45 results about "Virtual wall" patented technology

According to the motion planning method and device for the multi-mechanical-arm cooperative task, a large number of potential conflicts are actively avoided in the early stage of task allocation through division of a virtual wall and a safety area and a danger area, the difficulty and the calculated amount of follow-up track collaboration are remarkably reduced, and the success rate and the efficiency of planning are improved. Cost and load balance are considered in the task allocation stage; in the path point sorting stage, minimizing the total movement distance and the total completion time is taken as a target; and track generation adopts a time optimal algorithm. The layered decoupling design avoids the huge calculation overhead of centralized planning, and meanwhile, the quality of a final solution is ensured through the optimization strategy of each stage. The innovative cost function takes collision distance into consideration, and guides the planner to select a safer path. Through layered and ordered collision solution strategies, such as deceleration, local re-planning and optimal waiting, it is ensured that a collision-free solution can be always found in a complex dynamic environment, and robustness is high.

The invention discloses a robot control method and device, a robot and a storage medium, and relates to the technical field of intelligent robots. The method comprises the steps that a semantic map in a preset area is determined, and a first planned path is generated according to a preset terminal point of a current robot; if it is determined that an intersection point exists between the first planned path and a target obstacle according to the semantic map and the first planned path is not perpendicular to the target obstacle, a virtual wall is generated in the semantic map; and generating a second planned path perpendicular to the target obstacle by taking the current robot not in contact with the virtual wall as a target, and controlling the current robot to move according to the second planned path in the semantic map. According to the technical scheme, the path perpendicular to the target obstacle is generated by setting the virtual wall, so that the current robot can vertically pass through the target obstacle, and the problem that the robot is stuck or rolls over is solved.

A system (200) includes a processor (210). The processor identifies a virtual wall (VW), which is a surface that prevents access for the working tool (160). The processor identifies the position of a control point (P) of a working tool (163) in a working machine (100). The processor identifies an offset wall (OW), which is obtained by moving the virtual wall, in the normal direction to the virtual wall, closer to the control point by a length equal to the radius of a virtual sphere, where the virtual sphere (VS) encloses the working tool with the control point as its center. The processor controls the working machine so that the offset wall does not come into contact with the control point.

The application discloses a network device optimization method and device, computer equipment and a storage medium, the method comprises the following steps: obtaining the network security policy table of a target network device; determining the network security policy group with a policy relationship in the network security policy table based on the policy action, the policy virtual wall and the communication five tuple information; performing optimization processing on the network security policy table based on the policy relationship of the network security policy group, to obtain an optimized network security policy table; and performing optimization processing on the target network device based on the optimized network security policy table, to obtain an optimized target network device. The network security policy table after optimization can effectively sort out and optimize the network security policy of the target network device, and since no human intervention is required throughout the process, the management efficiency is effectively improved while ensuring the accuracy of management.

The invention discloses a hoisting equipment control method, device and system and terminal equipment, and relates to the technical field of hoisting equipment control, the method comprises the following steps: controlling a main arm of hoisting equipment to drive a hoisting part to reach a first position and a second position respectively, and obtaining control parameters of the main arm when the hoisting part reaches the first position and the second position; determining a first distance between the first position and the second position according to the control parameters of the main arm, and determining a second distance and a third distance; a virtual wall of the target obstacle is constructed with the first distance, the second distance and the third distance as the length, the width and the height respectively, and the virtual wall is an envelope cube of the target obstacle; in the operation process of the hoisting equipment, the spatial position relation between the hoisting part and / or the main arm and the virtual wall is calculated according to the control parameters of the hoisting part and the main arm, so that the main arm or the hoisting part is controlled to execute hoisting operation. According to the method, the calibration precision and efficiency of the obstacle virtual wall are effectively improved, and the operation convenience and the safety of the hoisting process are improved.

An embodiment herein provides a robotic device 100 that enables real-time autonomous navigation in a dynamic environment by determining a navigable space. The robotic device includes at least one image capturing device 102 to capture at least one image or video within a current Field of View (FOV) of the dynamic environment, and a processor 106 that is configured to obtain the point cloud, identify at least one obstacle in the dynamic environment, generate a local map that represents an occupied region and a free region, construct a virtual wall representing an imaginary boundary positioned at a pre-determined distance, project a plurality of rays from an origin of the at least one image capturing device toward the virtual wall at varying angles, determine at least one visible region of the virtual wall, update the local map and enable the robotic device to navigate to a target location.

The invention relates to the technical field of robot motion control, and discloses a robot control method and system combining singular point avoidance and obstacle function control. The robot control method is applied to robot control equipment and specifically comprises the following steps that S101, a robot control request is received, a position coordinate system in a Cartesian space is established at the tail end of a mechanical arm, and a tail end position vector x = [x, y, z] T and a virtual wall center coordinate C are defined, the radial distance r = x-c from the tail end to the center of the virtual wall and a radial unit vector are calculated, boundary parameters are set, a virtual wall area is defined by an outer boundary radius rmax and an inner boundary radius rmin, and a safe motion range is formed; s102, decomposing the expected velocity vdes in the Cartesian space into a radial component and a tangential component; the limitation that a traditional potential field method is prone to oscillation and a speed truncation method is discontinuous is broken through by fusing a control obstacle function and a singular point evasion strategy, and strict mathematical constraints established by the control obstacle function ensure that the tail end does not break through a virtual wall boundary absolutely.

A control system (200) controls a working machine (100) that includes a working device (160) to whose tip end a working tool (163) can be attached. The control system includes a processor (210). The processor identifies a virtual wall (VW), which is a surface that prevents the working tool from penetrating it. The processor determines a rotational angular velocity of the working machine so that the virtual wall does not come into contact with the working machine. The processor varies the rotational angular velocity depending on the main body weight of the working tool.

Disclosed are example embodiments of systems and methods for displaying a workout session having a virtual wall of live streams. The system includes one or more processors and a memory coupled to the one or more processors. The memory has instructions that, when executed, cause the one or more processor to determine whether a plurality of participants are eligible to be presented on a wall of live streams of a live workout session based at least on an eligibility criteria. The memory also has instructions that, when executed, cause the one or more processor to display a video stream of a first participant from the plurality of participants on the wall of live streams based on the determination.

A generation unit generates a virtual wall that is defined by a plane on a vehicle body coordinate system of which origin is a representative point of a swing body. A rotation conversion unit rotationally converts the virtual wall around the origin of the vehicle body coordinate system in association with a swing of the swing body. A position specifying unit specifies a position of an outer shell of a work machine in the vehicle body coordinate system. An intervention control unit controls the work machine such that the outer shell does not come into contact with the virtual wall.

Planning virtual production from a digital application, including: performing digital planning and management of the virtual production to produce at least video output of a digital LED wall from a virtual camera mimicking filming on a virtual LED wall of the virtual production including: rendering pre-visualization of the virtual production; and generating technical visualization of the virtual production within a virtual environment; automatically generating a cost estimate of the virtual production based on the rendered pre- visualization and the generated technical visualization of the virtual production; and enabling requests for booking a sound stage from the digital application when the cost estimate is acceptable.

The invention is suitable for the technical field of equipment control, and provides an equipment motion control method and device, target equipment and a computer program product. The method comprises the steps of determining whether target equipment passes through a virtual wall or not in a process that the target equipment moves along the edge of the virtual wall; if it is determined that the target device passes through the virtual wall, controlling the target device to move to a target position, and controlling the target device to move along the edge again according to the target position; wherein the target position and a first position before the target device passes through the virtual wall are located on the same side of the virtual wall. Through the method, the target equipment can return to the correct edge path to move along the edge again after passing through the virtual wall, so that the movement accuracy of the target equipment is improved.

A system identifies a virtual wall, which is a surface configured to deny access to the work machine. The system controls the work machine's travel speed based on the identified virtual wall.

A control system (200) controls a construction machine (100) provided with a work machine (160) capable of attaching a work tool (163) to the tip thereof. The control system is provided with a processor (210). The processor specifies a virtual wall (VW) which is a surface that prohibits intrusion of the work device. The processor determines the rotational angular velocity of the construction machine so that the virtual wall does not come into contact with the construction machine. The processor varies the rotational angular velocities depending on the main body weight of the work tool.

A shovel includes a lower traveling body, an upper turning body turnably mounted on the lower traveling body, an actuator mounted on the lower traveling body or the upper turning body, and a controller configured to restrict movement of the actuator. The controller sets a virtual wall, and restricts the movement of the actuator based on a positional relationship between the virtual wall and the shovel.

This control system for a work machine includes a processor. The processor sets a plurality of divided areas in a work area where a first work machine and a second work machine will work, designates a first divided area where the first work machine will work from the plurality of divided areas, and, in a state in which the first work machine is present inside the first divided area and the second work machine is present outside the first divided area, establishes, for the first divided area, a virtual wall that restricts the first work machine from advancing from the first divided area and the second work machine from entering the first divided area.

Disclosed in the present application is a method for updating a virtual wall. The method includes: performing extended mapping on an original map to obtain an extended map, the original map including M virtual walls, M being an integer greater than or equal to 1; according to one or more paths which are comprised in the extended map, detecting the legitimacy of each virtual wall among the M virtual walls in the extended map; and according to the legitimacy of each virtual wall in the extended map, updating the M virtual walls in the extended map to obtain a target extended map, the target extended map including N virtual walls among the M virtual walls.

This application discloses a design method for an inward-turning inlet based on flow field self-regulation, comprising the following steps: S1. Generating an inlet profile scheme under given design point inflow conditions; S2. Modifying the inlet profile under given starting point inflow conditions to form an inlet profile with grooves; S3. Generating an aerodynamic-based inlet reference profile; S4. Verifying the adaptive adjustment capability of the aerodynamic throat within the operating range based on the inlet reference profile; S5. Generating an inward-turning inlet with aerodynamic adaptive adjustment capability based on the inlet reference profile designed in S4; and S6. Iterating and optimizing the inward-turning inlet formed in S5. The present invention utilizes the virtual wall formed in the separation zone to control the flow area at the inlet throat, thereby achieving wide-range operation of the inlet. A rectangular cross-section, fixed geometry, non-suction inlet is designed that can operate within the Mach number range of 3-7.

The invention discloses a grouting test piece twin maintenance method and system, electronic equipment and a storage medium, and relates to the field of constructional engineering maintenance. According to the method, a three-dimensional temperature and humidity strain field distribution map is generated according to historical detection data of a prefabricated wall, real-time meteorological data and a historical database are obtained, and a dynamic environment map is constructed; inputting the three-dimensional temperature and humidity strain field distribution map into a preset finite element analysis model to generate a virtual wall state map; predicting first detection data at the current moment according to the virtual wall body state map, starting an adversarial generative network when a difference value between the first detection data and the second detection data is greater than a preset proportion, and generating a restoration environment curve according to the dynamic environment map and the second detection data; according to the restoration environment curve, a quantum particle swarm optimization algorithm is adopted to determine multi-target energy consumption optimal control parameters, and the grouting test piece is maintained through the multi-target energy consumption optimal control parameters. By implementing the technical scheme provided by the invention, the grouting test piece is efficiently maintained in an energy-saving manner.

The invention relates to the technical field of robot control, and discloses a robot control method and system based on radial smoothing and a control barrier function, the robot control method is applied to robot control equipment, and the robot control method specifically comprises the following steps: S101: obtaining position information and an original expected speed instruction of the tail end of a robot in a Cartesian space, and a virtual wall constraint area is defined as an annular working space with the designated center point as the reference, the virtual wall constraint area is jointly limited by the inner boundary radius and the outer boundary radius, and the allowable range of the tail end movement is output. Through an innovative radial-tangential speed decomposition strategy and in combination with a progressive speed regulation mechanism based on a cubic smoothing function, the problems of motion impact and sudden speed change caused by a traditional direct truncation method are thoroughly eliminated, and meanwhile, by introducing a control barrier function theory, the speed of the robot is improved. A complex geometric safety boundary is converted into a simple linear speed constraint, and it is guaranteed that an end effector strictly does not cross the boundary from the mathematical level.

The application discloses a dual-arm teleoperation system and method based on a variable stiffness virtual wall and a damping force field, which is composed of a master end and a slave end, wherein the master end comprises a dual-hand controller, a human-computer interaction interface, a virtual scene generation unit and a calculation unit, and the slave end comprises dual mechanical arms, a vision and depth sensor, wherein the calculation unit is used for receiving control instructions of the dual-hand controller of the master end, generating dual-mechanical-arm control instructions of the slave end after a master-end virtual wall and damping force field algorithm, transmitting force feedback to the dual-hand controller of the master end, and transmitting depth information and vision information to the virtual scene generation module. The system and method give a collision warning to an operator in the form of force feedback through the hand controller at the master end, set a dynamic safety coefficient to update the stiffness of the virtual wall in real time, set a damping force field according to the variable stiffness virtual wall, also increase the experience of human-computer interaction in the dual-arm teleoperation process, realize natural and effective interaction between the dual arms, the master end and the slave end, and the master end and the operator, and avoid the possibility of collision and misoperation in the dual-arm teleoperation process.

The embodiment of the invention provides a path planning method and device, equipment and a storage medium, and the method comprises the steps: responding to a virtual wall drawing operation, adding a virtual wall obstacle to an initial grid map and an initial electronic fence corresponding to an operation region of a robot, and obtaining a grid map and an electronic fence; the grid map comprises a layer of an initial grid map and a layer of a virtual wall obstacle; planning a global path of the robot in the grid map based on the current position and the target position of the robot; in the process that the robot moves based on the global path, obtaining a real-time point cloud of a local area where the robot is located; and in response to the real-time point cloud representing that an obstacle exists on the global path in the local area, determining a local dynamic path for avoiding the obstacle in the local area based on the real-time point cloud and the electronic fence.

The embodiments of the present application provide a virtual wall generation method, device, and storage medium. The method includes: obtaining current positioning data generated by a positioning module and current point cloud data generated by a laser radar module; determining first coordinate information of a first installation position corresponding to the positioning module in a set virtual wall map based on the current positioning data; determining second coordinate information of a brush end of a brush mechanism based on the first coordinate information, a set first transformation matrix, and a second transformation matrix; determining virtual wall height information corresponding to the second coordinate information based on the current point cloud data and the relative position of the laser radar module and the brush end; and updating virtual wall data in the virtual wall map based on the second coordinate information and the virtual wall height information. The method achieves the goal of using the brush mechanism of the virtual wall generation device to assist manual labor in completing precise edging, thereby improving the accuracy and matching of virtual wall data and the efficiency of virtual wall generation.

The invention discloses a method for automatically generating a curled fillet curved surface based on virtual constraint and self-adaptive offset, and relates to the technical field of computer aided design, comprising the following steps: S1, constructing a virtual constraint wall: according to different constraint modes, along a parameter boundary of a basic curved surface, according to a certain height, direction and draft angle, constructing the virtual constraint wall; automatically generating an NURBS curved surface representing physical space limitation, namely a virtual wall; and S2, generating a self-adaptive offset curve: calculating a parallel space curve in a parameter domain according to the current offset near the target boundary of the basic curved surface. The system provided by the invention not only realizes automation of a whole process, but also introduces numerous key design parameters including a fillet radius, a flange height, a scanning angle, geometric attributes of a virtual wall and a constraint mode; in this way, the method can be easily integrated into a product life cycle management or computer-aided engineering optimization process to serve as a reliable link in design of an automation chain.

A system for setting an operation range of an excavation machine includes a surroundings information acquisition unit that acquires information on an actual image of the surroundings of the excavation machine, a user interface unit, and a controller that generates a surroundings image based on the information on the actual image acquired by the surroundings information acquisition unit and that displays, on the user interface unit, the surroundings image and a setting guidance image for setting a virtual wall that regulates the operation range of the excavation machine.

The present invention discloses an abnormality recovery method, device, robot and storage medium. The method includes: when the robot navigation is abnormal and a first label image of a preset type label is collected, a first position point corresponding to the label is obtained; a second position point corresponding to the current position of the robot is obtained; based on the first position point and the second position point, the relative position of the label and a preset virtual wall is determined; based on the relative position, the robot is controlled to resume normal navigation. By running the technical solution provided by the embodiment of the present invention, it is possible to solve the problem that when the robot navigation state is interrupted and cannot continue to move, the movement path is planned according to the label that is located within the virtual wall by default, and when the label is actually located outside the virtual wall, the normal navigation function may not be restored, thereby achieving the beneficial effect of improving the success rate and reliability of abnormality recovery.

This system specifies a virtual wall that is a plane into which a work machine provided with a traveling body having a pair of left and right traveling devices is prohibited from entering. When an operation on the traveling body is a slewing operation, the system controls the traveling speed of each of the pair of left and right traveling devices such that the outer shell of the work machine does not come into contact with the virtual wall.

The disclosed embodiments provide a method and apparatus for testing the quality of a virtual wall signal generator. The method comprises collecting information fed back by at least two groups of signal receivers based on signals emitted by the virtual wall signal generator, including anti-collision and obstacle signals; and analyzing the quality of the virtual wall signal generator based on the information fed back by the at least two groups of signal receivers. The disclosed method addresses the current difficulty in testing individual virtual wall signal generators during production. By using a receiving head to simulate a host for testing, multiple qualified parameters can be tested simultaneously, simplifying the tedious process of testing with prototypes and improving production testing efficiency.

A work machine includes a work machine main body, at least one object detection sensor, a revolving angle sensor, and a control section. The main body includes a traveling unit and a revolving unit disposed above the traveling unit. The revolving unit is revolvable with respect to the traveling unit. The object detection sensor is disposed on the revolving unit. The revolving angle sensor detects a revolving angle of the revolving unit. The control section detects an object around the main body using the object detection sensor by revolving the revolving unit. The control section specifies a position of the object with respect to the main body based on a distance to the object detected by the object detection sensor and the revolving angle at which the object is detected. The control section sets a virtual wall based on the specified position when the object is detected.

For example, even if markers are not installed at both ends of the virtual area which is the boundary between the entry allowed area and the entry prohibited area, the autonomous running device is caused to recognize the virtual area.SOLUTION: The virtual wall information recognizer 111 recognizes, from, for example, a symbol, a code, a figure, an image, or the like formed on the surface of the marker M detected by the marker sensor 161, virtual wall information carried by the marker M. The position information acquiring unit 112 acquires position information indicating a position of an object detected by the two-dimension sensor 162, the three dimensional sensor 163, or the object detection sensor 164. Map creation unit 114 creates a map on which objects around cleaning apparatus 1 are arranged, based on the acquired position information. The virtual wall setting unit 113 sets a virtual wall on the created map based on the recognized virtual wall information and the acquired position information. Based on the map read from the map DB121, travel-cleaning control unit 115 issues an instruction to cleaner 17 to control travel and cleaning of cleaner 1.SELECTED DRAWING: Figure 5