25 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.

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.

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 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.

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 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.

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.

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

The invention relates to the technical field of robots, in particular to a forbidden zone generation method, a robot and a storage medium, and the forbidden zone generation method comprises the following steps: when the robot generates an abnormal behavior, recording abnormal information of an abnormal point, judging whether a condition for generating a target virtual wall is satisfied according to the abnormal information, and if the condition for generating the target virtual wall is satisfied, generating a forbidden zone; and generating a target virtual wall according to the abnormal information, and if a condition for generating the target virtual wall is not met, generating a forbidden zone according to the abnormal information. According to the embodiment, when the robot has the abnormal behavior, the virtual wall is tried to be generated at the abnormal behavior occurrence place instead of directly generating the forbidden zone, and when the virtual wall cannot be generated, the forbidden zone is generated at the abnormal behavior occurrence place, and compared with the forbidden zone, the virtual wall only forbids the robot to pass through one wall instead of a large area, so that the robot can be prevented from passing through the forbidden zone. Therefore, when the restricted zone can be replaced by the virtual wall, the coverage area of the robot can be increased.

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.

This invention discloses a near-electricity alarm method and system, relating to the field of power operation technology. The key technical solutions include the following steps: acquiring raw spatial data of energized equipment and mobile machinery within the work area using a laser scanning unit; preprocessing the raw spatial data through point cloud fusion, filtering, and coordinate transformation to obtain a standardized point cloud dataset; delineating a safety virtual wall for the energized equipment in a three-dimensional point cloud space based on the standardized point cloud dataset to construct a three-dimensional electronic fence; calculating in real-time the three-dimensional Euclidean distance between the danger point of the tracked and identified target and the nearest boundary of the three-dimensional electronic fence; comparing the three-dimensional Euclidean distance with a set multi-level safety distance threshold to determine the risk level; and outputting corresponding early warning control commands based on the risk level. The effect is to enhance the safety assurance of near-electricity operations.

The application discloses a kind of robot compliant control method, device and electronic equipment, it is related to robot compliant control technical field, comprising: obtaining Cartesian planning position, joint angle feedback position and Cartesian feedback position;Utilize target compliant controller, Cartesian planning position and Cartesian feedback position and joint angle feedback position are handled, and joint output torque is obtained;Utilize joint output torque to control robot movement;Target compliant controller is to robot for dynamics modeling and second-order system dynamic characteristic modeling to obtain original compliant controller, and original compliant controller is simplified to obtain;According to the virtual wall numerical value of preestablished and Cartesian feedback position, and preestablished parameter, adjust the stiffness parameter and damping parameter of second-order system in target compliant controller.The influence of the accuracy of external torque on the control accuracy of robot movement can be eliminated.The influence of robot singularity on motion control can be avoided.The virtual wall function can be easily realized.

This invention discloses a miniature crane and its electronic fence safety restriction system, relating to the field of miniature crane technology. The invention includes a parameter setting module, a status acquisition module, a main control module, an alarm prompting module, and an execution control module. The parameter setting module is used to input and store various restriction values ​​corresponding to the virtual wall restriction, which is used to constrain the boom's operating range. This invention flexibly configures the virtual wall restriction values ​​through the parameter setting module. Based on the actual boundaries of the on-site working space, it specifically sets safety constraint thresholds for maximum height, working radius, left and right slewing angles, boom lifting angle, and boom lowering angle, constraining the boom's operating range like a virtual wall. This adapts to the operational needs of different confined and complex spaces, avoiding the safety risks of the boom colliding with surrounding obstacles and operating beyond its range, thus solving the problem that existing fixed limit solutions cannot adapt to changing operating scenarios.

The embodiment of the invention relates to a method and device for determining a mixed reality space model, equipment and a medium. The method comprises the steps that pose information of an entity object in a target reality space is acquired; based on the pose information of the entity object, acquiring a vertical projection point of the entity object on a preset plane correspondingly; determining a target position of the virtual wall based on the vertical projection point; and determining model data of the mixed reality space model based on the target position of the virtual wall surface and the pose information of the entity wall surface contained in the entity object. According to the embodiment of the invention, the model data of the mixed reality space model can be efficiently and reliably determined.

The application discloses a kind of mobile robot automatic full map dense paving exploration method, system and medium based on block traversal, the method is under the premise of loading virtual wall constraint, to the passable area is densely sampled and is divided into buckets according to block, current block is preferentially traversed and switches to the nearest non-empty block when block is empty;For long-distance target movement, generate segmented transfer points not exceeding threshold to improve the success rate of arrival;For each segment navigation, introduce watchdog monitoring, use absolute timeout hard cutoff, no displacement jamming criterion and target neighbor safety check, if failed, black out target point and its block according to radius, and after reaching, mark the access path and prune the visited / explored area points.The method finally outputs the visualization result containing the real trajectory polyline and the planning point / visited point / blackout point three-color state, thereby improving the exploration coverage efficiency, robustness and explainability.