the dynamic angle and a contact angle; the method is applied to the bubble collision model.

A method and a device for planning and controlling a leg robot, as well as a robot and a storage medium, wherein the method comprises: determining a foot-end reference state of each leg based on the motion state and swing parameter of the leg of a leg robot in the next instant; planning a collision-aware swing leg trajectory based on the foot-end dynamics model and the discrete collision model for the leg that will begin to swing in the next instant; performing whole-body control of the leg robot based on the motion state, the reference state sequence, and the foot-end reference state, wherein for the leg that was intended to be a support leg during planning and that did not touch the ground, collision-aware whole-body control is performed based on a whole-body dynamics model and a discrete collision model.This solves the problems of limited passive flexible buffering of collisions in leg robots in related technology, the large computational volume of the control algorithm, the low control accuracy, the high wear of the robot hardware, the short lifespan and the inability to meet the needs of practical applications.

This application relates to the field of automotive technology, and more particularly to a method, apparatus, device, and storage medium for adjusting a model. The method includes: obtaining a first collision simulation result based on a whole-vehicle collision model of a vehicle; the first collision simulation result includes at least the impact force of a first barrier and a protective beam in the vertical direction and a first acceleration of the non-deformed position of the protective beam in the vertical direction; determining the equivalent mass that generates the impact force based on the impact force and the first acceleration; controlling a second barrier included in the simplified collision model to impact the protective beam included in the simplified collision model with the impact force based on a simplified collision model of the vehicle and the equivalent mass, thereby obtaining a second collision simulation result; determining a first distance based on the first collision simulation result; determining a second distance based on the second collision simulation result; and adjusting the simplified collision model based on the difference between the first distance and the second distance.

The present invention concerns a system and a method for collision avoidance of a 3D robotic concrete printer, whereby the method comprises the steps of performing an application and / or manipulation process by executing instructions, such as based on G-Code, with a 3D robotic concrete printer by moving a tool in a path for applying and / or manipulating concrete material; and moving the tool in response to commands to a motion planner, said movement being assisted by a model-based collision prediction system, whereby the model-based collision-prediction system involves the steps of inferring and generating 3D geometries of concrete structures from applying and / or manipulating concrete structures by commanding the 3D robotic concrete printer, using the 3D geometries as a 3D collision model, which allow at any point in time to check if parts of the 3D robotic concrete printer would yield a collision when performing said movement; whereby the 3D collision model of the concrete structure is developed in parallel to the application and / or manipulation process and is updated in correspondence to the progress of the execution of the process instructions.

A method for providing a collision model includes detecting an item of patient information that has an item of information on a spatial placement of an entry point of a medical object into an object undergoing examination. The item of patient information is registered with a movable medical device. The method also includes detecting an item of object information that has an item of information on a geometry and spatial position of a manipulator for moving the medical object. The manipulator includes a motion device and / or a member of technical medical personnel. A relative placement of the manipulator in relation to the object undergoing examination is determined based on the item of patient information and the item of object information. The collision model is provided for the purpose of moving the medical device based on the relative placement and the item of object information.

The present invention relates to the technical field of intelligent control, and discloses a control method for a table tennis serving robot, including obtaining the actual landing point, actual net-crossing height, and actual rotation speed of a table tennis ball in its initial state; constructing a comprehensive error between the target landing point, target net-crossing height, target rotation speed and the actual landing point, actual net-crossing height, actual rotation speed, taking the linear velocity of the table tennis ball in its initial state as an individual, taking the comprehensive error as the optimization objective, and using the differential evolution algorithm for iterative optimization to obtain the optimal individual, that is, the optimal linear velocity of the table tennis ball in its initial state; using the collision model between the table tennis ball and the racket, combining the incident information of the table tennis ball and the optimal linear velocity of the table tennis ball in its initial state, calculating the speed and attitude of the racket; according to the speed and attitude of the racket, using the inverse kinematics of the serving robot to obtain the positions and speeds of the joints of the robot, and completing the control of the serving robot.

The present invention discloses a method for predicting the evolution of erosion morphology of an ion thruster grid, comprising: obtaining the size of a single-hole beam downstream of an accelerating grid through experimental measurement; selecting a pair of screen grids and an accelerating grid hole as objects of numerical simulation research; obtaining an initial plasma density upstream of the screen grid based on a relationship between beam current and plasma density upstream of the screen grid; obtaining a Debye length based on upstream plasma density calculation and selecting a size of a simulation grid; obtaining a neutral gas density at each grid node in a simulation area based on a neutral gas collision model; establishing a grid corrosion morphology evolution model, starting beam calculation, simulating and obtaining the single-hole beam size, performing feedback adjustment based on experimental values, and determining a final upstream ion density; processing the collision process between ions and the grid, starting corrosion calculation, and obtaining an accurate grid corrosion rate; reducing grid mass based on the corrosion rate, eliminating grid nodes, and realizing a change in the grid morphology.

A method for solving the thermal-mechanical coupling multi-scale dynamics of flexible multi-body systems with clearance hinges, the technical field of space deployment mechanism dynamics modeling and numerical simulation. The existing solving method is difficult to accurately capture the change of the dynamics response of the space deployment mechanism under the thermal environment. According to the constructed temperature related hinge gap model, the temperature related material parameter model, the normal contact collision model, the partial slip tangential slip friction model, the tangential total friction force, the adhesion zone displacement and slip velocity model, the thermal viscous damping and tangential friction force model, the static friction growth model and the friction heat feedback transient heat conduction model, the thermal-mechanical coupling mechanical dynamics equation is constructed, which is decomposed into slow field equation and fast field equation, and the slow field equation and the fast field equation are solved through BDF2 and Newton-Raphson method and double parameter adaptive multi-scale implicit integration method, and the motion response of the hinge is obtained. The present application is used for obtaining the motion response of the hinge.

The application discloses a prefabricated wallboard adaptive segmentation method based on primary and secondary collision models and strong limb constraints, relates to the technical field of building information modeling (BIM) and prefabricated building (PC) deepening design, and comprises the following steps: global topology scanning and infinite extension line collision detection; node adaptive retreat based on a primary and secondary game model; hole feature extraction and strong limb shield safety checking; optimal equal division deduction based on a building module; physical connection blocking and gap instantiation reconstruction; and the like. The application can automatically identify the multi-wall body joint topology relationship in a BIM environment through a bottom algorithm, forcibly perform primary and secondary angle retreat, combine the door and window hole safety distance and the building module, and generate an independent prefabricated wallboard model with real physical joints and unified size and height, so as to provide an accurate geometric carrier for the automatic arrangement of subsequent steel plate and bolt connection nodes.

The invention discloses a simulation method for a high-voltage multi-electron-beam selective melting forming process, which is characterized by comprising the following steps of: establishing a plurality of high-voltage electron gun integral models, and performing electromagnetic simulation to obtain an electron space-time movement track and a working plane electron beam spot shape; according to the collision model and the energy loss model, energy and power distribution conditions of the electrons impacting the powder bed under high-pressure acceleration are obtained, and a heat source model is obtained; according to the heat source model, the energy field distribution condition of the component is obtained, the single-layer and single-channel stress and plastic strain of the structural component are calculated, and the overall stress deformation of the structural component is obtained according to the single-layer and single-channel energy field distribution. The invention provides an additive manufacturing process simulation method for a high-pressure multi-electron-beam selective melting forming difficult-to-weld high-temperature material, belongs to the field of additive manufacturing numerical simulation, and can help to predict stress deformation of a formed part so as to adjust the process and reduce the crack occurrence rate during electron beam powder bed melting additive manufacturing of the difficult-to-weld high-temperature material. And deformation is reduced.

This disclosure relates to a trajectory planning method for a robotic arm, a mobile robot, a medium, and a product. The method includes: determining the initial pose of the end effector of the robotic arm in a working environment model and its target pose in a predetermined operation task; determining multiple workspaces based on the initial pose and the target pose; performing trajectory planning based on the working environment model, and during the trajectory planning process, acquiring multiple collision models with differences in geometric modeling accuracy and collision detection efficiency, and performing collision detection on trajectory points in the corresponding workspaces using the collision models; after the trajectory planning is completed, obtaining the target motion trajectory of the robotic arm under the predetermined operation task. This embodiment solves the problem of high computational complexity in global collision detection using traditional collision models, improves the trajectory planning efficiency of the robotic arm, and thus ensures the task response efficiency of the mobile robot in scenarios with dense equipment distribution.

The present invention discloses a communication method for network AI combined with unmanned aerial vehicle (UAV) air-ground integration, including: loading an SRv6 network chip and a Beidou signal receiver on a UAV, establishing an aerial wireless network for UAVs through the SRv6 protocol, assigning an independent IPv6 address to each UAV, and automatically assigning an initial path identifier to the network routing; obtaining the aerial coordinates of the UAV through the Beidou signal receiver, combining possible obstacles between the UAVs, building a collision model, and calculating the probability of collision between the UAV and the obstacle, and storing it in the Argument of the SRH; using a Markov chain to build an early warning model, obtaining the probability of an alarm associated with the initial path identifier of the current UAV identifier, and storing it in the Argument of the SRH; the network routing updates the initial path identifier based on the probability of collision and the alarm probability. The communication method of the present invention reduces the resource consumption of message forwarding and avoids the occurrence of aerial failures.

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 bolt collision model generation method and device, equipment and a storage medium, and the method comprises the steps: constructing a nut model library, a nut model library and an occupied screw reference model library according to a bolt CAD database and a nut CAD database; obtaining a target nut model from the nut model library, obtaining a target nut model from the nut model library, and obtaining a target occupied screw reference model from the occupied screw reference model library; moving the target nut model, the target nut model and the target placeholder screw reference model to target positions; constructing a target effective screw model and a target occupied screw model according to the position parameters of the target position and CAD data of a target bolt in a bolt CAD database; and creating a target bolt collision model based on the target nut model, the target effective screw model, the target occupied screw reference model, the target occupied screw model and at least one target connecting piece corresponding to the target bolt. By applying the scheme, the problem that the bolt collision model creation efficiency is low can be solved.

This disclosure provides a motion optimization obstacle avoidance control method and system for vehicle-like robots, relating to the field of robot path planning and obstacle avoidance technology. The method includes: defining the state space of the vehicle-like robot; planning the global path of the vehicle-like robot; fitting the sparse state sequence using Hermite curves to obtain a time-space continuous trajectory; establishing a collision model between the vehicle-like robot and obstacles; transforming the geometric separation conditions between the robot and obstacles into a set of continuously differentiable nonlinear algebraic constraints based on duality theory; using the time-space continuous trajectory as a reference trajectory; and constructing a trajectory optimization objective function. This function can solve for the motion control quantities of the vehicle-like robot while satisfying its dynamic constraints, input constraints, and acceleration smoothing constraints, thus achieving obstacle avoidance planning and control of polygonal obstacles. This disclosure enables real-time, full-size robot planning and obstacle avoidance control.

The invention discloses a collision release strategy optimization method for a civil aircraft, which is characterized in that related parameters for determining collision release are optimized by adopting a reinforcement learning method, an optimized collision release strategy is generated, and the method specifically comprises the following steps: 1) acquiring information of a local aircraft and an intrusion aircraft; 2) constructing a collision model between the local machine and the intrusion machine; 3) determining a collision release strategy based on the prediction model; 4) constructing a strategy joint optimization direction; and 5) optimizing a collision release strategy, generating an optimized collision release strategy and the like. Compared with the prior art, the method has the advantages that the flexibility of the local aircraft to deal with various flight conditions in a collision release strategy is improved, the vertical acceleration of the local aircraft is limited and optimized, the flight stability of the local aircraft is effectively improved, the parameter of estimated response time of a pilot is optimized, and the safety threshold value of collision release is effectively expanded; in addition, the vertical interval is restrained and maximized, and the strongest safety performance is guaranteed on the basis of flight stability.