CN107803831B - AOAAE hierarchical bounding box collision detection method - Google Patents
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- CN107803831B CN107803831B CN201710893079.9A CN201710893079A CN107803831B CN 107803831 B CN107803831 B CN 107803831B CN 201710893079 A CN201710893079 A CN 201710893079A CN 107803831 B CN107803831 B CN 107803831B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2210/00—Indexing scheme for image generation or computer graphics
- G06T2210/21—Collision detection, intersection
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Abstract
The invention relates to an AOAAE-based hierarchical bounding box and a non-contact angle analysis collision detection method. The method comprises the steps of calculating model AABB and OBB bounding boxes; performing intersection test between the mechanical arm and the workpiece AABB; performing intersection test between the mechanical arm and the OBB of the workpiece; screening an overlapping area of the AABB bounding boxes; screening a geometrical element AABB bounding box; basic geometric element intersection tests. The method has the advantages that the traditional method for constructing the complicated hierarchical bounding box is avoided, the collision model and the AABB bounding box of the basic geometric element are respectively constructed by improving the OBB direct intersection test algorithm to screen out the non-intersecting surface patches, so that the AOAAE collision detection algorithm is provided, and compared with the traditional test method, the collision detection speed is accelerated.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to an AOAAE level bounding box collision detection method.
Background
In the operation process of the industrial robot, if the mechanical arm is in contact with a workpiece and equipment, the mechanical arm is easily damaged and the surface of the workpiece is easily scratched. And poses a threat to the safety of the staff. How to avoid collisions is of great importance.
In the simulation collision detection research of the robot operation, the following defects still exist: 1) the construction mode is complex, and the memory occupation is large. The tree-shaped hierarchical bounding boxes are constructed, the complexity of constructing the bounding boxes is increased, and a large memory is consumed to store the layer bounding box model trees. 2) The detection accuracy is not high. The bounding box with weak bounding tightness is used for collision detection, so that the detection speed is improved to a certain extent, but the detection precision is not high. 3) And only collision detection between the mechanical arms is completed, and influence of collision detection relation between the mechanical arms on real-time motion of the robot is not systematically analyzed. Therefore, at present, there is still a need for research on the problem of collision detection of industrial robots.
Disclosure of Invention
The invention mainly solves the problem that collision occurs between a mechanical arm and a workpiece in the prior art and threatens the safety of workers, and provides an AOAAE (automatic optical inspection and evaluation) level bounding box collision detection method for avoiding collision.
The technical problem of the invention is mainly solved by the following technical scheme: an AOAAE level bounding box collision detection method is used for a mechanical arm intersected with a workpiece, and comprises the following steps:
s1, respectively calculating AABB and OBB bounding boxes of a mechanical arm and a workpiece; and calculating the AABB and OBB bounding boxes of the mechanical arm and the AABB and OBB bounding boxes of the workpiece.
S2, carrying out multiple intersection tests on the mechanical arm and the workpiece according to the AABB and OBB bounding boxes, and entering the next step if the mechanical arm and the workpiece are intersected;
s3, screening an overlapping area in an AABB bounding box of the mechanical arm and the workpiece;
s4, screening potential intersecting basic geometric elements of the mechanical arm and the workpiece in the overlapping area;
and S5, carrying out intersection test on the screened basic geometric elements, and outputting a detection result.
The invention avoids constructing a complex tree-shaped hierarchical bounding box, constructs a self-adaptive hierarchical bounding box, passes the detection of the bounding box twice successively, and self-adaptively constructs the bounding box of an overlapping area grid according to the intersection condition of the two bounding boxes for intersection test and screening out non-intersecting patches.
As a preferable scheme, the specific process of step S2 includes:
s21, performing intersection test on the AABB bounding boxes of the mechanical arm and the workpiece, if the AABB bounding boxes are not intersected, finishing detection, returning collision-free information, and if the AABB bounding boxes are intersected, entering the next step; the method of testing for intersections between AABB bounding boxes is known in the art and will not be described in detail herein.
And S22, carrying out intersection test on the OBB bounding boxes of the mechanical arm and the workpiece, if the mechanical arm and the OBB bounding boxes are not intersected, ending the detection, returning no collision information, and if the mechanical arm and the OBB bounding boxes are intersected, entering the next step. The method of intersection testing between OBB bounding boxes is known in the art and will not be described in detail here.
As a preferred scheme, the process of screening the potentially intersecting basic geometric elements in step S4 includes:
s41, traversing all basic geometric elements of the mechanical arm in the overlapping area, judging whether the AABB bounding box of the tool has the basic geometric elements of the mechanical arm or not, if not, finishing the detection, returning collision-free information, and if so, storing the basic geometric elements as a set of potential intersecting basic geometric elements of the mechanical armS a ；
S42, traversing all basic geometric elements of the workpiece in the overlapping area, judging whether the basic geometric elements of the workpiece exist in the AABB bounding box of the mechanical arm, if not, finishing detection, returning collision-free information, and if so, storing the basic geometric elements as a set of potential intersecting basic geometric elements of the workpieceS b ；
S43. pair setS a AndS b respectively calculating AABB bounding boxes by the basic geometric elements in the step (1);
s44, traversing setS a AndS b detecting the crossing condition of the AABB bounding boxes in the two sets, eliminating the basic geometric elements in the non-crossing bounding boxes, and respectively setting the residual basic geometric elements in the two sets as the basic geometric elementsS a ′ AndS b ′ i.e. the basic geometrical elements of potential intersection of the robot arm and the workpiece. At this time, the condition is satisfiedS a ′ ≤S a ，S b ′ ≤S b 。
As a preferable scheme, the intersection test is performed on the basic geometric elements in step S5, and the specific process of outputting the detection result includes: to the collectionS a ′ AndS b ′ performing separation axis test between basic geometric elements, traversing the setS a ′ AndS b ′ and if the basic geometric elements are judged to be intersected, returning collision information, and if the intersected basic geometric elements are not existed, returning non-collision information.
And finally, collision detection is to detect whether the intersection between the mechanical arm and the basic geometric element of the workpiece occurs. In the geometric model of the object, the basic geometric elements are mostly triangles or tetrahedrons. The test is divided into: and detecting basic geometric elements between the triangular patch and the triangular patch, between the triangular patch and the tetrahedron, and between the tetrahedron and the tetrahedron. The tetrahedron is composed of four simple triangles, so the test between the tetrahedron and the triangle can be understood as the test between the triangle and the triangle. The robot arm and the workpiece model in the invention are formed by using triangles as basic geometric elements, so the invention mainly discusses the intersection detection between the triangles. The scheme adopts the separation axis test as a method for testing basic geometric elements between the mechanical arm and the workpiece. There may be 17 separation axes for two triangular patches. They are respectively: 2 normal vectors of two triangles; 9 vectors obtained by cross-multiplying one edge of one triangle with one edge of another triangle; the edges of the two triangles cross-multiply with their own normal vectors by 6 vectors. The intersection detection mode is as follows: and (4) still projecting towards the axial direction, and detecting whether the projection sections are overlapped to judge whether the mechanical arm is intersected with the surface patch of the workpiece.
As a preferable scheme, before step S1, the method further includes a step of detecting a self-intersection of the robot arm, and the process includes:
a. according to the self structure and position relation of each mechanical arm, non-intersecting mechanical arm combinations are eliminated, and potential intersecting mechanical arm combinations are obtained;
b. selecting the mechanical arm with the largest size and the widest moving range from the mechanical arms of the robot as an object mechanical arm, acquiring the angle when each mechanical arm joint rotates to a collision state under the condition that each mechanical arm joint is at the limit or the initial position, and recording the angle as a non-contact angle;
c. and judging whether the current joint angle of the object mechanical arm is larger than a non-contact angle or not, if so, finishing collision detection, if not, judging whether a potentially crossed mechanical arm combination has collision or not, if not, finishing collision detection, and if so, executing steps S1-S5 to carry out collision detection on the mechanical arm and the workpiece enclosure. According to the scheme, the mechanical arm combination for potential collision is obtained for collision detection according to the characteristics, the position and the non-contact angle of the mechanical arm, so that the collision detection times are obviously reduced, and the collision detection efficiency and the real-time performance are improved.
Therefore, the invention has the advantages that: aiming at the problems of high efficiency of collision detection and safety of industrial robot operation, the simulation collision detection technology of the robot operation with the complex shape surface path is researched. Aiming at the problem of collision detection in industrial robot operation simulation, the traditional method for constructing a complicated hierarchical bounding box is avoided, a collision model and an AABB bounding box of basic geometric elements are respectively constructed by improving an OBB direct intersection test algorithm to screen out non-intersecting patches, so that an AOAAE collision detection algorithm is provided, and compared with the traditional test method, the speed of collision detection is increased. In addition, the collision problem between the mechanical arms is considered, based on the characteristic analysis of the mechanical arms, the concept of the non-contact angle of the mechanical arms is provided by utilizing the universality of the large arm motion range, and the real-time performance of collision detection is improved.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a screening illustration of basic set elements of potential intersection of a robotic arm with a workpiece.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Example (b):
the AOAAE hierarchical bounding box collision detection method of the present embodiment, as shown in fig. 1, includes the following steps:
before the step S1, a step of detecting a self-intersection of the robot arm is included, and the process includes:
a. according to the self structure and position relation of each mechanical arm, non-intersecting mechanical arm combinations are eliminated, and potential intersecting mechanical arm combinations are obtained;
b. selecting the mechanical arm with the largest size and the widest moving range from the mechanical arms of the robot as an object mechanical arm, acquiring the angle when each mechanical arm joint rotates to a collision state under the condition that each mechanical arm joint is at the limit or the initial position, and recording the angle as a non-contact angle;
c. and judging whether the current joint angle of the object mechanical arm is larger than a non-contact angle or not, if so, finishing collision detection, if not, judging whether a potentially crossed mechanical arm combination has collision or not, if not, finishing collision detection, and if so, executing the following steps S1-S5 to carry out collision detection on the mechanical arm and the workpiece bounding box.
S1, respectively calculating AABB and OBB bounding boxes of a mechanical arm and a workpiece; specifically, the AABB and OBB bounding boxes of the mechanical arm and the AABB and OBB bounding boxes of the workpiece are calculated. Taking the machine and workpiece in fig. 2 as an example, the long bar is the mechanical arm, and the square is the workpiece. As shown in fig. 2 (a), the AABB bounding box of the robot arm is a1, the OBB bounding box of the robot arm is a, the AABB bounding box of the workpiece is B1, and the OBB bounding box of the workpiece is B.
S2, carrying out multiple intersection tests on the mechanical arm and the workpiece according to the AABB and OBB bounding boxes, and entering the next step if the mechanical arm and the workpiece are intersected; the specific process of the intersection test is as follows:
s21, performing intersection test on the AABB bounding boxes of the mechanical arm and the workpiece, if the AABB bounding boxes are not intersected, finishing detection, returning collision-free information, and if the AABB bounding boxes are intersected, entering the next step;
and S22, carrying out intersection test on the OBB bounding boxes of the mechanical arm and the workpiece, if the mechanical arm and the OBB bounding boxes are not intersected, ending the detection, returning no collision information, and if the mechanical arm and the OBB bounding boxes are intersected, entering the next step.
S3, screening an overlapping area in an AABB bounding box of the mechanical arm and the workpiece; as shown in FIG. 2 (b), an AABB overlap region was selected.
S4, screening potential intersecting basic geometric elements of the mechanical arm and the workpiece in the overlapping area; the process comprises the following steps:
s41, traversing all basic geometric elements of the mechanical arm in the overlapping area, judging whether the basic geometric elements of the mechanical arm exist in the workpiece AABB bounding box or not, if not, finishing detection, returning collision-free information, and if so, storing the basic geometric elements as a set of potential intersecting basic geometric elements of the mechanical armS a (ii) a As shown in fig. 2 (c), in which the black triangles represent basic geometric elements of the workpiece and the open triangles represent basic geometric elements of the robot arm, thenS a Is a collection of hollow triangles in the oval line.
S42, traversing all basic geometric elements of the workpiece in the overlapping area, judging whether the basic geometric elements of the workpiece exist in the AABB bounding box of the mechanical arm, if not, finishing detection, returning collision-free information, and if so, storing the basic geometric elements as a set of potential intersecting basic geometric elements of the workpieceS b (ii) a As shown in FIG. 2 (c), whereinS b A set of black triangles inside a square line.
S43. pair setS a AndS b respectively calculating AABB bounding boxes by the basic geometric elements in the step (1); as shown by the dashed boxes outside the triangles in fig. 2 (c).
S44, traversing setS a AndS b detecting the crossing condition of the AABB bounding boxes in the two sets, eliminating the basic geometric elements in the non-crossing bounding boxes, and respectively setting the residual basic geometric elements in the two sets as the basic geometric elementsS a ′ AndS b ′ i.e. the basic geometrical elements of potential intersection of the robot arm and the workpiece.
S5, the screened bases are subjected toThe geometric elements are subjected to intersection test, and detection results are output. The specific process comprises the following steps: to the collectionS a ′ AndS b ′ performing separation axis test between basic geometric elements, traversing the setS a ′ AndS b ′ and if the basic geometric elements are judged to be intersected, returning collision information, and if the intersected basic geometric elements are not existed, returning non-collision information.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (4)
1. An AOAAE level bounding box collision detection method is used for a mechanical arm intersected with a workpiece, and is characterized in that: the method comprises the following steps:
s1, respectively calculating AABB and OBB bounding boxes of a mechanical arm and a workpiece;
s2, carrying out multiple intersection tests on the mechanical arm and the workpiece according to the AABB and OBB bounding boxes, and entering the next step if the mechanical arm and the workpiece are intersected;
s3, screening an overlapping area in an AABB bounding box of the mechanical arm and the workpiece;
s4, screening potential intersecting basic geometric elements of the mechanical arm and the workpiece in the overlapping area; the process comprises the following steps:
s41, traversing all basic geometric elements of the mechanical arm in the overlapping area, judging whether the basic geometric elements of the mechanical arm exist in the workpiece AABB bounding box or not, if not, finishing detection, returning collision-free information, and if so, storing the basic geometric elements as a set of potential intersecting basic geometric elements of the mechanical armS a ；
S42, traversing all basic geometric elements of the workpiece in the overlapping area, and judging whether the basic geometric elements of the workpiece exist in the AABB bounding box of the mechanical armIf not, the detection is finished, collision-free information is returned, and if the collision-free information is finished, the basic geometric elements are stored to be a potential intersection basic geometric element set of the workpieceS b ；
S43. pair setS a AndS b respectively calculating AABB bounding boxes by the basic geometric elements in the step (1);
s44, traversing setS a AndS b detecting the crossing condition of the AABB bounding boxes in the two sets, eliminating the basic geometric elements in the non-crossing bounding boxes, and respectively setting the residual basic geometric elements in the two sets as the basic geometric elementsS a ′ AndS b ′ namely potential intersecting basic geometric elements of the mechanical arm and the workpiece;
and S5, carrying out intersection test on the screened basic geometric elements, and outputting a detection result.
2. The AOAAE hierarchical bounding box collision detecting method according to claim 1, wherein the specific process of the step S2 includes:
s21, performing intersection test on the AABB bounding boxes of the mechanical arm and the workpiece, if the AABB bounding boxes are not intersected, finishing detection, returning collision-free information, and if the AABB bounding boxes are intersected, entering the next step;
and S22, carrying out intersection test on the OBB bounding boxes of the mechanical arm and the workpiece, if the mechanical arm and the OBB bounding boxes are not intersected, ending the detection, returning no collision information, and if the mechanical arm and the OBB bounding boxes are intersected, entering the next step.
3. The AOAAE hierarchical bounding box collision detecting method according to claim 1, wherein the basic geometric elements in step S5 are subjected to intersection test, and the specific process of outputting the detection result includes: to the collectionS a ′ AndS b ′ performing separation axis test between basic geometric elements, traversing the setS a ′ AndS b ′ if all basic geometric elements are judged to be storedAnd returning collision information in the intersected basic geometric elements, and returning collision-free information if the intersected basic geometric elements do not exist.
4. The AOAAE level bounding box collision detecting method according to claim 1, 2 or 3, wherein before step S1, the method further comprises a step of detecting the self-intersection of the mechanical arm, and the process comprises:
a. according to the self structure and position relation of each mechanical arm, non-intersecting mechanical arm combinations are eliminated, and potential intersecting mechanical arm combinations are obtained;
b. selecting the mechanical arm with the largest size and the widest moving range from the mechanical arms of the robot as an object mechanical arm, acquiring the angle when each mechanical arm joint rotates to a collision state under the condition that each mechanical arm joint is at the limit or the initial position, and recording the angle as a non-contact angle;
c. and judging whether the current joint angle of the object mechanical arm is larger than a non-contact angle or not, if so, finishing collision detection, if not, judging whether a potentially crossed mechanical arm combination has collision or not, if not, finishing collision detection, and if so, executing steps S1-S5 to carry out collision detection on the mechanical arm and the workpiece enclosure.
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