45 results about "Collision response" patented technology

A method and apparatus wherein complex physical interactions and collisions are modeled at a high level of detail while reducing the computational demands placed on the processing system. In one embodiment the method comprising the steps of defining a first object and a second object, each object adapted for colliding with the other object; assigning an interaction type for at least one of the first and second object in response to an object parameter; and selecting between a continuous simulation of a collision and a discrete simulation of the collision in response to the interaction type.

A method of globally analyzing intersections between objects in computer animation includes providing objects represented by meshes, with each of the meshes being formed by a set of vertices, where a set of pairs of vertices defines a set of edges of the mesh. All edges of the meshes are checked to determine if the edges intersect with any of the meshes. An intersection path, formed by the intersection of the meshes, is traced and which vertices that are contained within the intersection path are determined. A polarity of each of the contained vertices is set to indicate that those vertices are contained within the intersection path. The analysis forms the backbone of a collision-response algorithm for unoriented objects such as cloth that is better than previous existing algorithms. The analysis also allows objects to be simulated even when hand-animated elements of the simulation have extreme amounts of interpenetration. Finally, simply displaying the nature and extent of the data found from the analysis provides extremely useful feedback to an end-user.

The invention discloses a method for dynamically simulating a human body and clothing in a computer. The simulation effect of different materials is achieved by setting key steps in physical simulation. The method includes the main steps of modeling the human body, processing a human body model and a clothing model, calculating clothing simulation by using mechanics knowledge, correcting after integration, impact detecting and responding. Based on a traditional mass point spring model, a large bending spring is provided to generate a wrinkle effect, corresponding spring parameters are set according to properties of the different materials, a comprehensive correction strategy is adopted in mass point clothing, and a perfect impact response scheme is provided to take characteristics of all the materials into account. Traditional clothing materials are distinguished through a great deal of parameter measurement and geometric methods, the defects that a traditional method is low in efficiency or poor in flexibility are overcome, and the different materials can be dynamically simulated.

The invention provides a polyhedron collision dynamics analysis method for the process of a space manipulator grabbing a non-cooperative target. The method comprises the following steps of (1) establishing a dynamical model of a space manipulator; (2) expressing the tail end of the space manipulator as a combination of multiple polyhedrons, and expressing the non-cooperative target as a polyhedron; conducting collision detection on the polyhedron expressing the non-cooperative target through the multiple polyhedrons expressing the tail end of the space manipulator, and detecting whether two different polyhedrons collide or not; if not, repeating the step (2), and if yes, detecting the collision intersection point of the two different polyhedrons; (3) solving collision force in the process of the space manipulator grabbing the non-cooperative target through a non-linear damping model according to the collision intersection point of the two different polyhedrons; and (4) substituting the collision force into a dynamical equation to obtain the collision response in the grabbing process. The polyhedron collision dynamics analysis method is reasonable in design, simple in implementation, high in analytical calculation fidelity and closer to the practical situation.

The invention relates to a method for detecting continuous collision based on ellipsoid scanning. In order to avoid a penetrating phenomenon in the process of collision detection and ensure completion of a collision response, the method optimizes algorithm steps on the basis of the conventional ellipsoid scanning method and provides a quick indexing system based on regional marks aiming at a physical engine task allocation mode based on regional division. Additionally, a forecasting mechanism is adopted in the process of the collision detection to effectively reduce the call frequency of the collision detection in a simulation cycle. The optimization of a processing procedure is suitable to be applied to the continuous collision detection in a large-scale virtual environment.

The invention relates to a real-time motion simulation method for a guide wire in a minimally invasive vessel interventional operation. The real-time motion simulation method comprises the following steps: (1) adopting a triangular surface mesh to perform modeling of a vessel; (2) adopting a Kirchhoff elastic rod model to perform modeling of the guide wire, and utilizing a Lagrange equation to calculate deformation force of the guide wire in the simulation process; (3) rendering the guide wire; (4) adopting a K-DOPS tree to perform collision detection between the guide wire and the vessel; (5) adopting a non-iterative restraint method to calculate contact force between the guide wire and the vessel and performing collision response; (6) using a Verlet integral formula to perform iteration update on position and speed of the guide wire; (7) utilizing Lagrange's multiplier and a fast projection method to achieve non-telescopic characteristics of the guide wire; and (8) using a force feedback device Phantom Omni to render acting force of the guide wire on a user. Compared with the prior art, the real-time motion simulation method has the advantages of being stable and reliable, convenient to achieve, real, efficient and high in engineering applicability and the like.

The invention relates to an improved flexible cloth collision processing method which is characterized by establishing a quad bounding box tree according to the spatial relation for the triangular meshes of the cloth, and using an AABB bounding box; at a rough detection stage, by combining the quad bounding box tree, eliminating the regions which impossibly intersect with each other further by an improved continuous vector cone method than by a conventional method; at an accurate detection stage, implementing a set of reasonable primitive detection strategy on the primitives which possibly intersect with each other within a step length, and adding penetration detection and processing in the detection process for improving the accuracy as far as possible and ensuring no penetration; and on the collision response mode, processing by an impulse compensation model and a contact surface mechanical model. The method comprises the following steps: (1) establishing a quad bounding box tree according to the spatial relation for the triangular meshes of the cloth; (2) by combining the quad bounding box tree, eliminating the regions which impossibly intersect with each other by an improved continuous vector cone method; (3) implementing a primitive detection strategy on the primitive pairs which possibly intersect with each other in a step length, and adding penetration detection and processing in the detection strategy; and (4) for the detected collision pairs, computing the collision response by adopting a combined mode of an impulse compensation model and a contact surface mechanical model.

The invention relates to a safety protection method in robot-assisted cardiovascular interventional surgery, comprising: 1) geometrically modeling blood vessels; The curvature of the position point is normalized; 3) According to the curvature and radius information of the blood vessel, the inner area is dynamically divided, and the primary safety protection measures in robot-assisted cardiovascular interventional surgery are established; 4) The guide wire is tracked in real time with the help of an electromagnetic tracker The position of the front end is interpolated and reconstructed using the cardinal spline curve to establish the geometric model of the guide wire; 5) Calculate the inflection point and branch of the blood vessel under the surgical path, and dynamically constrain the advancing speed and angle of the guide wire; 6) Adjust the guide wire Perform collision detection with the vessel wall; 7) predict the collision response according to the collision detection result. Compared with the prior art, the invention has the advantages of stability, reliability, convenient realization, low cost, strong engineering applicability and the like.

The invention relates to an automobile testing device, in particular relates to an airbag head hammer falling static testing device. The head hammer is oriented by rolling a roller wheel on a guide track so as to control the impact point of the head hammer; the elevating height of the head hammer is controlled automatically so as to ensure the speed of impacting the airbag; the explosion of the airbag and the separation of the head hammer from a suspension frame mechanism are controlled automatically, so that the influence of the suspension frame mechanism to the collision response is eliminated; the suspension frame mechanism can adjust the position of the head hammer at the front, the back, the left and the right; and the airbag adjusting mechanism can adjust the inclination angle and the front and the back positions of the airbag. The impact angle and the position of the head hammer to the airbag are adjustable; and the quality of an impact object can be controlled; the collision position, the angle and the mass of the object are ensured to accord with a corresponding automobile model; and the test is good in repeatability effect.

A method for animating soft body characters has a preparation phase followed by an animation phase. The preparation phase determines the skin deformation of a character model at skin contact points in response to impulse collisions. The skin deformation from impulse collisions are compactly represented in terms of the set of basis poses. In the animation phase, the skin impulse responses are used to create a final posed character. Regardless of the type of collision or the shape of the colliding object, the collision animation phase uses the same set of skin impulse responses. A subset of a set of skin points is selected as a set of skin collision points. A final collision response is determined from the skin collision points. The final collision response to the complete set of skin points.

Animating strands (such as long hair), for movies, videos, etc. is accomplished using computer graphics by use of differential algebraic equations. Each strand is subject to simulation by defining its motion path, then evaluating dynamic forces acting on the strand. Collision detection with any objects is performed, and collision response forces are evaluated. Then for each frame a differential algebraic equations solver is invoked to simulate the strands.

The invention discloses a multipoint contact force sense feedback system orienting virtual reality dental department operation training. In the multipoint contact force sense feedback system, a force feedback equipment state reading module (1) reads a handle motion trail of force feedback equipment (44), converts the handle motion trail into a force sense tool terminal pose and outputs the force sense tool terminal pose to a tool model (41) and a force / torque computation module (4); a spherical tree collision detection module (2) carries out collision rejection processing on a dynamic force sense tool sphere tree output by the tool model (41) and a static dentition sphere tree output by a multilayer tooth model (42) by adopting a layering recursion collision detection strategy, so as to obtain all the intersected sphere pairs of leaf nodes; a multipoint contact collision response module (3) processes all the intersected spheres of the leaf nodes by adopting a collision response optimization model, so as to obtain a terminal pose of a graphic tool; and the force / torque computation module (4) processes the terminal pose of the graphic tool according to a generalized spring force model, so as to obtain a feedback force / torque, and the feedback force / torque is acted onto the force feedback equipment (44). The multipoint contact force sense feedback system disclosed by the invention can accurately solve a contact position and a posture of the graphic tool and a virtual dentition surface during continuous collision detection.

The invention discloses a construction method for a collision detection system. The method comprises: firstly, establishing a three-dimensional model of a mechanical part in SolidWorks, and importing the established three-dimensional model into virtual reality software EON Professional; secondly, finishing automatic assembly of parts of the mechanical part by utilizing a 2DText node and a Place node of the software EON Professional; and finally, finishing collision detection of the parts of the mechanical part and detecting collision response during collision by utilizing a CollisionObject node, a Material2 node, a DirectSound node and a Colors element of the software EON Professional. The construction method for the collision detection system can effectively eliminate the penetration phenomenon of existing CAD software in an assembly simulation process of mechanical products, enables a user to feel response when penetration occurs to two parts from visual and hearing perspectives, and has the characteristics of easiness for operation, high authenticity and remarkable effect.

The invention discloses a collision response system for virtual hand force feedback interaction, comprising a model construction module, a master-slave control module, a visual feedback module and a force feedback module. The model construction module is used for constructing a cylindrical model of a virtual hand and a spherical tree model of a virtual object. Based on the constructed model, the subsequent visual display and physical thread calculation are carried out. The master-slave control module controls the finger posture motion of the virtual hand through the posture matrix operation, and reads the interactive data of the virtual hand and the virtual object; and the master-slave control module controls the finger posture motion of the virtual hand through the posture matrix operation. The visual feedback module obtains the virtual hand position and posture graphics without penetration constraint according to the interactive data. The force feedback module processes the posture of the virtual hand model according to the interactive data to obtain the feedback force or moment, and transmits the feedback force or moment to the finger end of the operator through the force feedback device. The system can realize the visual graphics of the virtual hand without penetration, and meet the requirements of continuous and real interaction, thus enhancing the interactive authenticity.

The invention provides a virtual assembly system based on Visual Basic and EON Studio. The virtual assembly system comprises an automatic assembly module, a manual assembly module, a motion simulation module, a collision detection module and an assembly sequence planning module, wherein the five function modules are all integrated in a Visual Basic integrated development tool; the Visual Basic integrated development tool builds the connection with an EON Studio simulation platform through an EonX control; the man-computer interaction can be realized through a mouse and a keyboard; the manual assembly process of a virtual mechanical product is completed; the moving and work process of the mechanical product and the motion transmission mode among all components are simulated; the collision response is made on the part collision in the simulation process; the virtual assembly system can be applied to enterprise mechanical product assembly link development, staff training and mechanical university practice teaching links; and the programming amount is reduced. Meanwhile, the virtual assembly system has the characteristics that the operation is simple; the manufacturing cost is low; and the man-machine interaction performance is high.

The invention belongs to the field of virtual simulation collision detection, and particularly relates to a method for predicting collision detection based on a neural network. The method comprises the following steps: firstly, within a time step length, inputting the movement position of cloth particles and the position of a collided triangle into a neural network; secondly, utilizing a neural network to predict whether cloth particles collide with triangular patches or not; finally, carrying out collision response on the collided particles, and obtaining the final positions of the particles.Compared with a traditional physical collision detection method, the method has the advantages that on the premise that the cloth simulation authenticity is guaranteed, the detection speed of the algorithm is remarkably increased along with increase of the collision detection difficulty, meanwhile, higher stability is shown, and the requirement of a user for real-time performance is met.

The invention discloses a servo mechanism based active force / touch sense feedback system and a work method thereof. The system is composed of a computer, a motion tracking sensor and a force / touch sense feedback mechanism and a controller. Hand motion data is collected in real time through the motion tracking sensor and sent to the computer, and collision detection of the hand and a tool or a control in a virtual environment is conducted. When the hand does not make contact with the tool or the control, the computer conducts hand motion locus prediction and motion planning and drives the force-touch sense feedback mechanism to conduct servo motion; when the tool or the control is operated with the hand, the force / touch sense feedback mechanism tail end drives the corresponding tool or control to reach the target position of a hand operation, touch sense feedback is provided, and meanwhile the computer conducts real-time collision response and force sense generation, drives the force / touch sense feedback mechanism to output force and provides active force sense feedback. By means of the system, the immersion and interaction of a virtual reality system can be improved, the size is small, the flexibility is high, and the system can be applied to the fields of virtual surgery, virtual driving and the like.

A vehicle control device includes an oncoming vehicle detection sensor and a controller that automatically applies brakes to avoid a collision with the oncoming vehicle, under a condition that the own vehicle is at least partially in an opposite lane or a planned path of the own vehicle is at least partially in the opposite lane. The controller sets a virtual area that moves with the oncoming vehicle and that extends in an advancing direction of the oncoming vehicle, and automatically brakes to avoid to avoid a collision. In response to the sensor detecting first and second oncoming vehicles, the controller sets first and second virtual areas, and automatically brakes the own vehicle to prevent coming into contact with the first virtual area and the second virtual area once the own vehicle traverses the opposite lane.

The invention discloses a high-speed digital filter, which comprises the following parts: data detaching unit, which detaches high-speed digital signal x (k) into xe(k) and xo(k); four subfilters with subfilter A, subfilter B, subfilter C and subfilter D; delay unit, which proceeds unit delay for output signal of subfilter B; adder A, which adds output signal of delay unit and output signal of subfilter A; adder B, which adds the output signal of subfilter C and subfilter D; data parallel unit, which combines the output signal of adder A and adder B to produce the output signal of high-speed filter, wherein the collision response of subfilter A and subfilter D is he (n) and the collision response of subfilter B and subfilter C is ho (n); the output signal of subfilter A and subfilter C is xe (k) and the input signal of subfilter B and subfilter D is xo (k).

The invention discloses a fast simulation method of superelastic material. The method comprises the following steps: 1) discretizing the three-dimensional model to be simulated is uniformly, and calculating the state information of each discrete point; 2) setting the neighborhood radius delta of the discrete points to construct the neighborhood connection relationship of each discrete point; 3) setting a nonlinear function, an anisotropic function and related material parameters according to the superelastic material to be simulated, and determining a material constitutive model of the three-dimensional model; 4) calculating the deformation internal energy and the corresponding generate internal force according to the material constitutive model and the current state stored at the discretepoint and applying the deformation internal energy and the correspond generated internal force on the discrete point; 5) applying external force, friction force and bending anti-flip force to the discrete points where internal force is applied; then solving the position and velocity of the discrete point at the next time; 6) carrying out collision detection and collision response on the processeddiscrete points, and adjusting the position and speed of the discrete points; 7) repeating 4) to 6) until the simulation ends. The invention can effectively simulate nonlinear and anisotropic phenomena.

The invention relates to an inner bore complex surface contact collision response prediction method based on a self-optimization convolutional neural network (CNN). The method comprises the steps: S1,building a wear barrel-projectile contact collision finite element model according to a barrel-projectile test platform based on artillery shooting test data; S2, constructing a sample set based on the finite element model in combination with a test result of the test platform; S3, based on the sample set, realizing hyper-parameter self-optimization according to a cooperative work mechanism of agenetic algorithm-sequential quadratic programming algorithm combination optimization algorithm, thereby obtaining an optimal hyper-parameter group; meanwhile, carrying out training in optimization ofhyper-parameters, and obtaining an optimal barrel-projectile contact collision model based on the self-optimization CNN; S4, further researching a contact collision response change rule according tothe obtained barrel-projectile contact collision model. According to the method, the influence of the complex surface of the abraded inner bore and the contact collision energy loss are considered, and the prediction efficiency is greatly improved while the response precision is ensured.

The invention discloses a collision response relay. The collision response relay comprises a relay main body; the bottom end of the relay main body is provided with a plurality of fixed contact sheets and a coil terminal; the relay main body comprises a shell; an iron core is arranged in the shell; the exterior of the iron core is provided with a coil; one end of one of the fixed contact sheet is provided with a fixed contact; the fixed contact is arranged in the shell; a movable contact sheet is arranged in the shell; an end portion of the movable contact sheet is provided with a movable contact; the movable contact and the fixed contact are oppositely in a manner that the movable contact and the fixed contact can contact with and go away from each other; an armature is arranged in the shell; one end of the armature is fixed to the movable contact sheet; the armature is connected with an elastic sheet; and one end of the elastic sheet is provided with a collision sensing component. With the collision response relay of the invention adopted, the safety of automobiles in a driving process can be improved.

The invention discloses an information processing method and electronic equipment and aims to solve the technical problem that in the prior art, when one interactive object is controlled by multiple display interfaces, the electronic equipment is in collision response. The method is applied to the electronic equipment with a display unit; the display unit at least comprises a first display interface and a second display interface which display the same first display content, and the first display content includes the first interactive object. The method includes when detecting a first operation of the first interactive object, judging the display area of the display unit according to the first operation, and acquiring a first judgment result; on the basis of the first judgment result and a predetermined responding mode, judging whether responding to the first operation or not, and acquiring a second judgment result; when requiring responding to the first operation according to the second judgment result, responding to the first operation.

The invention provides a GPU (Graphics Processing Unit) parallel fitting simulation method based on constraint projection, which comprises the following steps of: constructing a binary cardinal number tree for a human body model in parallel through a Morton code to form a BVH (Binary Value Hierarchy), and directly traversing the BVH by using a clothing vertex for testing during each collision detection; according to the clothes simulation, a Galerkin multi-grid method is utilized to accelerate a Projective Dynamics method based on speed solution, linear skin coordinates are adopted to carry out degree-of-freedom expansion on clothes vertexes, in local solution of iteration of each frame, various geometric constraint projections are applied to the clothes vertexes, Signorini-Coulomb constraint projections are carried out on the clothes vertexes colliding with a human body, and the clothes vertexes are subjected to the degree-of-freedom expansion on the clothes vertexes, so that the degree-of-freedom expansion of the clothes vertexes is realized. Under the condition that a system matrix in global solution is not changed, simulation control over the collision response and friction physical effect of the clothes in fitting is achieved only through constraint projection in local solution iteration.

The invention provides a finite element modeling method for simulating bolt collision fracture failure. The finite element modeling method comprises the following steps that bolt center units are established through beam units, bolt shell units are arranged, material parameters are given to the bolt shell units, the bolt center units are in one-to-one correspondence with nodes of the bolt shell units, and rigid connection is arranged between the corresponding nodes. And a nut model is established, the outer surface of the nut model is divided into nut shell units, and the nut shell units are endowed with material parameters and nut quality. A rigid connection is established between corresponding nodes of the bolt shell unit and the nut shell unit. The bolt shell unit and the nut shell unit are added into contact with an external component. And a preload for each beam unit generated is set in the bolt modeling step. Material parameters are given to the beam units, and corresponding failure force and failure moment limit values are added to the material parameters. The model established by the modeling method is used for simulating the collision response, the simulation result is more accurate, the real vehicle collision frequency is reduced, and the development cost is saved.

The invention discloses an augmented reality interaction method and device suitable for a real object and a storage medium, and the interaction method comprises the following steps: selecting a real object for interaction in a virtual-real mixed space presented by augmented reality equipment; virtually and tightly wrapping a real object, and establishing a virtual wrapping body, wherein each functional area of the real object corresponds to each part of the virtual inclusion; marking each part of the virtual inclusion, defining an interaction mode and content of each part, and marking other real objects in the same mode, wherein a user interacts with a real object in the virtual-real mixed space, actually, an interaction event falls on a virtual inclusion of the real object, and feedback is carried out according to predefined interaction forms and contents of all parts. According to the interaction method, a user can establish an interaction relationship with a real object in an environment where the user is located anytime and anywhere, the real object is conveniently brought into a virtual-real mixed space for interaction, and when the object is moved, the virtual inclusion moves together with the real object according to the collision response of a hand to automatically keep an interaction relationship.