35 results about "Collision prevention" patented technology

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

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 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 present invention relates to a train anti-collision method based on vehicle-to-vehicle communication, a device, and a storage medium. The method includes the following steps: step A: initiating, by a trackside resource controller, vehicle-to-vehicle communication based on requirements for track resource overlapping and anti-deadlock requested by different train controllers, and establishing direct vehicle-to-vehicle communication between the different train controllers; step B: directly negotiating track resources between different trains; and step C: revoking, by the trackside resource controller, the vehicle-to-vehicle communication based on a current train running state and a signal system running state, and performing request and release of the track resources between the train controller and the trackside resource controller. Compared with the prior art, the present invention has advantages of improving the utilization efficiency of track and train resources while ensuring safety.

Systems and methods for identifying potential collisions in which another vehicle may collide with the AV. The AV detects the other vehicle and determines the other vehicle speed, acceleration, and trajectory. The AV determines that there is a risk of collision if the other vehicle continues on its current trajectory at its current speed and its current acceleration. When an AV determines there is an imminent risk that another vehicle may collide with the AV, the AV can initiate a honk to alert the other vehicle of the potential collision. In some examples, the AV can identify a potential rear end collision, and the AV can honk at the vehicle approaching it from behind. In other examples, the approaching vehicle can come from any direction. Honking is designed to be limited so that an AV does not initiate too many honks.

The invention relates to the technical field of PCB (Printed Circuit Board) carrying, in particular to an anti-collision method for an execution tail end of a PCB carrying manipulator, which comprises the following steps of: establishing a Cartesian coordinate system, dividing a rectangular area, constructing a frame model, calculating a safe operation range under the change of an R-axis angle and a Z-axis height, setting redundant parameters, correcting the size when the execution tail end is replaced, and alarming and stopping when the range is exceeded. According to the invention, additional hardware is not needed, three-dimensional accurate collision prevention and early warning are realized, the terminal size change is adapted, the equipment and the PCB are prevented from being damaged, the operation reliability and economy are improved, and the method is suitable for multi-station PCB test equipment.

The utility model discloses a high-fidelity digital audio player. A heat dissipation protective sleeve is arranged at the bottom of a player body of the player. Operation buttons and a display screen are arranged on the upper surface of the player body, a central processor and other components are installed in the player body, and a communication interface is arranged at the rear end. A heat dissipation rear shell of the heat dissipation protective sleeve is composed of an inner side heat conduction plate, fins and an outer side rubber shell, the fins divide the middle section space into heat dissipation cavities, and the cavities in the left side and the right side are filled with silica gel strips for collision prevention and protection. And the inner heat-conducting plate is connected with the player body through an adhesive and heat-conducting silicone grease, so that heat dissipation is facilitated. Bumps are distributed on the inner side of a U-shaped plastic strip of the pocket clip in a staggered mode, the pocket clip can be clamped into pocket openings of trousers or shirts, friction force is increased, and slipping is prevented. According to the design, heat dissipation, collision prevention and portability are considered, and the requirements of users for high-fidelity audio playing and daily use can be met.

The application relates to the related field of sweeping robots, and discloses a sweeping robot and a collision prevention method, the sweeping robot comprising: a body, a control unit and a power unit arranged in the body; a collision prevention detection unit for monitoring the state of the sweeping robot, the collision prevention detection unit being arranged at the front end edge of the body; a walking unit and a cleaning unit located at the bottom of the body; wherein the control unit is connected with the collision prevention detection unit, the walking unit and the cleaning unit respectively, and the control unit is responsible for controlling the robot body to execute corresponding different working modes according to different states of the robot; the application detects different states of the robot through the collision prevention detection unit, executes different working modes, so that the robot has the function of making the most appropriate response according to different collision conditions, avoids low working efficiency caused by frequent retreat, and improves the working efficiency of the sweeping robot.

The following descriptions relate to an elevator system (1) comprising an elevator shaft (2), a first car (3.1) movable in the elevator shaft (2) with a first brake (9, 10.1) for locking the first car (3.1), a monitoring device (12) for detecting a first state variable of the first car (3.1), a collision prevention device (14) for triggering the at least one first brake (9, 10.1) based on the detected first state variable and a first trigger curve, and a safety device (15) for braking the first car (3.1), wherein the safety device (15) is configured to trigger based on the detected first state variable, thus preventing the collision prevention device (15) from being triggered. The following descriptions further relate to a method (20) for operating such an elevator system (1).

To provide a collision prevention device or the like that improves safety during work and suppresses a decrease in work efficiency in a work machine.SOLUTION: A collision prevention device 100 comprises a machine motion calculation unit 110 that calculates the position and velocity vector of a work machine 200, a detection target motion calculation unit 120 that calculates the position and velocity vector of a detection target, a region calculation unit 130 that calculates a motion restriction region positioned around the work machine 200 based on the position and velocity vector of the work machine 200, a determination unit 140 that determines whether or not to cause the work machine 200 to perform an anti-collision operation for preventing collision between the work machine 200 and the detection target, based on the position and velocity vector of the detection target and the motion restriction area, and a motion restriction control unit 150 causes the work machine 200 to perform a collision prevention operation when the determination unit 140 determines that the work machine 200 is to perform the collision prevention operation.SELECTED DRAWING: Figure 2

The invention relates to the technical field of robots, and particularly discloses a mobile robot adopting an anti-collision structure, the mobile robot comprises a shell, one side of the inner wall of the shell is fixedly connected with a steering system, one side of the inner wall of the shell is fixedly connected with a driving system, and the steering system and the driving system are both fixedly connected with rotating wheels; one side of the shell is connected with a cart through a buckle, the top of the shell is fixedly connected with an assembling box, the top of the assembling box is fixedly connected with a fixing rod, the top of the fixing rod is fixedly connected with an anti-falling device, the top of the assembling box is fixedly connected with a mechanical arm, and one side of the top of the assembling box is fixedly connected with a fixing plate. And one side of the fixing plate is fixedly connected with an integrated system, the side, away from the fixing plate, of the integrated system is fixedly connected with a camera, and the bottom of the integrated system and the bottom of the camera are both fixedly connected with the assembly box. The mobile robot adopting the anti-collision structure achieves the purpose of effectively preventing collision.

The invention provides an anti-collision method and device, equipment and a storage medium, and the method comprises the steps: responding to the condition that the output of N magnetic induction devices meets a first preset condition, determining the adsorption position of an external keyboard on a first display screen based on the relative positions of the N magnetic induction devices and the first display screen, and N is an integer greater than 0; a locking angle threshold value corresponding to the adsorption position is determined according to the preset corresponding relation between the position and the locking angle; in response to the fact that the first included angle is smaller than or equal to the locking angle threshold value, the locking device is controlled to be locked so as to prevent the first display screen and the second display screen from being closed, and the first included angle is the included angle between the first display screen and the second display screen. When the double-screen included angle is smaller than the threshold value corresponding to the adsorption position of the keyboard, the first display screen and the second display screen are prevented from being closed based on the locking device, and the potential safety hazard that the keyboard and the display screens are likely to collide when the double-screen notebook computer is closed is solved.

The collision prevention device and collision prevention method according to the embodiments of the present disclosure can prevent collisions between a vehicle and an object on which the collision prevention device is installed by receiving a signal output from an object detection device mounted on a vehicle traveling on a road, and generating and transmitting a virtual reflected signal that is different from the actual reflected signal of the received signal based on the received signal and the virtual driving speed.

In a collision prevention safety control system devised to prevent a collision by precisely controlling an automatic operation of a logistics transport and loading system and by maintaining a safety distance from a worker and an obstacle, the collision prevention safety control system includes a logistics transport and loading system for automatically transporting and loading the transport object, and a collision prevention device that controls an operation of the logistics transport and loading system.

The application discloses a well pattern parameter determination method, device and equipment. The method comprises the following steps: obtaining a plurality of groups of well pattern design parameters of a target area, wherein the well pattern design parameters comprise well pattern characteristic parameters, wellhead parameters, borehole trajectory parameters and target body parameters of each well in the well pattern; determining well pattern separation coefficients corresponding to the plurality of groups of well pattern design parameters based on the well pattern characteristic parameters, the wellhead parameters, the borehole trajectory parameters and the target body parameters in each group of well pattern design parameters; and selecting one group of well pattern design parameters from the plurality of groups of well pattern design parameters as target well pattern parameters of the target area based on the plurality of well pattern separation coefficients. Through the above method, the difficulty of collision prevention of a small-spacing dense horizontal well pattern corresponding to each group of well pattern design parameters can be more accurately and effectively evaluated based on the well pattern separation coefficients; and the design of the small-spacing dense horizontal well pattern can be better adapted to, and the requirements of collision prevention, design and trajectory control of well pattern borehole trajectories can be met.

A system for improving fuel consumption of a marine vessel, comprising at least one processor and a memory including computer program code, with the at least memory and the computer program code being configured with the at least one processor to cause the system to: obtain safety information indicative of an increased likelihood for collision of the vessel with another maritime object; process current navigational data of the vessel in view of the safety information to generate a set of possible deviation maneuvering schemes with respect to the other object which qualify a collision prevention safety criterion; perform fuel consumption analysis for the set of possible deviation maneuvering schemes to assess fuel consumption in different possible deviation maneuvering schemes; and compute a recommended deviation scheme for the vessel based on results of the analysis, to reduce fuel consumption of the vessel in maneuvering with respect to the other object.

A computer system for preventing collisions between a first and a second vehicle operating at a work site is described, along with a corresponding computer implemented method and a computer program product.

A collision prevention control system is provided that is capable of reducing the computational load of a central control unit. The collision prevention control system comprises: a control unit (9); and a plurality of module controllers (24) configured to control the drive circuits (22) of a plurality of modules. The module controller (24) of the module containing a carriage transmits carriage information, including at least one identification ID and the current position of the carriage, to the control unit (9). The control unit (9) transmits the carriage information to a plurality of module controllers (24). The module controller (24) of the module containing the carriage to be controlled controls the carriage to be controlled in such a way as to prevent a collision with the adjacent carriage.

To provide a boom collision prevention device for a cargo handling machine capable of preventing a collision regardless of the shape of a collision object.SOLUTION: A boom collision prevention device for a cargo handling machine has a 3D sensor 90, a controller 91, and a display 92. The 3D sensor 90 is mounted on a boom 60 of a container crane 10 and emits a pulsed laser beam to a collision object 80 to detect the scattered light reflected from the object. The controller 91 determines the distance from the 3D sensor 90 to the collision object 80 based on the changing measurement data of the scattered light detected by the 3D sensor 90, and calculates the relative travel speed between the collision object 80 and the boom 60 using the distance and time. The display unit 92 displays the collision object 80 and the boom 60 so that their relative positions are recognized based on the travel speed calculated by the controller 91.SELECTED DRAWING: Figure 1

Disclosed are a collision prevention control method for multiple robots and a multiple robot control system therefor. A multiple robot control system according to one embodiment of the present invention is a multiple robot control system comprising a plurality of robots, wherein each of the plurality of robots comprises: a data collection module for collecting driving-related data; a map creation module for generating an occupancy map and a topological map according to a preset map generation criterion on the basis of the driving-related data; a traffic control module for selecting a path mode of a single robot mode or a multiple robot mode for a target robot on the basis of the driving-related data; a multiple robot path generation module for generating a first movement path on the basis of the topological map and the driving-related data; and an autonomous driving module for generating a second movement path on the basis of the occupancy map.

The utility model discloses an interactive advertising machine based on multimedia information release, and relates to the field of interactive advertising machines. An interactive advertising machine based on multimedia information release comprises a bottom plate, an interactive advertising machine body is fixedly connected to the center of the top of the bottom plate, a display screen is fixedly connected to the top of the front face of the interactive advertising machine body, and box bodies are fixedly connected to the two sides of the top of the bottom plate; and an electric cylinder is fixedly connected to the center of the inner side of the inner cavity of the box body. According to the interactive advertising machine based on multimedia information release, during transportation or collision prevention of the interactive advertising machine body, an electric cylinder drives a moving plate to move outwards, the moving plate drives a limiting block to slide in a limiting groove, meanwhile, the moving plate drives a shell to move outwards, and the shell drives an ejector rod to move outwards through a limiting ring; the ejector rods drive the buffer plates to move outwards, so that the buffer plates make contact with the inner wall of the external transportation equipment, and then transportation can be achieved, and the stability performance is improved.

This invention discloses a collision avoidance and early warning method and system for hydraulic ship locks based on digital twins, belonging to the field of intelligent shipping technology. The system uses a sensor array and unmanned surface vessel (USV) multibeam sonar technology to perceive the navigation status and topographic features of the lock area in real time. It preprocesses and acquires dynamic behavior data sets and three-dimensional contour information data. Based on fluid mechanics and finite element technology, it constructs a dynamic digital twin simulation model, extracts the dynamic behavior data sets, calculates the ship dynamic stability index (PWD) for ship stability analysis, and performs deposition coupling analysis when the ship is stable. It calculates the deposition coupling response index (CJO) and, combined with the ship's lateral attitude angle (θ), constructs a comprehensive disturbance yaw index (CRP) for ship disturbance deviation analysis. The system can issue intervention commands to the control system in real time when the ship's instability or yaw risk exceeds a threshold, improving the safety level and intelligent management capabilities of the lock passage.

A collision prevention device (100) comprises: a machine information extraction unit (12) that extracts, as machine information, information relating to the state of a machine tool (200) from a numerical control device (201) that numerically controls the machine tool (200) in accordance with a machining program; a machine information storage unit (13) that stores the machine information; a machine state change estimation unit (14) that, on the basis of the machine information stored in the machine information storage unit (13), estimates a change in the state of the machine tool (200); a machining restart confirmation unit (15) that presents the estimation result from the machine state change estimation unit (14) to a user and receives confirmation from the user about whether to restart execution of the machining program; and a machining restart processing unit (16) that, on the basis of the confirmation result from the machining restart confirmation unit (15), causes the numerical control device (201) to restart execution of the machining program.

The utility model provides an anti-collision device for a coke oven vehicle, which relates to the technical field of coke oven vehicles and comprises a laser scanning radar, the bottom of the laser scanning radar is connected with a fixing block, the outer side of the fixing block is provided with a sliding groove, the inside of the sliding groove is connected with one end of a damper and one end of a spring, and the other end of the damper and the other end of the spring are connected with one end of a telescopic shaft. The other end of the telescopic shaft is connected with a concave protection plate, first connecting blocks are symmetrically arranged on the two sides of the fixing block, and first mounting holes are formed in the first connecting blocks, so that the problems that when various coke oven vehicles work at present, due to the fact that manual observation is mainly adopted for collision prevention, an operator is prone to fatigue after working for a long time, the visual field is limited, and the collision cannot be caused are solved. The technical problems that in the prior art, the surrounding environment of a vehicle is difficult to comprehensively monitor, an infrared or ultrasonic sensor is easily interfered by high temperature and dust of a coke oven, the false alarm rate is high, equipment structure damage is easily caused once collision and rigid impact of the vehicle occur, and the maintenance cost is increased are solved.

A collision prevention apparatus includes a driving assistance ECU configured to determine a risk of an own vehicle colliding with an obstacle when it is determined that the obstacle is present ahead of the own vehicle based on information acquired by an object target information acquisition apparatus that acquires information of an object target around the own vehicle, and to execute countermeasure control that reduces the risk when it is determined that the risk is present. The driving assistance ECU executes at least one of changing a condition for the determination of the risk such that it is more easily determined that the risk is present or causing an effect of the countermeasure control to be higher when it is determined that the obstacle is a leading vehicle that temporarily stops and the leading vehicle has started moving.

A ship collision prevention system (100) comprises: a millimeter wave radar (1) that detects an obstacle candidate on the sea as a millimeter wave symbol point in each processing cycle; a GNSS receiver (2) that obtains the position and orientation of a ship; and a processing device (3) that extracts a region of a marine obstacle that has a possibility of colliding with the ship. The processing device (3) includes: a millimeter wave point group generation unit (30) that calculates a plurality of millimeter wave symbol points on map coordinates from a plurality of millimeter wave symbol points, detected by the millimeter wave radar (1) in each processing cycle, on the basis of received values of the GNSS receiver (2); a millimeter wave point group integration unit (31) that performs integration processing on the plurality of millimeter wave symbol points on the map coordinates calculated by the millimeter wave point group generation unit (30); and an obstacle extraction unit (32) that performs threshold processing on the integrated values at each coordinate point integrated by the millimeter wave point group integration unit (31) and extracts the region of the marine obstacle from the obstacle candidate.