128 results about "Collision prevention" patented technology

The invention belongs to the technical field of ship collision avoidance, discloses a ship collision avoidance early warning method and system based on vision and AIS data collaborative perception, and firstly provides an enhanced YOLO (E-YOLO) target detector which can detect a ship in a complex environment in a high-precision and real-time manner and perform ship tracking and visual trajectory extraction in combination with a DeepSORT algorithm. Secondly, a homography coordinate conversion method based on multiple frames of static images is provided, conversion between a pixel coordinate system and a world coordinate system can be realized without accurate camera calibration, and the fusion precision of visual data and AIS data is improved. AIS and visual information are matched through a K-D tree algorithm, AIS data are projected to visual coordinates, and accurate matching of heterogeneous data is achieved. The system is provided with ship illegal behavior judgment and collision early warning rules, behaviors such as overspeed and abnormal AIS closing can be recognized, and early warning is triggered. Experiments prove that the method provided by the invention is strong in adaptability and high in robustness, and can effectively improve the ship monitoring and traffic management level of the bridge water area.

The invention discloses a bucket wheel machine collision prevention method and system based on laser radar perception, and the method comprises the steps: S1, calibrating a laser radar under a stockyard coordinate system; s2, acquiring a three-dimensional point cloud coordinate set around the anti-collision part through a laser radar; s3, judging whether an obstacle exists in the protection area according to the three-dimensional point cloud coordinate set; s4, in response to the existence of the obstacle, calculating the minimum linear distance between the obstacle and the anti-collision part; and S5, converting the minimum linear distance into a switching value signal of the corresponding working mode. According to the scheme, a layer of intelligent anti-collision protection of the bucket wheel machine based on the laser radar is added during operation of the bucket wheel machine, the defect that the anti-collision function cannot be achieved when the distance between any two bucket wheel machines is smaller than a fixed area is overcome, and the autonomous safety of equipment is effectively improved.

The invention discloses a crane group anti-collision method based on a motion trend, which relates to the technical field of mechanical automation control, and comprises the following steps: deploying multiple sensors on a crane, collecting and integrating multi-modal data, obtaining a nonlinear state vector, constructing an improved extended Kalman filtering model based on the nonlinear state vector, and calculating the anti-collision degree of the crane group based on the improved extended Kalman filtering model. The method comprises the following steps of: deploying multiple types of sensors, performing joint optimization in combination with a deep learning algorithm, acquiring probability distribution of a motion track, distributing roles for each crane based on the probability distribution of the motion track, generating a global path for a navigator by adopting an A * algorithm, and acquiring an initial speed instruction. According to the method, the multi-source heterogeneous data are extracted and integrated into a non-linear state vector, effective fusion of the multi-source heterogeneous data is achieved, meanwhile, an improved extended Kalman filtering model is combined with a deep learning algorithm, probability distribution prediction is conducted on the motion trail of the crane, the collision risk possibly occurring in the future is effectively predicted, avoidance is conducted, and collision prevention of the crane group is achieved.

The invention relates to the field of automation, and particularly provides a crane boom anti-collision method and system based on dynamic detection, and the method comprises the following steps: obtaining power parameters, motion data and structural data of a main engine boom and an auxiliary engine boom; determining the current position information of a main engine boom, and determining the current position information of an auxiliary engine boom; acquiring predicted deceleration position information and predicted stop position information of the main engine arm support based on the motion data, the power parameters and the structural data of the main engine arm support; based on the current position information of the main machine arm frame, the current position information of the auxiliary machine arm frame and the predicted deceleration position information and the predicted stop position information of the main machine arm frame, judging a collision risk assessment result of the main machine arm frame and the auxiliary machine arm frame; and when the collision risk assessment result is early warning, the main engine boom is decelerated, or when the collision risk assessment result is dangerous, the main engine boom is stopped. According to the anti-collision method, collision of the crane boom can be avoided.

The present disclosure relates to an artificial intelligence-based load and heavy equipment collision prevention device and a control method thereof, the device including: a camera for capturing a forward image; a communication module for transmitting and receiving data to and from an external device; a memory in which at least one process for the artificial intelligence-based load and heavy equipment collision prevention is stored; and a processor for performing an operation according to the process. The processor can extract a person image and a dangerous object image, including the load and the heavy equipment, from the image using an artificial intelligence model, measure the separation distance between the extracted dangerous object image and the extracted person image, identify a collision risk on the basis of the measured separation distance, and output a warning message when the identified collision risk is present.

The invention discloses nondestructive testing equipment for internal defects of high-quality titanium alloy bars, and relates to the technical field of sensor detection.The nondestructive testing equipment comprises a feeder, a material changing sliding block, a discharging base, an anti-collision table, a clamping assembly, a truss guide rail, a moving module and an ultrasonic testing assembly; the feeding device is arranged above the material changing sliding block, the anti-collision table is installed on one side of the discharging base, the clamping assembly is installed in the anti-collision table, the truss guide rail is located between the discharging base and the anti-collision table, the truss guide rail is erected through a support, the moving module is installed in the truss guide rail, and the moving module is connected with the control system through a circuit. The ultrasonic detection assembly is installed in the mobile module, through the arrangement of the ultrasonic detection assembly, the technical problem that ultrasonic waves cannot detect gaps is solved, and the use and maintenance cost of the detection equipment is reduced.

The invention discloses an anti-collision early warning method and an anti-collision system suitable for a forklift operation vehicle, belongs to the technical field of anti-collision, and particularly relates to anti-collision of the forklift operation vehicle. The problems that an existing forklift anti-collision system cannot deal with flexible obstacles, is prone to being interfered by severe weather and environments, cannot adapt to all-weather working environments, needs additional RFID tags or special equipment and is low in universality are solved. The system comprises an information acquisition module, a central control system, a sound-light alarm device and an execution control system. The AI camera submodule comprises a detection unit and a deep learning unit. The anti-collision early warning method and the anti-collision system suitable for the forklift operation vehicle are suitable for reducing the accident rate during operation of the special vehicle and improving the operation efficiency of the forklift when the special vehicle, especially the forklift executes tasks of loading, unloading, stacking, carrying and the like, so that the special vehicle can adapt to the all-weather working environment.

The embodiment of the invention relates to the technical field of vehicles, and discloses a vehicle door anti-collision method and device and a vehicle, and the method comprises the steps: obtaining the first point cloud information of the environment where the vehicle is located and the operation information of the vehicle in real time when the operation process of the vehicle is detected; according to the first point cloud information and the operation information of the vehicle, determining first pose information of the point cloud corresponding to the obstacle relative to the vehicle; and when it is detected that the vehicle stops running and the first pose information is located in the opening track range of the vehicle door, prompt information is determined. According to the technical scheme, the success rate and stability of collision prevention of the vehicle door can be effectively improved.

The invention discloses an intelligent tower crane anti-collision system and method in the technical field of tower crane construction, the intelligent tower crane anti-collision system comprises a sensing module, the sensing module is installed on a lifting hook component of a tower crane, and the sensing module detects distance information with a lifted object; and the control module is electrically connected with the sensing module. The distance information and the median distance information are virtually simulated into three-dimensional virtual anti-collision area information through the simulation module, and the three-dimensional virtual anti-collision area information can comprehensively simulate a rotation area of a lifted object in the lifting process; the information of the plurality of three-dimensional virtual anti-collision areas is coupled through the data processing module to obtain a final anti-collision area, and the final anti-collision area is taken as a collision prevention reference, so that collision among different articles can be comprehensively prevented when the plurality of tower cranes are used for hoisting the different articles; according to the system, corresponding virtual final anti-collision areas can be formed according to different corresponding objects.

The invention discloses a multidirectional anti-collision protection device, and relates to the technical field of laser cutting and welding. Comprising a swing arm rocker, the front end of the swing arm rocker is a round rod, the tail end of the swing arm rocker is a circular truncated cone, a back pressure spring is arranged on the side face of the circular truncated cone, and a spring mounting groove is formed in the back face of the swing arm rocker. The multidirectional anti-collision protection device has the advantages that 360-degree multidirectional no-dead-corner anti-collision is realized, hard collision of the working laser head is changed into soft contact, the influence on other parts in collision accidents is eliminated, the defect that the working laser head is easy to damage due to collision is overcome, a large amount of maintenance and replacement cost is saved for enterprises, more time is saved, and the working efficiency is improved. Production is not delayed any more due to collision accidents; the problems that a laser head is easy to collide with a plate, a cutting torch is easy to abrade, leapfrog and the like of laser equipment are solved; internal parts are high in precision, sensitive in induction and rapid in response, and safety is ensured through contact, pressure induction and multiple signal alarm; the installation is simple and convenient, the installation plate is self-adaptive, and all models can be adapted.

The invention discloses an anti-collision method and system, a storage medium and electronic equipment, and the method comprises the steps: firstly obtaining a depth image collected by image collection equipment, and then determining the distance between a target object and a C-shaped arm according to the depth image. And finally, the motion state of the C-shaped arm is adjusted according to the distance and a preset threshold value. Namely, according to the method, the distance between the target object and the C-shaped arm is determined, the motion state of the C-shaped arm is adjusted, and collision with a user and the like is avoided.

A pedestrian collision prevention system of a vehicle including a detection unit to detect one or both of a fixed object and a pedestrian located in a vicinity of the vehicle; a prediction unit to predict a collision possibility with the pedestrian based on one or both of the fixed object and the pedestrian detected by the detection unit; and a control unit to set a detection sensitivity based on the collision possibility predicted by the prediction unit and to control one or both of generation of a warning signal and driving of the vehicle based on the detection sensitivity.

The invention discloses a collaborative robot collision control method based on cloud computing, and belongs to the technical field of motion control. Monitoring and analyzing movement of an end effector of the collaborative robot according to the movement design data, and implementing a targeted first collision prevention control scheme for obstacles identified in a risk identification area planned by the end effector of the collaborative robot; performing tracing analysis on a first collision prevention control scheme implemented by an end executor of the collaborative robot, determining whether an obstacle monitored in the risk identification area moves to the first supervision area, and implementing a targeted second collision prevention control scheme; different local reaction processing data of reaction control of the collaborative robot are integrated and analyzed, and an existing collision control scheme of the collaborative robot is dynamically optimized and managed; the technical problems that in an existing scheme, the multi-dimensional supervision processing analysis effect of collaborative robot collision control is poor, and the autonomous optimization management effect is poor are solved.

The invention belongs to the field of aircraft flight control systems, particularly relates to a dual-aircraft collision avoidance algorithm based on a geometric method, and aims at the situation that two aircrafts pursue back and forth and fly in opposite directions frequently in a cooperative task of the two aircrafts and the situation that a local minimum exists in a common potential field method. By monitoring the relative position and relative speed relation between the two aircrafts, the anti-collision control method based on the geometric method under the chasing or relative condition between the two aircrafts is provided according to the relative position and relative speed relation between the two aircrafts. Detecting whether the two aircrafts are in a relative or chasing state or not through an acquirable aircraft flight state design algorithm, and judging whether an anti-collision instruction is accessed through a certain time and distance safety standard; according to the anti-collision algorithm, the expected yaw angle of the aircrafts is calculated through the geometrical relationship, and the two aircrafts can keep a certain relative distance and do not collide through instruction tracking of the expected yaw angle of the aircrafts.

The invention belongs to the technical field of bridge pier collision prevention, and particularly provides a buffer collision prevention device and a bridge, the device adopts a barrel as an outer side structure, the barrel is extruded and deformed by direct collision to dissipate energy, the deformed barrel can indirectly transfer impact energy to a nearby barrel through internal liquid flow, so that the barrel expands and deforms to dissipate energy, and the energy consumption is reduced. Meanwhile, impact possibly drives vortex water flow formed in the barrel to consume energy, impact can be transmitted to the energy consumption columns to enable the energy consumption columns to deform and consume energy, the chains connect the corresponding energy consumption units into a whole, the impact resistance is higher, the barrel is prevented from being disengaged from the energy consumption columns due to impact, other barrels and the energy consumption columns on the same chain can be driven to consume energy, and the service life of the energy consumption columns is prolonged. The device adopts a three-stage energy dissipation series-parallel connection system, is good in deformability, is favorable for prolonging the service life of the device, can have a good energy dissipation effect under larger and smaller impact loads, and meanwhile, does not lose an anti-collision function as a whole due to damage of a certain unit.

The invention relates to the technical field of material conveying, in particular to an anti-collision device and method. The conveying roller way in the anti-collision device is provided with the free roller, and the rotating part is installed on the free roller, so that when materials move to the free roller, the free roller starts to rotate and drives the rotating part to rotate, blades of the rotating part are gradually close to the proximity switch, and after the proximity switch senses the blades on the rotating part, the free roller is driven to rotate. The proximity switch sends a stop signal to the driver. The driver is electrically connected with the proximity switch, so that the driver can receive the stop signal and stop driving the conveying roller way; therefore, operation of the conveying roller way is stopped in time, materials stop moving in time, the materials are prevented from colliding with a buffer at the tail end of the conveying roller way, the materials and the buffer are prevented from being damaged, and the quality of the materials is guaranteed.

To provide a collision prevention circuit for preventing collision between devices.SOLUTION: A collision prevention circuit according to an embodiment prevents a collision between first and second devices in control of movement of the first and second devices based on first and second information. The second device is a device that moves on the same track as the first device. The first and second information indicates first and second moving operations in which the first and second devices move by first and second moving amounts at first and second moving speeds. The collision prevention circuit is configured to perform determination processing of determining, based on the first information and the second information, a possibility that the first device executing the first move operation collides with the second device executing the second move operation. When the collision prevention circuit determines that the first and second devices collide with each other, the collision prevention circuit calculates a waiting time based on at least the first movement speed, the first movement amount, and the second movement speed, and causes the first device to start the first movement operation after causing the first device to wait for the waiting time.SELECTED DRAWING: Figure 4

1. The name of this design product: crash barrier with drainage pipes. 2. Purpose of this design product: a crash barrier used for buffering and collision prevention. 3. The key point of the design of this product lies in its shape. 4. The picture or photo that best illustrates the design points: three-dimensional picture. 5. The rear view is the same as the main view, so the rear view is omitted; the right view is the same as the left view, so the right view is omitted.

The application relates to a seat adjusting device in a vehicle collision process and belongs to the technical field of vehicle collision prevention. The seat adjusting device comprises a lateral overturning assembly, a sliding assembly, a seat body, a sensing module and a control module. The seat body is connected with the bottom of a passenger space of a vehicle body through the lateral overturning assembly and the sliding assembly. The seat body slides away from a side of the vehicle body that is impacted under the drive of the sliding assembly. The seat body overturns away from the side of the vehicle body that is impacted under the drive of the lateral overturning assembly. The sensing module comprises four acceleration sensor arrays arranged on four sides of a vehicle shell respectively. Any acceleration sensor array is used for measuring the acceleration of the shell and uploading to the control module in real time. The control module is electrically connected with the lateral overturning assembly, the sliding assembly and the sensing module and controls the running time of the lateral overturning assembly, the sliding assembly and the sensing module. The seat adjusting device can change the evasion distance according to the impact severity while considering the two evasion schemes of translation and overturning.

The present invention discloses a near-track bucket wheel stacker-reclaimer anti-collision method, which includes the following steps: establishing a simplified anti-collision protection model for two near-track bucket wheel stackers, wherein the stacker-reclaimer in the simplified model includes a rotation center and three strip areas, the three strip areas being a forearm, a counterweight, a tail car, and a belt, and the track width in the model is less than the forearm length; marking multiple key parameters of the two stackers on the horizontal plane and the vertical plane in the simplified model, and calculating multiple characteristic distances based on the key parameters; comparing the calculated multiple characteristic distances with corresponding preset safety thresholds to determine the collision situation between the current stacker-reclaimer and the adjacent stacker-reclaimer, and making corresponding control strategies. The present invention is suitable for application environments where the distance between adjacent tracks of stackers is relatively short, and the tail car belt and counterweight of the stacker-reclaimer are taken into consideration for the anti-collision of the stacker-reclaimer, thereby achieving a good anti-collision warning effect.

An object recognition device includes a first sensor that acquires an image of an object present outside a movable body, a second sensor that detects a distance to the object, and a recognition unit that recognizes a position of the object with respect to the movable body and a shape of the object at the position by using outputs from the first sensor and the second sensor. If determining that the object is a first type object having a size equal to or more than a predetermined size, the recognition unit determines an actual shape of the object based on an image of the object acquired by the first sensor and the distance detected by the second sensor, and recognizes that the object is present as the actual shape at a position distanced from the movable body by the distance.

This invention relates to a method, device, and electronic equipment for underwater vehicle formation control. The method includes: constructing a formation configuration maintenance framework based on rigid graph theory, and determining the relative positional relationships between vehicles through distance constraints; establishing an obstacle avoidance control model based on the artificial potential field method, calculating the potential field force based on the distance between the vehicle and the obstacle and the distance between vehicles, thereby achieving obstacle avoidance and collision prevention between vehicles; performing online identification and compensation of unmodeled dynamics and external disturbances in the vehicle dynamics model based on a radial basis function neural network, using a Gaussian function as the activation function; and vector-fusing the formation maintenance control force, potential field force, and compensation output of the radial basis function neural network to generate control commands for each vehicle, thereby achieving formation control. This invention can achieve high-precision formation maintenance, effective obstacle avoidance, and adaptive disturbance compensation capabilities in complex underwater environments.

The application discloses a rectangular stockyard stacker-reclaimer collision prevention method and system, belongs to the technical field of stacker-reclaimer anti-collision analysis, simplifies detection and calculation of three-dimensional position coordinate positions of a cantilever end of a stacker and a top end of a reclaimer rake in a rectangular stockyard, and after checking longitudinal and vertical space coordinates, only accurate measurement of horizontal positions of the two is needed to build software safety anti-collision functions of the two vehicles; a set of laser ranging sensors is added to each stacker-reclaimer, and the set of laser ranging sensors is used for tracking and redundancy backup; position detection sensors are evenly arranged beside tracks on both sides of the stockyard, and encoder data on traveling wheels of the stacker-reclaimer is compared and checked; in addition to building software installation anti-collision functions based on accurate detection of equipment coordinate positions, a set of ultrasonic ranging and rope anti-collision systems is arranged on a large arm of the stacker-reclaimer, and the set of ultrasonic ranging and rope anti-collision systems together form a safety anti-collision system of the rectangular stockyard stacker-reclaimer, and create a fundamental guarantee for safe and stable operation of unattended operation of the stockyard.

The utility model belongs to the field of automobile intelligence, particularly relates to an intelligent collision avoidance device, and provides the following scheme aiming at the problems that the existing automobile cannot intelligently avoid collision, reduce the possibility of accident occurrence, buffer impact force and improve the damage to the automobile and personnel due to collision: the intelligent collision avoidance device comprises a protective bar, and a protective cover is fixedly arranged on the front side of the protective bar; a protective plate is arranged in the protective cover in a sliding mode, two distance measuring sensors are symmetrically and fixedly arranged on the two sides of the protective bar and the front side of the protective plate, and audible and visual alarms are fixedly arranged on the two sides of the protective bar; the first buffering assembly is used for buffering the impact force; and the second buffering assembly is used for buffering the impact force. Through the arrangement of the distance measuring sensor and the audible and visual alarm, vehicles can be helped to avoid collision, the possibility of accidents is reduced, impact force is buffered through the first buffering assembly and the second buffering assembly, vehicle losses caused by collision are reduced, and meanwhile injuries caused by collision to people are reduced.

The utility model relates to the technical field of machine tool machining, and discloses a machine tool machining head anti-collision device which comprises a cylindrical first fixing barrel, a second fixing barrel arranged in the first fixing barrel, a connecting rod arranged in the second fixing barrel and a machining head body arranged at the bottom of the connecting rod. A protection piece used for protecting the machining head body is arranged between the first fixing cylinder and the second fixing piece in a sliding mode, and a set distance exists between the bottom end of the protection piece and the bottom end of the machining head body. The utility model provides an anti-collision device for a machining head of a machine tool. The anti-collision device has the effect of reducing production cost.

The anti-collision device comprises a working table, a protective frame is fixedly arranged above the working table, an air chamber, a sealing sliding groove and a moving groove are formed in the working table, the air chamber is communicated with a safety air bag arranged on a guardrail rod through a ventilation pipe, a rotating piece is arranged in the moving groove, and the sealing sliding groove is communicated with the rotating piece. The rotating piece comprises a swing frame, a gear, a push rod, an anti-collision strip, a buffer spring and a rack; in the collision process, the anti-collision strip slides and compresses the buffer spring, the swing frames are pushed through the push rods so that the rotating piece can swing, the rotating piece swings to pull the other swing frame through the other end, then the other swing frame pulls the other push rod, the anti-collision strip on the other side slides towards the interior of the workbench, the buffer spring is compressed, and therefore the anti-collision effect is achieved. And meanwhile, the rotating piece drives the gear to rotate, the rack is controlled to slide through the gear, and therefore the buffer spring on one side of the rack is compressed, huge energy generated by collision of one side of the workbench can be absorbed, and the anti-collision protection performance is improved.

The present invention discloses a tower crane anti-collision system based on computer vision detection, belonging to the technical field of building safety systems, which includes a central main control system, a transmission module, a scheduling module, an early warning module, a processing module, and a calculation module. The central main control system is set on a computer, which includes a first host located inside the tower crane and a second host connected to ground personnel. The central main control system is connected to the transmission module, the calculation module, the scheduling module, the early warning module, and the processing module through network signals; the central main control system includes the access rights of the administrator and a login terminal. The access rights include password verification, and the entered password value must be the same as the preset value in the central main control system to enter the central main control system. If they are inconsistent, entry is not allowed. This tower crane anti-collision system based on computer vision detection enables the tower cranes to operate in a reasonable and safe range and meet the conditions for safe use during group operation.

The invention belongs to the technical field of coal mining machine collision prevention, and discloses a coal mining machine and hydraulic support collision prevention early warning method which comprises the steps that a plurality of recognition structures are installed at the position, to be recognized, of a hydraulic support, the recognition structures comprise a plurality of corner reflectors, and the position, to be recognized, of the hydraulic support comprises a face guard or a top beam; echo signal data of the to-be-recognized part are obtained through a radar; inputting the echo signal data into a contour recognition model for contour recognition, and outputting contour data of the to-be-recognized part; wherein the contour recognition model is constructed based on a convolutional neural network; the distance between the coal mining machine and the hydraulic support is judged based on the contour data of the to-be-recognized part, and when the distance between the coal mining machine and the hydraulic support is smaller than a preset collision threshold value, a collision early warning and protection strategy is sent out. According to the technical scheme, the contour of the side protection plate / top beam structure of the hydraulic support can be rapidly and correctly recognized, and then anti-collision early warning of the coal mining machine and the hydraulic support is achieved.

The invention relates to a method (M20) for collision prevention for a vehicle (100), comprising: providing (S13) a virtual vehicle model (150) which has different vehicle heights (250) at at least two points; providing (S14) at least one piece of obstacle information which is indicative of a position of an obstacle (220) and a clearance (230) below the obstacle (220); and determining the shortest distance (240) between the vehicle (100) and an obstacle (220) on the basis of the provided obstacle information and the provided vehicle model (150).

The invention belongs to the technical field of collaborative robots, and particularly discloses a human body arm active anti-collision device used during collaborative operation of a person and a collaborative robot, and the human body arm active anti-collision device comprises a wearable assembly, a control assembly, a driving assembly and a detection system. The wearable assembly is fixed to the trunk of the human body through the vest and extends to the arms. A central control panel of the control assembly is connected with a plurality of driving pulleys; the driving assembly is composed of a pulley ring, a pull wire and a wiring groove, and the movement direction of the arm is adjusted through tensioning of the pull wire. The detection system monitors the position and the distance between the human arm and the collaborative robot in real time through the image acquisition module, the image processing recognition module and the distance measurement positioning module. When it is detected that the distance is smaller than a safety threshold value, the control assembly drives the stepping motor to control the arm to actively avoid through the pull wire, and active collision prevention is achieved. Through active intervention, omnibearing monitoring and accurate judgment, the man-machine cooperation safety is effectively improved, meanwhile, the operation efficiency and the operation flexibility are considered, and the system is suitable for various industrial scenes.