18 results about "Obstacle avoidance" patented technology

The invention provides a control algorithm of multi-unmanned aerial vehicle cooperation formation and obstacle avoidance. The control algorithm comprises steps of (1) when an unmanned aerial vehicle formation executes a flight task, detecting positions and speed information of the unmanned aerial vehicles and airspace obstacles through an airborne sensor, and abstracting obstacles in a flight space into ball bodies; (2) according to position information of each unmanned aerial vehicle, constructing an unmanned aerial vehicle formation communication topology, and using a distributed transmission method, achieving information interaction between neighborhood unmanned aerial vehicles in the formation; (3) constructing an unmanned aerial vehicle dynamics model; and (4) when detecting an obstacle, determining a safe distance of obstacle avoidance of the unmanned aerial vehicles, judging whether the distance between any unmanned aerial vehicle and the obstacle in the unmanned aerial vehicleformation meets requirements of the safe distance, and if not, adjusting the formation pattern and carrying out obstacle avoidance through a virtual force strategy. The control algorithm is operable and simple; cooperation formation of multiple unmanned aerial vehicles can be achieved; obstacles can be avoided quite flexibly; and the control algorithm is very important for multi-cooperative combats.

The invention relates to an uncalibration machine vision-based intelligent navigation control system and an uncalibration machine vision-based intelligent navigation control method, and belongs to the technical field of automation and detection. In order to overcome the disadvantage that whether a technical effect is good or bad depends on uncalibration parameters in a conventional scheme, in vision system-based mobile robot real-time obstacle avoidance and a navigation control method in the technical scheme of the invention, an image is automatically acquired and analyzed for the purpose of realizing the control of a mobile robot platform; the image is processed rapidly from image feedback information obtained directly by utilizing the principal of machine vision; and feedback information is given in a time as short as possible for participating in the generation of a control decision so as to form the position closed-loop control of an end effector of the mobile robot. The scheme improves the adaptability and the work efficiency of a robot, effectively maintains the speed and the precision in an image processing process, enhances the robustness and the stability of a robot control system, and reduces cost input and energy consumption in an implementation process of the technical scheme.

The invention provides an unmanned aerial vehicle route planning method based on an improved bat algorithm. According to the method, the optimization success rate is introduced to change the speed updating mode of the individual bats based on the conventional bat algorithm; meanwhile, the chaotic method is applied to initialize the distribution of the individual bats in the search space and the concept of the artificial potential field is utilized to simulate the gravitational field of the ending point and the repulsive field of the starting point and the obstacle so as to accelerate the speedof the individual bats to the optimal solution; and finally the improved bat algorithm based on the chaotic artificial potential field is proposed. Compared with the conventional bat algorithm, the track length is shortened for 36.56%, the planning time is shortened for 56.05% and the obstacle avoidance fitness value is reduced for 49.53% by the method; and compared with the differential evolutionary bat algorithm, the track length is shortened for 27.16%, the planning time is shortened for 27.30% and the obstacle avoidance fitness value is reduced for 42.46% by the method in the unmanned aerial vehicle route planning task so that the method is a route planning algorithm with practical significance.

The invention discloses a crowd behavior simulation method and a crowd behavior simulation system guided by a safety evacuation mark. The method comprises the following steps of: creating a three-dimensional building model of a scene to be simulated; determining the quantity and the position of the exit corresponding to the scene to be simulated in the three-dimensional building model; marking thelocation of safety evacuation signs corresponding to the scene to be simulated in the three-dimensional building model; according to the number of exits, the location of exits and the location of safety evacuation signs, the road markers in the three-dimensional building model being set in advance, and then PRM algorithm being used to generate all the available evacuation paths, and the paths inthe planning direction of safety exit being marked as one-way paths, paths beyond the planning direction of the safe exit being marked as one-way paths to the outbound exit; importing characteristic data of initializing evacuation crowd; a Dijkstra algorithm being used to find the shortest escape path from the one-way path for the evacuated individuals; in the process of crowd evacuation, an RVO obstacle avoidance strategy being used to simulate crowd evacuation.

The application relates to the technical field of computer vision, and discloses an obstacle avoidance reminding method, a related device and a computer readable storage medium. According to the obstacle avoidance reminding method, the related device and the computer readable storage medium, ground detection is carried out according to acquired image data to acquire ground information of a road; according to the acquired ground information, the traffic condition of the road is determined; if the road is determined to be impassable, road condition detection is carried out on the road to obtaina first detection result, and obstacle detection is carried out on the road to obtain a second detection result; and according to the first detection result and the second detection result, obstacle avoidance reminding information is determined. Ground detection is carried out through the acquired image data, path detection is carried out on the basis of the ground detection, and road condition detection and obstacle detection are carried out under the condition that the road is determined to be impassable to determine the obstacle avoidance reminding information so that users can quickly andsafely pass through the obstacle.

The embodiment of the invention relates to the technical field of unmanned aerial vehicles, and particularly discloses a method and device for adjusting the main detection direction of an airborne radar and an unmanned aerial vehicle. The unmanned aerial vehicle comprises a holder and the airborne radar arranged on the holder, and the method comprises the steps: acquiring the flight information ofthe unmanned aerial vehicle in real time, wherein the flight information comprises at least one of the current pitch angle and the flight height of the unmanned aerial vehicle; and adjusting the maindetection direction of the airborne radar through the holder according to the flight information, so that the airborne radar can detect obstacles in the flight direction of the unmanned aerial vehicle. According to the technical scheme, the effective detection effect of the airborne radar in the obstacle avoidance system can be improved, and the obstacle avoidance function can be completed more safely.

The invention discloses a solving method for a six-degree-of-freedom series robot inverse kinematics solution. The method comprises the steps that connecting rod parameters are read in and a robot connecting rod coordinate system model is established; the joint positions of the tail ends of connecting rods are known, and joint position constrained equations are established; all the joint positions are determined according to all the joint position constrained equations; the attitude constraint equations of all joint coordinate systems of a robot are established; the solutions of the joint position coordinates obtained before are substituted in the attitude constraint equations respectively, and each group of joint variable intermediate values are solved according to the attitude constraint equations; and the joint variable intermediate values are analyzed, and an optimal joint variable solution is selected. The positions and the attitudes in the robot inverse kinematics solution are separately solved by adopting the spatial geometry theory so that complexity of geometric inverse kinematics solution operation can be greatly reduced, and the method can be applied to the field of robot space obstacle avoidance.

The invention relates to a precision installation on-track mechanical arm device and belongs to the technical field of precision instrument hoisting and precision installation in the mechanical engineering field. The mechanical arm device comprises a trailer, a rotation mechanism, a traction trolley, a track, a telescopic mechanism, a horizontal movement mechanism and a manipulator, wherein the trailer is suspended on the track through a trailer wheel set mechanism; the traction trolley is suspended on the track through a traction trolley wheel set mechanism and fixedly connected with the trailer; the rotation mechanism is fixed to the lower portion of the trailer; the telescopic mechanism is fixed below the rotation mechanism; the telescopic end of the telescopic mechanism is connected with the horizontal movement mechanism; and the horizontal movement end of the horizontal movement mechanism is connected with the manipulator. By adoption of the on-track running scheme, flexible obstacle avoidance in a narrow space is achieved through multi-degree-of-freedom coupled hoisting; and through combination of the primary in-place installation of a large-range movement mechanism with six-degree-of-freedom fine-adjustment precise docking, high-efficiency and high-precision docking installation of optical assemblies is achieved, and the precision installation on-track mechanical arm device is suitable for hoisting of heavy optical assemblies.

The invention provides an unmanned road roller group obstacle avoidance method and system based on 5G network communication. The unmanned road roller group obstacle avoidance method based on 5G network communication comprises the following steps: step 10, based on a positioning module and a 5G communication module, acquiring driving direction information and position information of a plurality ofroad rollers and a transverse spacing distance between each two adjacent road rollers in operation; step 20, pre-judging whether a to-be-collided situation exists or not, if so, turning to the step 30, and if not, turning to the step 10; and step 30, adjusting the driving route of any one of the plurality of road rollers to avoid possible collision, and after the situation that collision is aboutto occur is eliminated, recovering the original state of the changed road roller and driving the changed road roller according to an original route. According to the method provided by the invention,the traditional way of controlling the road rollers by manual watching is replaced, the collision probability of the road rollers is greatly reduced, the construction efficiency is improved, and the economic loss caused by the collision of the road rollers is avoided.

The invention provides a storage device, an autonomous moving system and a control method. The storage device is provided with a moving chassis, a first radio frequency module, a first infrared sensor, a main control panel and an obstacle avoidance sensor. The storage device can move freely in an indoor environment, and a user can call the storage device to move to the position where the user is located through a caller matched with the storage device. When not in use at ordinary times, the storage device autonomously moves to the position where an indoor reset device is located to wait for use or be charged. Thus, the user can get articles frequently used by the user or articles important for the user more rapidly and conveniently during daily home life or indoor work, and the user experience is improved.

The invention provides a carrying device. The carrying device is used for being mounted on an aircraft body of an aircraft and comprises a gimbal on which an obstacle-avoidance positioning assembly and an inertial measuring assembly of the aircraft are mounted and a shock absorbing assembly mounted on the gimbal, wherein the gimbal is mounted on the aircraft body through the shock absorbing assembly. The obstacle-avoidance positioning assembly and the inertial measuring assembly are rigidly connected through the gimbal, and the obstacle-avoidance positioning assembly and the inertial measuringassembly use the same shock absorbing assembly for shock avoidance, so as to ensure that the data fed back from the obstacle-avoidance positioning assembly and the data fed back from the inertial measuring assembly can be synchronized accurately, to effectively solve the problem that the feedback data of the obstacle-avoidance positioning assembly and the feedback data of the inertial measuring assembly are inconsistent, to ensure the flight attitude of the aircraft, to enable the aircraft to fly smoothly and to improve the satisfaction of users during use. The invention also provides the aircraft.

The invention discloses an automatic start and stop method of a car door and a related device. The method comprises the steps of obtaining space coordinates of the car door in a preset three-dimensional coordinate system in real time according to a three-dimensional model of the car door and the opening angle of the car door; obtaining N virtual arc-shaped enveloping surfaces in real time in the mode that an ultrasonic radar detects the obstacle distance, wherein N is a positive integer; calculating the shortest distance between the car door and an obstacle according to the space coordinates of the car door and the virtual arc-shaped enveloping surfaces; and determining whether the shortest distance is larger than a distance threshold value or not, and controlling the car door to stop if the shortest distance is not larger than the distance threshold value. According to the automatic start and stop method, the technical problem that an automatic car door lacks convenience and adaptivity because an existing automatic car door start and stop technique cannot perform adaptive obstacle avoidance on obstacles around the door is solved.

The invention discloses an obstacle avoidance method, device and equipment and a storage medium, and the method comprises the steps: carrying out the clustering operation of to-be-detected laser radar data in response to the obtained to-be-detected laser radar data, and obtaining at least one to-be-detected clustering data set; for each to-be-detected clustering data set, determining human leg feature data based on each to-be-detected laser radar data in the to-be-detected clustering data set; inputting the human leg feature data and the to-be-detected laser radar data into a target classification model to obtain a classification result which is output by the target classification model and corresponds to the to-be-detected clustering data set; and if the at least one classification result contains the human leg classification label, controlling the robot to execute obstacle avoidance operation based on a preset human leg obstacle avoidance strategy. According to the embodiment of the invention, the problem that the existing robot laser radar technology cannot identify human legs is solved, the risk of collision between the robot and people is reduced, and the obstacle avoidance performance of the robot is improved.

The present invention discloses a distance measurement method and apparatus, and an unmanned aerial vehicle using same. According to the distance measurement method and apparatus, and the unmanned aerial vehicle provided in embodiments of the present invention, foreground and background segmentation is performed on two neighboring frames of images, and edge feature extraction is performed by using enlarged regions of interest (ROIs) to obtain measurement changes of the images. By means of the measurement changes of the images, remote-distance obstacle avoidance in an extreme condition can be implemented, and problems such as poor stereo matching precision or unavailability of stereo matching in extreme cases such as no texture, low textures, and dense and repeated textures are resolved.