1734 results about "Virtual space" patented technology

The invention relates to the technical field of data center management, and discloses a data center digital twinborn simulation and decision-making system oriented to intelligent management. The system comprises a data center physical feature sensing module, a virtual space reconstruction module, an operation situation deduction engine, an abnormal behavior recognition module and a decision instruction generation module. Wherein the physical feature sensing module collects multi-dimensional operation parameters of the infrastructure in real time; the virtual space reconstruction module dynamically constructs a three-dimensional virtual model based on the collected parameters; running a situation deduction engine to simulate a resource scheduling and energy flow process; the abnormal behavior recognition module analyzes the analog data stream to detect an abnormal operation mode; and the decision instruction generation module integrates the abnormal information and generates an optimization regulation and control instruction for the physical equipment. According to the system, intelligent management of the data center is realized through real-time mapping, dynamic deduction and intelligent decision making of physical and virtual spaces, and the management precision and timeliness are improved.

The invention discloses a multi-welding-robot collaborative operation system based on digital twinning, and belongs to the technical field of intelligent manufacturing and robot control, the system comprises a physical space module, a virtual space module, a twinning data layer and a control module, and communication connection is established among the physical space module, the virtual space module, the twinning data layer and the control module; the physical space module comprises a plurality of welding robots, a sensor group and a data transmission network; the virtual space module comprises a multi-welding robot twinning body and a workpiece twinning model; the twin data layer is used for connecting the physical space module and the virtual space module; and the control module generates a welding path optimization scheme, a multi-welding-robot collaborative collision avoidance strategy and a welding quality feedback control instruction based on the twin data layer. According to the method, a closed-loop control framework of'physical-virtual 'bidirectional mapping is constructed, so that dynamic collaborative optimization of multi-robot motion trails, welding seam forming and thermal deformation is realized.

The invention discloses an automatic scheduling method and system for ship unloading equipment, and relates to the technical field of port automation. According to the method, a high-precision digital twinborn model for ship unloading operation is constructed, physical equipment is abstracted into a digital intelligent agent with an autonomous decision-making capability, real-time multi-dimensional data and historical data are utilized to perform deep fusion to drive system synchronization, and a future multi-step scheduling strategy is deduced in a parallel simulation manner in a virtual space based on rolling time domain control, so that the real-time multi-dimensional data and historical data are subjected to real-time multi-dimensional data synchronization driving system synchronization is realized. Dynamic evaluation and optimization are carried out by adopting a multi-objective evolutionary algorithm combined with a cooperative game mechanism, and conflicts and cooperation among equipment are effectively coordinated by defining an individual utility function and introducing cooperative game negotiation and a meta-controller to dynamically adjust target weights, so that system-level global optimal scheduling is realized under multiple objectives of efficiency, energy consumption, safety and the like, and the scheduling efficiency is improved. The intellectualization, the self-adaptability and the comprehensive operation benefit of port ship unloading operation are comprehensively improved.

The invention discloses a live-action three-dimensional dynamic change modeling method based on digital twinning. The method comprises the following steps: collecting multi-source data; carrying out space registration and time synchronization processing, and outputting a fusion data set; carrying out three-dimensional modeling, optimizing model parameters, and generating a live-action three-dimensional model; virtual-real mapping is carried out, and generated virtual space data and state parameters thereof are stored; performing differential analysis to generate a change detection result data set; performing dynamic change modeling to generate an updated virtual model; executing geometric accuracy optimization and semantic consistency check, and outputting an optimized virtual model; bidirectional data flow association and dynamic updating are executed, and the live-action three-dimensional dynamic change modeling process is completed. The real scene dynamic updating is realized by adopting the improved Gaussian sputtering modeling, and the method has the advantages of high precision, strong real-time performance and virtual-real synchronization.

The invention discloses an intelligent control and optimization system and method for the whole process of a photovoltaic power station. The method comprises the following steps: constructing a component-level high-fidelity digital twin through multi-source heterogeneous data fusion and an attention enhancement deep learning model; injecting annotated historical fault data, carrying out joint training by combining a feature embedding layer and an adversarial generative network, and generating a digital mapping body with fault evolution deduction capability; a three-layer architecture is introduced, reinforcement learning and a multi-objective optimization algorithm are fused, and autonomous decisions of power station level power output maximization, equipment loss minimization and maintenance cost optimization are realized in a virtual simulation environment constructed by a digital mapping body. According to the method, accurate dynamic mapping of the physical entity and the virtual space, fault pre-judgment and deduction and closed-loop control of global autonomous optimization are realized, the intelligent level and the full-life-cycle economy of the photovoltaic power station are improved, and the problems of insufficient fidelity, lack of fault deduction capability and low global optimization efficiency in the prior art are solved.

The invention relates to the technical field of power station operation and maintenance, and discloses a power station multi-robot collaborative inspection and task optimization scheduling system, which comprises a digital twinborn modeling module used for establishing a digital twinborn model of a power station environment, equipment and multi-type inspection robots, and realizing real-time mapping of a power station physical space and a virtual space through state synchronization; a task modeling and decomposition module; a task and capability matching scheduling module; a dynamic rescheduling module; a cloud edge cooperative control module; a data acquisition and feedback module; and a man-machine interaction and visualization module. Through integration of task node graph construction, robot capability vector modeling, local hot start rescheduling and a digital twin closed-loop self-learning mechanism, distribution continuity can be maintained when tasks change or robot states are updated, and parameters are continuously corrected based on operation data. And cooperative improvement of inspection task execution efficiency, scheduling response speed and system stability is realized.

The invention provides an unmanned aerial vehicle communication protocol feature extraction method and system based on artificial intelligence, electronic equipment and a storage medium, and relates to the technical field of unmanned aerial vehicle communication.The method comprises the steps that a communication environment model is constructed by obtaining a spatial position set of a base station and an unmanned aerial vehicle group and synchronously collecting real-time speed and acceleration information of all position points; mapping to generate a virtual space shape, calculating an offset, performing motion compensation to generate a correction parameter, and performing closed-loop adjustment on a shape parameter; then, deep correlation features are extracted, screening parameters are generated, key features are screened, and protocol layer compensation coefficients are generated through fusion with signal attenuation model parameters; and finally, extracting spatio-temporal change features based on the position relation features, predicting a communication interruption path, extracting protocol features in combination with related parameters, evaluating risks, and generating a standby node dynamic selection strategy, so that unmanned aerial vehicle communication protocol feature extraction and standby communication node dynamic selection based on artificial intelligence can be realized.

The invention provides an energy efficiency optimization and predictive regulation and control method for a building electromechanical system based on digital twinning. The method comprises five layers of architectures including a physical entity layer, a data acquisition and interaction layer, a digital twinning model layer, an energy efficiency analysis and optimization layer and a predictive regulation and control layer. The dynamic digital twinborn body interacting and synchronizing with the physical electromechanical system in real time is constructed, fundamental transformation from passive lag control to prospective predictive control is achieved, a high-fidelity virtual model is used as a nondestructive testing platform, countless operation strategies can be safely and rapidly simulated and evaluated in a virtual space, and therefore accurate optimization is achieved, and the real-time dynamic digital twinborn body is obtained. The overall energy efficiency of the system is remarkably improved, the dilemma that the traditional method makes consideration and loses others is eliminated, and the leap-type improvement of the comprehensive operation quality is achieved.

There is provided an enablement entity for a virtual experience service, the enablement entity in a wireless communication network, the enablement entity comprising a receiver, a processor and a transmitter. The receiver is arranged to receive an application service requirement corresponding to a plurality of devices, the plurality of devices operating in physical space, or in a virtual space of the virtual experience service, or both. The processor is arranged to decompose the application service requirement to a plurality of session requirements, wherein the session requirements apply to a plurality of communication sessions, the communication sessions provided between devices in both physical space and virtual space, and to derive a set of joint quality of service parameters for the plurality of sessions based on the session requirements. The transmitter is arranged to send the set of joint quality of service parameters to one or more network entities in the wireless communication network.

The invention discloses a virtual space multi-person interaction synchronous control method oriented to an end-cloud collaborative architecture. The invention relates to a computer graphics and three-dimensional modeling technology, and discloses a cross-format lightweight and geometric consistency maintenance method based on a three-dimensional model. Through format-independent geometric representation and a self-adaptive lightweight strategy, efficient compression and precision maintenance of three-dimensional model cross-format conversion are realized. The method specifically comprises the following steps: performing format analysis and geometric feature extraction on an input model, and establishing a unified internal representation; adaptively selecting a multi-level LOD lightweight strategy based on the complexity of the model; the accuracy of key information is ensured through geometric feature keeping and topology consistency detection; the geometric consistency is dynamically maintained by combining error monitoring and an iterative correction mechanism; and generating a target format lightweight model and carrying out quality verification. According to the method, adaptive precision control, multi-level consistency maintenance and format irrelevant processing are combined, the model size and conversion errors are effectively reduced, and cross-platform compatibility and geometric fidelity are improved. The method can be widely applied to the fields of industrial design, game development, virtual reality and the like.

The invention discloses an intelligent operation and maintenance method and system for an energy management platform, and relates to the technical field of intelligent operation and maintenance, and the method comprises the steps: analyzing data through employing an NLP technology, generating a multi-objective optimization function, constructing a user behavior portrait, adjusting the weight parameters of the multi-objective function through employing a reinforcement learning algorithm in combination with an Actor strategy network, and carrying out the operation and maintenance of a user. An energy scheduling scheme is obtained by using an improved bald eagle search algorithm and a prey escape energy mechanism, a digital twinborn model of mapping of a physical space and a virtual space is constructed, and the energy scheduling scheme is optimized and implemented by combining the digital twinborn model with a soft constraint mechanism. Through fusion of NLP technology semantic analysis and a reinforcement learning algorithm, a multi-target scheduling strategy is dynamically optimized, and an improved bald eagle search algorithm and a digital twin model are combined to realize simulation verification and closed-loop feedback, so that the intelligence and optimization level of energy system operation is improved, and the stability, economy and low-carbon operation capability of the system are also improved.

The invention relates to an abnormal unmanned aerial vehicle detection method fusing internal anomaly detection and external environment adaptation, which adopts a three-layer collaborative architecture design and comprises an external environment perception module, an internal anomaly detection module and a virtual-real fusion digital twinning module. And the external environment sensing module is responsible for external environment interference identification, regularly acquiring data of each unmanned aerial vehicle in the unmanned aerial vehicle group, and realizing stability discrimination. Environmental stability judgment and task switching are regarded as conditions of entering a buffer state, and are used for internal anomaly detection of the unmanned aerial vehicle group. In an internal anomaly detection module, real-time operation data of multiple unmanned aerial vehicles are analyzed based on a data flow driving mechanism, and abnormal individuals are identified. And the virtual-real fusion digital twinning updating module is responsible for constructing a high-fidelity digital twinning virtual space and dynamically updating internal and external constraint information to a digital twinning platform to support the next decision. The collaborative fusion of the three modules breaks through the limitation of a single constraint view angle, and realizes the collaborative constraint of internal state monitoring and external environment perception.

According to the present invention, it is possible to make the system exhibit the performance required for operation while suppressing costs or minimizing the impact on economic activity in the vicinity of the site. [Solution] The present invention is an operation system comprising: a real aircraft behavior information acquisition unit that acquires real aircraft behavior information from a real aircraft; a simulated real aircraft that simulates a real aircraft in a virtual space based on the real aircraft behavior information; an unmanned aircraft group simulator that calculates the behavior state of a mixed unmanned aircraft group that is a mixture of unmanned aircraft and virtual aircraft generated in the virtual space; a control command determination unit that generates control commands for at least the real aircraft, etc.; a display unit that displays and outputs the behavior state of the generated mixed unmanned aircraft group; and a real aircraft increase / decrease determination unit that determines whether to increase the number of real aircraft deployed in the operation area by replacing at least one of the virtual aircraft with a real aircraft, or to decrease the number of real aircraft deployed in the operation area by replacing at least one of the real aircraft with a virtual aircraft.

The invention relates to the technical field of equipment control, in particular to a feeding and discharging machining production control system and method based on a PLC, and the system comprises a multi-mode data sensing module which collects a three-dimensional point cloud and image sequence of a working scene through a laser radar and a visual sensor, and combines a vibration signal and a current signal of a machining main shaft; and after feature extraction, outputting a comprehensive state vector including the workpiece pose and the equipment health state. And the digital twinborn collaborative planning module receives the comprehensive state vector, drives a digital twinborn model to be synchronized with a physical environment in a virtual space, performs Monte Carlo tree search by applying a reinforcement learning algorithm, and generates a flexible control strategy with a time sequence mark. And the digital twinborn collaborative planning module adjusts a task allocation strategy according to the early warning signal, and corrects digital twinborn model parameters based on the execution log. According to the operation process corresponding to the modules, collaborative optimization of the feeding and discharging system and the machining rhythm is achieved, and the equipment utilization rate and the production efficiency are improved.

The invention discloses a virtual interaction system for realizing multi-dimensional perception, which relates to the technical field of virtual interaction, and comprises a man-machine interaction unit, a mapping matching unit, a data processing unit and a data processing unit, and the coordinate matching module is responsible for establishing a coordinate matching relation of the virtual object in the virtual space according to the size, shape and attitude parameters of the virtual object. The interaction device is operated to control the intelligent mark point in the virtual interaction system to interact with the target object, according to the position relation in the interaction process, the position posture of the interaction object is collected to determine whether contact occurs, event triggering and target interaction are achieved through the triggering control unit, a user senses the event, and the interaction efficiency is improved. Interaction requirements can be met, multi-target interaction control requirements are met, and the purpose of saving system resources is achieved.

The invention discloses a clinical test resource scheduling collaborative management system based on risk assessment, and relates to the technical field of clinical test management, the clinical test resource scheduling collaborative management system comprises a clinical test collaborative management platform, and the clinical test collaborative management platform is in communication connection with the following modules: a data integration module, a resource scheduling module and a resource scheduling module. The data collection module is used for collecting clinical test related data from different systems, preprocessing the collected data and integrating the data into a multi-source data set in a unified format. According to the method, the physical world is mapped to the virtual space in real time through the digital twinning technology, and the risk probability is dynamically updated in combination with the association rule of the knowledge graph, so that the system can accurately evaluate the possibility of occurrence of the current risk, a timely and accurate decision basis is provided for risk management of a clinical test, and the risk management efficiency is improved. The problems of hysteresis and subjectivity caused by the fact that a traditional risk assessment method depends on historical data or expert experience are effectively avoided, and therefore the constantly changing risk situation in a clinical test can be better coped with.

The invention discloses a coal mine intelligent coal face control system based on digital twinning. The system comprises an underground entity unit, a ground virtual unit and an interaction unit connecting the underground entity unit and the ground virtual unit. The physical unit acquires data through the sensing network module and uploads the data through the communication module; the virtual unit builds a three-dimensional dynamic model through a twinborn body building module, virtual and real consistency is guaranteed through a model dynamic correction module, then an optimal control strategy is generated through simulation optimization of a twinborn data analysis and decision-making module, and finally an instruction is issued to an execution mechanism module through a control module to form closed-loop control; according to the method, the digital twinborn body completely corresponding to the physical working face is constructed, simulation operation and verification can be carried out on the whole process of the coal mining technology and equipment linkage logic in a virtual space in advance, and therefore potential action interference and logic conflicts are recognized and eliminated before an actual control instruction is issued, the effect of pre-judgment in advance is achieved, and the real-time performance of the coal mining technology is improved. And the look-ahead decision-making capability of the system is greatly improved.

The invention discloses a conference sound reinforcement system based on an AI intelligent algorithm and 360-degree omni-directional noise reduction, and relates to the technical field of audio signal processing, the conference sound reinforcement system comprises a conference management center, the conference management center is in communication connection with the following modules: a multi-sound-source sensing module used for capturing 360-degree omni-directional sound field information in a conference environment and constructing a sound source space distribution model; according to the invention, the omnidirectional microphone array unit covers all directions of a conference space, synchronously collects audio data streams, eliminates the limitation of a conventional unidirectional microphone, combines the sound source positioning space mapping unit, constructs a sound source space distribution model based on the time difference of arrival and the phase difference through a deep learning model, and improves the sound source positioning accuracy. The azimuth angle, pitch angle and distance parameters of the sound source are accurately analyzed, the position of the sound source is mapped to a virtual space coordinate system, a dynamically updated 3D sound source distribution diagram is generated, the position change and intensity distribution of the sound source are reflected in real time, and the positioning precision in a complex acoustic environment is remarkably improved.

The technology disclosed relates to using virtual attraction between hand or other control object in a three-dimensional (3D) sensory space and a virtual object in a virtual space. In particular, it relates to defining a virtual attraction zone of a hand or other control object that is tracked in a three-dimensional (3D) sensory space and generating one or more interaction forces between the control object and a virtual object in a virtual space that cause motion of the virtual object responsive to proximity of the control object to the virtual object and escalation with a virtual pinch or grasp action of the control object directed to a manipulation point of the virtual object.

The invention relates to the technical field of industrial automation control, and discloses a precise sheet metal laser cutting process parameter self-adaptive control system, which comprises an instruction analysis unit, a laser cutting unit, a laser cutting unit, a laser cutting unit, a laser cutting unit and a laser cutting unit, the density operation unit constructs a virtual space-time sliding window, executes virtual track injection logic to convert static perforation into a virtual track data packet, and calculates a local energy density index in combination with a laser opening track segment; the parameter adjusting unit generates a basic pulse modulation coefficient based on the index, and generates a spatial discrete trigger signal when the index and the geometric curvature feature simultaneously exceed a threshold value; according to the virtual track injection and space-time sliding window mechanism, the data blind area of the static perforation action in the dynamic control model is eliminated, the overburning problem at the zero-speed singular point is solved through the modulation domain switching logic, and the machining quality of a complex contour is improved.

An AR system for a spectator event involving moving participants in a real space, each participant having a participant field of view of said real space through a screen, said spectator event involving cameras, each camera having a camera field of view of said real space, said AR system comprising: (a) a computer presentation system for generating virtual space corresponding to said real space and a virtual object in said virtual space; (b) a participant display configured to overlay an image of a portion of said virtual space corresponding to said participant field of view of said real space on said field of view of said real space for each participant; and (c) a spectator display configured overlay an image of a portion of said virtual space corresponding to said camera field of view of said real space on said camera field of view of said real space.

According to one embodiment, a mixed reality device overlays, on a real space, and displays a virtual object in a virtual space. The mixed reality device is configured to obtain a position of an object in the real space and a position of the virtual object. The mixed reality device is configured to change an external appearance of the virtual object when the virtual object is positioned on a far side of the object relative to the mixed reality device and overlaps the object.

The invention discloses an unmanned aerial vehicle stain cleaning cooperative control system. According to the invention, real-time linkage of virtual simulation and actual operation is realized through the digital twin collaborative cleaning sand table module, and the collaborative efficiency of a multi-unmanned aerial vehicle cluster is significantly improved. The digital twin sand table can dynamically map unmanned aerial vehicle states, environmental data and stain distribution, rehearses task allocation and path planning in a virtual space, discovers and eliminates path conflicts among unmanned aerial vehicles in advance, and avoids the problem of repeated cleaning or missing cleaning caused by information lag in traditional operation. And meanwhile, the sand table adjusts sub-task allocation based on a real-time state, and preferentially allocates a dense dirty area to the unmanned aerial vehicle with sufficient electric quantity, thereby reducing air flight time and invalid energy consumption, and ensuring that the whole operation process is more coherent and the cleaning coverage is more complete. Intelligent and self-adaptive adjustment of the cleaning process is achieved through deep cooperation of multiple modules, and the cleaning effect and the resource utilization rate in a complex scene are improved.

The invention provides a user behavior intention recognition method and device based on multi-modal data fusion, and relates to the technical field of data processing.The method comprises the steps that a multi-modal observation sequence is obtained, initial features are formed through time synchronization and mutual information screening, a cross-space initial offset vector is generated in combination with virtual space offset parameters, and the cross-space initial offset vector is obtained; establishing an association relationship between a real action and a virtual action through nonlinear mapping to obtain a cross-space registration feature; generating a correction coefficient according to the proportion of the real action amplitude and the virtual action amplitude, and performing amplitude correction to obtain a cross-space correction feature sequence; compensating rendering delay and synchronous drift by using weighted fusion of the current feature and the lag feature to obtain a time sequence correction feature; outputting cross-space fusion features through a unified embedding space and a cross-modal attention mechanism; and non-linear intention mapping is constructed based on the fusion features, and a user behavior intention result is inferred and output in combination with time smoothing. According to the invention, the accuracy of user behavior intention analysis in a virtual field scene can be improved.

The invention discloses a virtual space social interaction engine system based on AI enhancement, and relates to the technical field of AI enhancement, the virtual space social interaction engine system constructs a multi-level and three-dimensional user portrait network structure, greatly improves the precision and dimension of user feature expression, and improves the user experience through multi-source fusion analysis of path data, physiological feature data and voice chat data. According to the method, the system can comprehensively capture dominant interests and recessive preferences of users, richer and more accurate user portraits are formed, subsequent user matching is facilitated, positive attraction factors and negative rejection factors can be considered at the same time, the matching accuracy and the satisfaction degree of user matching experience are greatly improved, and the user experience is improved. Meanwhile, by constructing a behavior feature layer, the system can dynamically adjust matching and interaction strategies according to different social scenes, and continuous optimization of system performance is achieved based on a self-adaptive optimization mechanism fed back by a user.

The invention provides a railway vehicle production line digital twin system and method, and the system comprises a physical space layer which is used for obtaining the state information of a railway vehicle physical production line in real time; the information layer is used for performing information conversion and analysis on the state information of the railway vehicle physical production line to obtain processed railway vehicle production line information; and the virtual space layer is used for updating the railway vehicle virtual production line model based on the processed railway vehicle production line information, so that the railway vehicle virtual production line model corresponds to the railway vehicle physical production line. Through the digital twinning technology, digital transformation of the railway vehicle manufacturing industry is promoted, the production efficiency is improved, quality control is optimized, the maintenance cost is reduced, and the production flexibility is enhanced.

The invention discloses a method for implementing intelligent management and control of a special vehicle operation process based on a virtual space. Only a laser radar and an optical camera which are deployed in a special vehicle operation site and have overlapped detection view fields are used as external sensing equipment to synchronously collect operation environment data; based on the working environment data, constructing a three-dimensional virtual space containing the semantic information of the electrified equipment, and setting a virtual electronic fence to form a security defense area; based on laser radar real-time point cloud data, point cloud clusters of different rigid parts of the special vehicle are identified through segmentation and clustering, and a theoretical three-dimensional contour is generated; extracting a two-dimensional edge of the vehicle part through semantic segmentation based on the optical camera image data, and generating a three-dimensional semantic contour; fusing the theoretical three-dimensional contour with the three-dimensional semantic contour to obtain a high-precision dynamic three-dimensional contour of the moving part of the special vehicle; and calculating the shortest distance between the high-precision dynamic three-dimensional contour and the boundary of the virtual electronic fence, and taking the shortest distance as a reference for executing graded early warning or operating intervention on a special vehicle.

The invention relates to the technical field of crane safety monitoring, and discloses a crane hoisting overload state monitoring method and system based on digital twinning, and the system comprises a twinning modeling module, a data acquisition module, a state simulation module, an overload decision module, and a model optimization and visualization module. Deep interaction between a physical world and a virtual space is realized through digital twin bodies, limitation of a traditional monitoring method is broken through, multi-source parameters such as wind speed, load and structural stress are fused for the first time, a dynamic coupling model is constructed, nonlinear correlation of wind load, inertia force and structural deformation is captured, the problem of missed judgment of hidden risks in the traditional method is solved, and the method has a wide application prospect. An accident early warning coverage range is expanded, a deflection calculation model is established based on an improved mechanical theory, high-sensitivity detection of fine deformation of the main beam is realized, compared with a static model, the magnitude order is improved, structural damage accumulation is effectively prevented, deep correlation mining is performed on historical and real-time data, and long-time-history advanced early warning of overload risks is realized.

Dynamic valuation of virtual spaces in a virtual environment includes receiving telemetry data describing current user interactions with a virtual environment; performing predictive analysis on the telemetry data to predict future user interactions with a plurality of virtual spaces in the virtual environment; and continually adjusting values of the virtual spaces based on the predicted future user interactions without considering virtual objects in the plurality of virtual spaces.

The invention belongs to the technical field of robot carrying, and discloses a humanoid robot compliant collaborative carrying method and system based on a virtual safety mechanism, and the method comprises the steps: carrying out the automatic recognition of a to-be-carried object, and carrying out the precise positioning of a spatial position; calculating the position of the optimal space contact point of the carrying action executed by the two-arm end executors of the humanoid robot based on the identification and positioning results of the to-be-carried object and the like; performing dynamic posture fine adjustment on the position of the optimal space contact point, generating a motion track of the humanoid robot from an initial state to completion of a carrying task, and constructing a virtual space constraint domain; interaction force feedback information between the humanoid robot and the environment and between the humanoid robot and the object to be carried is continuously sensed, and the motion posture and action force of the two arms of the humanoid robot are dynamically adjusted in real time. Through visual sense and force sense cross-modal perception fusion and high-reliability low-delay communication guarantee, smooth anti-collision control in the carrying process is achieved, and synchronous optimization of safety and operation efficiency is achieved.