30 results about "Environmental modeling" patented technology

The invention relates to a method for planning a path for a mobile robot based on environmental modeling and a self-adapting window, which relates to a method for planning a real-time path for the mobile robot. The method comprises the following steps of: performing modeling and analysis on a multiple constraint local environment; performing passable analysis; performing safety analysis; performing motion smoothness analysis; performing goal-directed analysis; and performing path planning by adopting the self-adapting window. Because the method has better environmental suitability and obstacle avoiding capacity, the method obtains good safety and reachability, has high calculation real-time property, so the method solves the problem that the mobile robot generates an obstacle avoidance path in real time in an uncertain complex environment, provides a path selection method with optimized integration, better meets the requirements on obstacle avoidance for the mobile robot, realizes the real-time path planning and control of the robot, and provides an effective collision-less path planning method for the navigation application of the mobile robot.

The invention provides an automatic guided vehicle scheduling system based on global wireless precise positioning. The system comprises a real-time positioning layer, an application layer man-machine interface, a distributive vehicle control layer and a wireless communication layer; the real-time positioning layer comprises a to-be-positioning mobile tag, a wireless ranging fixed base station, a UDP (user datagram protocol) datagram transmission module and a coordinate calculation module; the application layer man-machine interface comprises a task management and publishing module, a position monitoring and scheduling module and an environmental modeling and electronic map downloading module; the distributive vehicle control layer comprises a distributive route planning module, an electronic map receiving and storing module, a line patrol and route switching module and an environmental perception module; and the wireless communication layer comprises a wireless transceiver host module, a wireless transceiver slave module and a wireless peer-to-peer communication network. According to the system and the method provided by the invention, as the global real-time wireless accurate timing technology is introduced, the positions of all AGVs (automated guided vehicles) in the system are monitored in real time, and are fed back to a centralized main control computer, so that the computer can perform uniform scheduling on all equipment in the system.

The invention provides a building method of a grid map by a mobile robot based on real-time data fusion. The method comprises the following steps: artificially dividing an environment into a plurality of grids with the same size, and obtaining the distance information by sonar sensors arranged on the front end of the mobile robot; extracting measured values of three sonar sensors which are closest to a currently computed grid unit at the same time, respectively explaining a single sonar data by a fuzzy logic and a probability theory so as to obtain a group of characteristic vectors which are subject to the data fusion as input vectors of a neural network, wherein, output values of the neural network comprises idle state, busy state and undefined state of the grid; finally updating the state of the grid by the Bayes rule. The mobile robot of the invention obtains the environmental information by sonar ranging finders and completes the environmental modeling, thus providing reliable basis for the subsequent autonomous navigation of the mobile robot.

The invention discloses an autonomous operation forestry robot platform, which comprises a robot body and a control system, wherein the robot body has a four-wheel drive structure and comprises a vehicle chassis, a vehicle roof platform, a vehicle frame and the like; and the control system of a robot can finish complex control and data processing algorithms and is provided with various sensors such as a navigation positioning sensor, a laser measurement sensor, a binocular vision sensor and the like so as to perform information detection and intelligent navigation on an autonomous forestry robot operation environment. An autonomous operation forestry robot has a simple structure and high four-wheel drive capability, can flexibly and reliably move under the condition of complex terrain in a forest district, has intelligent decision-making and environmental modeling capabilities and can finish an information detection task in the working environment of the forest district; and various operation manipulators can be arranged on the robot, so that forestry production operation tasks such as forestry pruning, intermediate cutting, logging, shipping and the like can be further finished autonomously.

The invention relates to a global smooth path planning method for a mobile robot. The method includes the following steps: carrying out environmental modeling according to the working environment of the mobile robot; establishing an objective function to be optimized according to the principle of safe and shortest path; carrying out path planning of the mobile robot based on an adaptive particle swarm algorithm; outputting a motion path of the mobile robot according to an optimization result; and smoothing the motion path of the mobile robot by adopting Bezier curves. According to the method,the adaptive particle swarm algorithm is combined with the Bezier curves, so that the stability and robustness are strong, the search efficiency can be effectively improved, the path length can be shortened, and the intention of manual planning is met; and moreover, the method has few parameters to be adjusted, is simple in model, and is suitable for global smooth path planning of multiple mobilerobots in complex environments.

The invention discloses an ant colony algorithm based independent planning method of an autonomous ship navigation path. The method comprises the following steps: processing a marine map to obtain a modeling map information matrix suitable for environmental modeling; performing environmental modeling in an MATLAB through a grid method with the modeling map information matrix as a model; performingpath planning on the model through the ant colony algorithm based autonomous ship planning algorithm, thereby obtaining an optimal path from the starting point to the end point; outputting node coordinates of the path; transforming the coordinates to output the coordinates of latitude and longitude; and correspondingly depicturing the path on the marine map based on the coordinates of latitude and longitude, thus realizing the result of displaying the planned path on the marine map. According to the method, the optimal planned path can be effectively displayed in the map, and the requirementsof actual application are met.

The invention relates to a smart ship control technology, and discloses a track planning method based on viewable modeling. By simplifying a viewable model for track planning, the optimal visible edgecan be found in real time through a track planning algorithm, thereby achieving the simultaneous effect of environmental modeling and path planning, greatly improving the execution efficiency of thealgorithm, reducing the time required for modeling and path planning, and avoiding the generation of redundant data of environmental models at the same time.

The invention discloses a dynamic path planning method for an ant colony algorithm in a congestion environment, and the method comprises: the step 1, carrying out the environment modeling, and obtaining an environment factor representing the congestion condition in the congestion environment; and the step 2, after replacing the distance of the road in the ant colony algorithm with the environmental factor, carrying out dynamic path planning by utilizing the dynamic change of the environmental factor. According to the invention, environmental factors for reflecting traffic jam are provided, environmental factors in a congestion environment are obtained by using an environmental modeling method, and the environment factor is used for replacing the distance of the road in the ant colony algorithm to realize the dynamic path planning of the ant colony algorithm in the congestion environment. Therefore, the factor that the dynamic change of the environment congestion condition is not considered in the existing path planning algorithm is made up, the accuracy of the optimal solution of path planning in the congestion environment is improved, and the method better conforms to the actual situation of the current urban traffic congestion.

The embodiment of the invention provides an environmental modeling capability assessment method and system for an autonomous vehicle, and belongs to the field of intelligent transportation. The methodcomprises the following steps: obtaining environment information of a plurality of continuous frames of a vehicle environment detected by a vehicle-mounted sensing system of the automatic driving vehicle; comparing and analyzing the environment information of a plurality of consecutive frames with corresponding real environment information, judging whether one or more of information delay, information missing report and signal false report exist or not, and if yes, counting the time of the information delay and the occurrence frequency of the information missing report and the signal false report; And evaluating the environment modeling capability of the autonomous vehicle according to the information delay time, the occurrence frequency of the information missing report and/or the occurrence frequency of the signal false report. According to the method, the labeling frequency and labeling quantity of information delay, information missing reporting, information false reporting and the like are improved, and more powerful data support is provided for evaluating the environment modeling capability of the autonomous vehicle.

The invention discloses a method and a system for detecting red light running based on complex high-dynamic environmental modeling. The method comprises the following steps of 1) calibrating intersection pictures; 2) performing background modeling on the intersection pictures by using a gaussian mixture model; 3) performing illumination detection and analysis on the modeled background, and updating the background so as to obtain the exact background pictures of a current intersection; 4) obtaining the tracking information of vehicles at the intersection according to background subtraction and tracing algorithm treatment; and 5) judging whether the vehicles run the red light according to the tracking information and calibrating pictures of the vehicles. The system based on the method comprises a camera device and a control device, wherein the camera device is connected with the control device, and sends the shot intersection pictures to the control device; and the control device performs the background modeling on the shot intersection pictures by using the gaussian mixture model, performs illumination detection and analysis on the modeled background, and judges whether the vehicles run the red light. By the method and the system, the background can be rapidly and exactly updated; the accuracy and adaptability of red light running detection can be improved; and the method and the system are suitable for various complex environments.

The embodiment of the invention provides an assessment method and system for environmental modeling capability of an autonomous driving vehicle, and belongs to the field of intelligent traffic. The method comprises the following steps: constructing a polygon capability chart for the environmental modeling capability, wherein each vertex is configured to represent one level; acquiring entity attribute information of a plurality of entities associated with environmental modeling in each level; determining the importance degrees of corresponding entities for the vehicle driving safety in conjunction with the entity attribute information, and allocating a weight to each entity according to the importance degrees; acquiring the accuracy of a vehicle-mounted sensing system in correctly detectingeach entity; calculating the total weight score of each level in conjunction with the accuracies and the weights; and displaying the total weight scores in the polygon capability chart in order to form an environmental modeling capability chart. Through adoption of the assessment method and system, the environmental modeling capability chart of the vehicle based on a plurality of levels can be obtained, and the environmental modeling score of each level can be determined to be compared with the environmental modeling capabilities of other versions of vehicles and competitive vehicles.

The invention relates to the technical field of test systems, and further discloses a test evaluation system based on the data. The guiding and adjusting end software module comprises a statistical score design. The statistical scoring design comprises a target detection sub-module, an effectiveness evaluation sub-module, a correct rate evaluation sub-module, a target position evaluation sub-module, a task score evaluation sub-module and the like. By setting statistic score setting, evaluation mainly comprises two evaluation bases, namely target detection and environment modeling; correspondingly, the system evaluates two subjects of each piece of to-be-tested software, namely target detection and environmental modeling, the examination question data of the two subjects are different and non-versatility, the automatic evaluation module is an independent module relative to the examination process; the to-be-tested software returns the answer to the server, then the evaluation module canoperate independently without interacting with the server, and only after the evaluation module calculates the score, the persistence related interface of the server is called to store the score in the database, so that the integrity of the data during transmission flow is ensured.

The invention discloses a land system change causal structure recognition method, system and device. The method comprises the following steps: land use type change data and influencing factor data ina plurality of time periods in a study area are acquired; with the land use type change data and the influencing factor data as model variables, a causal structure network is constructed; and a causalrelationship between the model variables in the causal structure network is recognized based on a PC algorithm, and a causal graph model is obtained. The relationship between the land use type changes and the influencing factors in the study area is considered comprehensively, the PC algorithm is used to recognize the causal relationship between the model variables in the causal structure network, and the causal structure among the land system variables can be effectively recognized; the method can integrate changes of each land use type in the land system and each factor influencing the landsystem changes between different systems and the complexity characteristic of the land system is better met; and the method can be widely applied to the field of environmental modeling.

A method for determining contextual awareness in a work site (13) comprises providing at least one environmental modeling device (EM) on or outside of a machine; arranging at least one tracking device (TA) on at least one of the machine or outside of the machine; data is acquired by at least one tracking device (TA) and by at least one environment modeling device. Furthermore, the method comprises receiving, by the at least one position determination unit (PDU), data relating to the at least one tracking device (TA) and data relating to the at least one environment modeling device (EM), and determining, by the at least one position determination unit (PDU), the position and orientation of the machine in the work site (13) based at least in part on the received data.