56 results about "Virtual structure" patented technology

The invention relates to the technical field of unmanned aerial vehicle cluster control, in particular to a multi-mode sensing fusion unmanned aerial vehicle cluster control method, device and equipment based on deep learning and a storage medium. According to the invention, gesture, voice, vision and touch data are collected in parallel through a multi-mode perception access layer and are preprocessed and synchronized; utilizing a special deep network to extract high-level features rich in cluster semantics; through cross-modal semantic alignment, graph neural network association learning and a multi-dimensional conflict detection and intelligent resolution mechanism, deep fusion and accurate intention analysis of four modals in a cluster control semantic space are realized; high-level instructions are efficiently converted into single-machine executable tasks and coordination strategies by adopting hierarchical task decomposition, virtual structure formation control and a multi-objective optimization algorithm; state feedback and adaptive parameter optimization are carried out in real time, and the accuracy, reliability, environmental adaptability and man-machine interaction efficiency of large-scale unmanned aerial vehicle cluster control are improved.

The invention discloses an underwater robot formation control method based on a virtual structure and a cost equalization method, and the method comprises the following steps: designing a polymorphic formation library, and importing the polymorphic formation library into a main AUV; establishing a random coordinate system by taking the master AUV as a center, generating a three-dimensional virtual matrix, and introducing a virtual AUV between the slave AUV and the corresponding virtual mass point; selecting a corresponding formation from the polymorphic formation library of the main AUV according to task requirements; calculating the cost of each member to the target point through a cost model according to the state of the current formation member based on the selected formation, and obtaining a cost matrix; task allocation is carried out on the target points through a cost equalization method; and the slave AUV realizes formation reconstruction by tracking the motion trail of the virtual AUV. According to the method, the flexibility and adaptability of the formation are enhanced, the safety and reliability in the task execution process are effectively improved, and a brand new solution is provided for application of the AUV in complex operation.

The invention relates to a USV formation keeping method based on passive positioning under a communication limited condition, and belongs to the field of unmanned surface vessel formation. The method comprises the following steps: establishing a circular USV formation positioning model under a passive condition based on a three-point three-angle measurement method, and adopting an improved least square filtering algorithm and introducing a distributed state estimation mechanism to enable USV to realize self-positioning; a leader-follower model and a virtual structure method are combined, a virtual-leader-follower circular formation model is established based on a passive condition, and an overall formation virtual navigation structure is set during USV formation movement to guide formation movement; and a distributed state estimation mechanism is fused into a distributed model prediction control strategy, so that each USV follows the track of the USV corresponding to the USV in the virtual navigation structure, and real-time rolling optimization control is performed on the track of the USV in each time step. According to the invention, the robustness of formation control in a communication limited scene can be enhanced.

The invention relates to the technical field of building structure health monitoring, and discloses a BIM-based steel structure deformation monitoring processing method and system. According to the method, a BIM design model and a physical monitoring space are mapped through a digital twin interface, and a virtual structure mirror image is generated. And injecting real-time monitoring data into the mirror image, and driving the mirror image to evolve to generate the dynamic twin. And by carrying out reverse backtracking and feature deconstruction on the historical evolution trajectory of the twinborn body, an independent deformation component caused by an environment variable and a load variable is stripped out. And performing nonlinear time sequence extension deduction on each component, and constructing a future potential development path of each component. And carrying out spatial topological superposition and interference analysis on the paths of all the components, and synthesizing a prediction deformation field. The mapping rule is dynamically adjusted by comparing the deviation of the prediction field and the real-time twinborn body, and a closed-loop process is formed. According to the method, accurate separation and attribution of steel structure deformation causes are realized, and the spatial precision and reliability of deformation development prediction are improved.

The invention provides a multi-variety order dynamic scheduling management method and system for a liquid crystal display module production line, and relates to the technical field of industrial automation, and the method comprises the steps: collecting the size, resolution, interface type, batch and delivery time data of all orders, obtaining the process equipment, jig configuration, material inventory state and material supply plan data of the production line at the same time, obtaining an order data set and a resource data set; based on the order data set and the resource data set, an order and resource associated data point set is constructed, a three-dimensional virtual voxel space is defined in the virtual structure, and the order and resource associated data point set is mapped to corresponding voxels one by one; and recording the number of data points of each voxel falling into the three-dimensional virtual voxel space, the corresponding order type, the resource number and the material demand matching degree information to obtain a voxel sub-region with a data attribute mark. According to the invention, dynamic optimization of the scheduling scheme is realized.

The invention relates to the technical field of image communication, in particular to an OPS framework conference communication system of a virtual enhanced digital conference. The system comprises a multi-mode sensing array unit, a dynamic window distribution unit and a virtual-real fusion rendering unit. A content explanation mode and a free speech mode can be automatically switched on the basis of behavior intentions, window smooth zooming is achieved through a Bezier curve, the proportion of a screen to a figure picture is automatically adjusted, manual intervention is reduced, meanwhile, a screen window splitting module detects the edges of multiple screens, independent windows are divided for independent rendering, it is ensured that the content of each screen is clearly displayed, and the user experience is improved. According to the method and the device, image compression caused by distance is avoided, and during conference communication, the multi-mode sensing array is used for detecting a shielding object in real time, generating a semitransparent virtual structure to cover a shielding area and synchronizing gesture tracks, so that a virtual demonstration conference is ensured, and the quality of screen display content and digital conference dynamic demonstration is improved.

An interactive educational system designed to teach children fundamental math and business concepts through engaging gameplay is disclosed. The system includes a mobile application and a web application, both integrated with a server system that manages user registration, profile customization, and authentication. The system offers a variety of building projects that require users to apply mathematical principles such as area, perimeter, addition, subtraction, and multiplication. Users manage in-game currency to purchase materials and decorations and can sell completed virtual structures in an in-app marketplace, with profit or loss automatically calculated. The system further includes features for teacher interaction, feedback, and collaborative projects for a comprehensive and adaptive learning environment for users.

The present application relates to the technical field of unmanned aerial vehicle cluster control, in particular to a multi-modal perception fusion unmanned aerial vehicle cluster control method and device based on deep learning, equipment and storage medium. The present application collects gesture, voice, visual and touch data in parallel through a multi-modal perception access layer, and pre-processes and synchronizes the data. A special deep network is used to extract high-level features rich in cluster semantics. Through cross-modal semantic alignment, graph neural network correlation learning, and multi-dimensional conflict detection and intelligent resolution mechanism, the present application realizes the deep fusion of the four modes in the cluster control semantic space and the accurate analysis of the intention. The present application uses hierarchical task decomposition, virtual structure formation control and multi-objective optimization algorithm to efficiently convert high-level instructions into single-machine executable tasks and coordination strategies. The present application also performs real-time state feedback and adaptive parameter optimization, improving the accuracy, reliability, environmental adaptability and human-computer interaction efficiency of large-scale unmanned aerial vehicle cluster control.

A design support device S011: uses an installable area calculation unit P01 to calculate, on the basis of spatial data D01, installation rule data R01, and virtual structure design data B01, which are stored in an external storage, areas that satisfy installation rules in the installation rule data R01 and design rules in the virtual structure design data B01, and thereby acquire installable area data T01; and uses a virtual structure installation unit M01 to install, on the basis of the installable area data T01 and the virtual structure design data B01, a virtual structure within an installable area based on the installable area data T01, and acquire and output design support data E01 to the outside.

A method for detecting and incorporating three-dimensional objects into a video stream reads an input video data stream is described. A method may read an input video and may accept hotspots defining at least one real-world object of interest shown within the video. A method may track movement of any hotspots generating a trajectory of any objects of interest in two-dimensional space of the video and may obtain a three-dimensional topology defining a three-dimensional volume of interest in a three-dimensional space. The method may translate the hotspots to the three-dimensional volume and may calculate motion of the hotspots in the three-dimensional space. A method may build virtual structures to relate any hotspots to the three-dimensional topology to create a three-dimensional geometric shape and finally project the output, if needed.

Embodiments of the present application provide a protein stability prediction method and device, computer equipment and a storage medium. The method comprises: obtaining a first to-be-tested sequence corresponding to an original protein and a second to-be-tested sequence corresponding to a mutant protein; determining a plurality of first target residue features from the first to-be-tested sequence according to the attention mechanism of the protein language model and extracting the global features thereof to obtain first virtual structure microenvironment features; similarly, obtaining second virtual structure microenvironment features corresponding to a plurality of second target residue features; determining a first difference based on the first virtual structure microenvironment features and the second virtual structure microenvironment features, and determining a second difference based on a first global sequence feature corresponding to the first to-be-tested sequence and a second global sequence feature corresponding to the second to-be-tested sequence; and predicting based on the first difference and the second difference to obtain a protein stability prediction result. In this way, the accuracy of predicting the stability of the protein can be improved.

The application provides a liquid crystal display module production line multi-variety order dynamic scheduling management method and system, relates to the technical field of industrial automation, and the method comprises the following steps: collecting the size, resolution, interface type, batch, and delivery date of all orders, simultaneously acquiring production line process equipment, jig configuration, material inventory state, and material supply plan data, obtaining an order data set and a resource data set; based on the order data set and the resource data set, an order and resource associated data point set is constructed, a three-dimensional virtual voxel space is defined in a virtual structure, the order and resource associated data point set is mapped into corresponding voxels one by one, and the number of data points, corresponding order type, resource number, and material demand matching degree information of each voxel falling into the three-dimensional virtual voxel space are recorded, so that a voxel sub-region with data attribute labels is obtained. The application realizes dynamic optimization of a scheduling scheme.

The invention relates to the technical field of operation simulation, in particular to a neurosurgery operation planning and teaching system based on virtual reality, in the neurosurgery operation planning and teaching system based on virtual reality, direction recognition and space classification are carried out on an action track through an artificial neural network, a real operation intention is extracted more accurately, and structured action continuous segments are reconstructed; the method promotes the configuration diversification of a simulation path, effectively recognizes intra-operative high-variation risk points, expands the spatial distribution range of controllable interference variables in a scene, and achieves the matching of a virtual structure with the attention direction of a user in the operation process through the establishment of an angle screening mechanism between the view angle orientation and the center line of the structure. According to the method, the space navigation is optimized, the initiative of space navigation and the pertinence of structure interaction are enhanced, potential operation bottlenecks are recognized in advance, the rhythm jump difference selection logic is introduced, cooperative regulation and control of path continuity and rhythm diversity are achieved, and the simulated operation process is made to have response elasticity, strategy richness and real behavior mapping capacity.

This invention discloses a drone swarm formation obstacle avoidance control method based on an improved artificial potential field method, comprising the following steps: Step 1, performing formation control of the drone swarm based on a virtual structure method; Step 2, for the i-th drone, during its movement towards the target point, determining whether the distance between the i-th drone and the obstacle is greater than the safe distance using the artificial potential field method. If the distance between the i-th drone and the obstacle is greater than the safe distance, it continues to move towards the target point; if the distance between the i-th drone and the obstacle is less than the safe distance, an improved artificial potential field method is introduced for obstacle avoidance until the target point is reached; the improved artificial potential field method for obstacle avoidance specifically involves: making F i ob With F i att Maintain orthogonality, when F i att With F i ob When the angle between them is 0, only F is retained. i ob China and F i att Orthogonal components F i obrep Remove F i att The parallel components make the attraction force dominate the overall motion trend, improving the efficiency of the drone in reaching the target point.

This invention discloses a method for testing the corrosion crack propagation path of floating structures based on digital twins, relating to the field of path testing. The method includes the following steps: acquiring basic information about the floating structure, setting up a three-dimensional virtual structure model, and marking key nodes; setting up an intelligent sensor network to acquire real-time monitoring data at each key node; performing labeling and analysis on the historical monitoring data at each node within the three-dimensional virtual structure model to obtain a longitudinal and transverse label dataset; performing longitudinal and transverse analysis on the longitudinal and transverse label dataset to obtain the interaction relationship between seawater corrosion and crack propagation at each key node in three dimensions: time, space, and degree of influence; constructing a monitoring verification model and a crack propagation model based on the analysis results; verifying and analyzing the real-time monitoring data using the monitoring verification model; and performing path analysis on the verification analysis results based on the crack propagation model. This invention improves the accuracy of the crack propagation path testing process.

The aim is to provide design support for the new construction or relocation locations of infrastructure facilities using virtual space data. [Solution] In a design support device S011, an installable area calculation unit P01 calculates an area that satisfies the installation rules in the installation rule data R01 and the design rules of the virtual structure design data B01 based on spatial data D01, installation rule data R01, and virtual structure design data B01 stored in external storage, to obtain installable area data T01, and a virtual structure installation unit M01 installs a virtual structure within the installable area based on the installable area data T01 based on the installable area data T01 and the virtual structure design data B01, to obtain design support data E01 and output it to the outside.

The invention relates to a method for testing at least one structural unit (1) for a motor vehicle, in which method a plurality of virtual structural variants of the structural unit (1) are generated by means of an electronic computing device as a function of design data describing the structural unit, wherein the structural variants differ from one another with regard to at least one deviation of an actual value of a variable from a target value of the variable. For a first number of the generated structural variants which is greater than one, a respective simulation is carried out by means of the electronic computing device. In the respective simulation, at least one relative movement between at least two components (2, 3, 4, 5) of the structural unit (1) is simulated.Through the respective simulation, at least one parameter value resulting from the relative movement of a parameter different from the size is determined for the respective construction variant for which the respective simulation is being performed. Using the electronic computing device, a respective deviation value is determined for the respective parameter value, which indicates the respective deviation of the respective parameter value from a reference value.

The invention provides an array substrate and a display panel. The array substrate is provided with a display area and a frame area. The array substrate comprises a virtual structure and a lead. The virtual structure is located in the frame area. The lead is located in the frame area and electrically connected with the virtual structure, and at least one closed loop is formed. In the heating stage, the lead receives a heating signal, and the closed loop serves as a heating loop. The lead is connected with the virtual structure of the frame area to form the closed loop, so that the closed loop can be used as a heating loop in the heating stage, and the display panel can be heated in a low-temperature environment to improve the display reaction speed of the display panel.

The present invention relates to the field of image communication technology, and in particular to an OPS framework conference communication system for virtual enhanced digital conferences. The system comprises a multimodal sensor array unit, a dynamic window allocation unit and a virtual-reality fusion rendering unit. The present invention can automatically switch between content explanation mode and free speech mode based on behavioral intention, use Bezier curves to achieve smooth window scaling, automatically adjust the screen and character image ratio, reduce manual intervention, and at the same time, the screen window splitting module detects the edges of multiple screens, divides independent windows and renders them separately, ensuring that the content of each screen is clearly displayed and avoiding image compression caused by distance. In addition, during conference communications, the multimodal sensor array is used to detect obstructions in real time, generate a translucent virtual structure to cover the obstructed area, and synchronize gesture trajectories to ensure virtual demonstration meetings and improve the quality of screen display content and dynamic demonstrations of digital conferences.

The present invention provides a robot formation control method based on a formation integrity evaluation index, which relates to the field of robot formation motion control. This method calculates the formation integrity evaluation index by computing the error of the average center distance of the formation of actual robots and the ideal formation, the error of the sum of the distances from the robots to the average center, and the angle error of the robots, and according to the weights of each error in the actual formation application scenario. On the premise of retaining the position constraint of the virtual structure method, speed constraints are integrated, and the speed constraint with a small amount of computation is preferentially used as the formation motion control method. By calculating the formation integrity evaluation index of the robot formation in real time, when the formation motion error reaches the threshold, the formation control method switches to the position constraint to eliminate the motion error, avoiding the use of the position constraint throughout the motion process. It can reduce the number of robot path planning times and the amount of computation during the formation motion while ensuring the stability of the formation shape, and better meet the application requirements in the actual environment.

The invention relates to a security element which comprises a network of contiguous or adjacent lines in relief, these lines (2) being oriented in respective X and Y axis directions, while said relief is oriented in a Z axis direction, at least one of these lines (2) being delimited by two consecutive grooves or two consecutive ridges, from which two opposite flanks originate, at least one opposite flank having in the Y,Z plane an average slope varying continuously between two extreme values, the set of slopes of said network being such that, at any point, the slope P(x,y) satisfies P(x,y) = k * P1(x,y) + (1-k) * P2(x,y) equation in which: k is a constant between 0.2 and 0.8; P1(x,y) and P2(x,y) being the respective local slopes of the flank at point (x,y) of a first virtual structure (S1) and a second virtual structure. Figure for abstract: 10

The invention provides an unmanned aerial vehicle formation keeping, transformation, obstacle avoidance and collision avoidance system based on an artificial potential field method. The system comprises a formation structure module, a parameter measurement and calculation module, an artificial potential field module and an instruction integration module. The formation modeling module is used for performing virtual modeling on the formation through a virtual structure method, giving a target position of the current unmanned aerial vehicle, calculating a relative position and a relative speed with the target position according to the target position, calculating each obstacle according to the obstacle information, setting an emergency degree for the obstacles, and determining the formation according to the emergency degree. And calculating the gravitation and the repulsive force of the target position and the obstacle, finally synthesizing an initial resultant force, limiting the resultant force, and finally outputting a control instruction which can be actually executed by the optimized unmanned aerial vehicle. According to the method, the overall stability of the formation is ensured, flexible and efficient formation change can be realized, and real-time and reliable obstacle avoidance and collision avoidance capabilities are realized, so that the autonomous collaborative operation level of a multi-unmanned aerial vehicle system in a complex environment is improved.

The present invention particularly relates to a safety element comprising a grid consisting of a set of adjacent or adjacent raised lines (2) oriented in the directions of their respective axes X and Y, while the raised lines are oriented in the direction of axis Z. At least one of the lines (2) is defined by two consecutive valleys or two consecutive peaks, thereby forming two opposing sides. At least one opposing side has an average slope in the Y-Z plane, which varies continuously between two extreme values. The set of slopes of the grid is such that at any given point, the slope P(x, y) is expressed as, in the equation: k is a constant between 0.2 and 0.8; and P1(x, y) and P2(x, y) are the corresponding local slopes of the sides of the first virtual structure (S1) and the second virtual structure at point (x, y).

The present invention relates to a method for maintaining the formation of a USV formation based on passive positioning under communication-restricted conditions, and belongs to the field of unmanned surface vessel formations. The method comprises: establishing a circular USV formation positioning model under passive conditions based on a three-point triangulation method, adopting an improved least squares filtering algorithm, and introducing a distributed state estimation mechanism to enable the USV to achieve self-positioning; combining a leader-follower model with a virtual structure method, establishing a virtual leader-follower circular formation model under passive conditions, setting an overall formation virtual pilot structure when the USV formation moves, and guiding the formation movement; integrating the distributed state estimation mechanism into a distributed model predictive control strategy, so that each USV follows the trajectory of the USV corresponding to itself in the virtual pilot structure, and performing real-time rolling optimization control on its own trajectory at each time step. The present invention can enhance the robustness of formation control under communication-restricted scenarios.

The invention provides a disassembly and assembly simulation method and a disassembly and assembly simulation system, and relates to the technical field of simulation. The method comprises the steps that after an activation instruction of a target detachable object is received, a virtual model of the object is presented on a terminal display interface; when a dismounting instruction of a target component is received, searching a dependent object having a dependency relationship with the target component from the virtual model, and marking the dependent object in the model; after the disassembly and assembly instruction of the dependent object is activated, the system demonstrates the disassembly and assembly process of the dependent object, and updates and displays the disassembled and assembled virtual model after demonstration is completed; and under the condition that all the dependent objects are judged to be disassembled and assembled, the system executes disassembly and assembly demonstration of the target part, and displays the virtual structure after the disassembly and assembly of the target part after the demonstration is completed. According to the invention, the dismounting sequence can be automatically determined according to the dependency relationship, the dismounting logic is truly presented, and the accuracy and operability of virtual dismounting teaching and simulation training are improved.

The invention provides a multi-agent formation method, system and device based on a virtual structure and an improved potential function, and the method comprises the steps: building a nonlinear multi-agent dynamic system model with N same agents, and making an obstacle avoidance strategy; designing a controller based on the nonlinear multi-agent dynamic system model; adding the controller into the nonlinear multi-agent dynamic system model to obtain a second-order multi-agent system; and according to a second-order multi-agent system stability method, controller parameters and system parameters of the multi-agent system meet discrimination conditions, and system errors of the multi-agent system are gradually converged to zero by using an obstacle avoidance strategy, so that the multi-agent formation is ensured to reach a stable expected trajectory. According to the invention, the multi-agent formation can avoid the obstacle and then reconstruct the formation, and the situation that the unmanned vehicle falls into a local extreme value and cannot continue to move is effectively avoided.

This invention belongs to the field of unmanned surface navigation technology, and particularly relates to a method, system, and medium for pre-defined time-based cooperative formation control of multiple unmanned surface vessels (USVs) with error constraints. The method includes: first, establishing kinematic and dynamic models of the USVs; then, combining virtual structure and leader-follower methods to establish a virtual leader-follower formation control framework, and designing a pre-defined time-based disturbance observer to observe disturbances; finally, designing a pre-defined time function and a pre-defined performance inequality to design a pre-defined time-based formation control protocol. The controller designed in this invention enables USVs to perform formation tasks within a preset time. Furthermore, the pre-defined time-based disturbance observer observes and compensates for external disturbances, exhibiting strong robustness and anti-interference capabilities. Compared to existing finite-time formation controllers, the controller of this invention does not exhibit chattering and its convergence performance is independent of the initial state; compared to fixed-time formation controllers, the system convergence time can be manually set, improving formation control efficiency.

The invention belongs to the technical field of computer vision and robots, and relates to a multi-modal semantic feature point ordering VSLAM method and system, and the method comprises the following steps: carrying out the analysis based on the image content of a video frame, and generating a semantic partition image containing an object type and a contour boundary; generating a mixed feature point cloud containing virtual structure anchor points and native texture features by inferring a geometric intersection relationship among different semantic regions; wherein each feature point is allocated with a structured semantic identity code containing physical affiliation information of the feature point; constructing a semantic physical constraint graph representing a scene physical rule; generating a weighted credibility parameter of the camera pose by evaluating the reliability of positioning contributions of different semantic entities; and triggering propagation calibration from the high-credibility pose to the low-credibility area, and generating a camera track and a map which are subjected to structured correction. The problem that physical consistency and accuracy of a global map are still difficult to guarantee in a large-scale scene is solved.

The invention discloses an unmanned aerial vehicle cluster virtual structure control method based on distributed consistency estimation. The method comprises the following steps: S1, setting a virtual navigator state and an expected relative position vector; s2, uniformly estimating the state of the virtual navigator based on the state information exchanged by the neighbor unmanned aerial vehicles through distributed state estimation; and S3, generating and executing a local control instruction of the unmanned aerial vehicle according to the estimated state of the virtual navigator and the expected relative position vector. According to the invention, the unmanned aerial vehicle group can keep a high-precision formation, and the method is high in expandability, supports large-scale deployment, and is higher in robustness.

This invention discloses a UAV formation cooperative obstacle avoidance method based on improved fuzzy decision-making, comprising: continuously acquiring the positions of UAVs and the virtual lead UAV using onboard sensors; obtaining position and attitude control commands for the UAV formation through a formation control method based on virtual structure and consistency theory; setting the distance obstacle avoidance range and rotation angle obstacle avoidance range of the UAVs according to their performance, and constructing a fuzzy decision-maker; determining the threat level of the UAVs based on the fuzzy decision-maker and obstacles, and outputting corresponding formation obstacle avoidance decisions; for UAVs that have broken out of formation, adjusting the obstacle avoidance control quantity of the UAVs that have broken out of formation based on the speed obstacle method and the expected obstacle avoidance speed. This invention ensures that the maneuverability of most members is not affected during inter-UAV collision avoidance, improves the stability and safety of the formation, and is more conducive to the execution of formation tasks.