CN111251335A - High-precision mechanical arm collision detection method based on bounding box algorithm - Google Patents
High-precision mechanical arm collision detection method based on bounding box algorithm Download PDFInfo
- Publication number
- CN111251335A CN111251335A CN202010214757.6A CN202010214757A CN111251335A CN 111251335 A CN111251335 A CN 111251335A CN 202010214757 A CN202010214757 A CN 202010214757A CN 111251335 A CN111251335 A CN 111251335A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- workpiece
- ray
- rotating
- intersection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Image Analysis (AREA)
- Image Processing (AREA)
Abstract
The invention discloses a high-precision mechanical arm collision detection method based on a bounding box algorithm, which comprises the steps of firstly carrying out collision test on a mechanical arm, carrying out modeling and model simplification on the mechanical arm and a workpiece when the mechanical arm and the workpiece are not in mutual contact, carrying out intersection test according to the obtained bounding boxes of the mechanical arm and the workpiece, obtaining a rectangular overlapping area formed by two intersection points and the intersection points of the bounding boxes of the mechanical arm and the workpiece when the bounding boxes are intersected, connecting the intersection points in the rectangular overlapping area, calculating to obtain a line segment solution, carrying out workpiece identification according to an obtained reference edge and determining a rotating ray when the line segment solution is invalid, judging whether the rotating ray is in contact with the line segment solution or not based on the geometric shapes of different workpieces, further carrying out merging and iteration of the rotating ray to obtain a multi-hyperplane solution, and the separation of the crossed bounding boxes of the mechanical arm and the workpiece is finished, so that the detection precision is improved, and the detection error is reduced.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a high-precision mechanical arm collision detection method based on a bounding box algorithm.
Background
In the moving process of the industrial mechanical arm, in order to ensure the safety of the workpiece and the mechanical arm in the moving process, collision avoidance is a necessary condition, otherwise, the mechanical arm is easily damaged and the surface of the workpiece is scratched, and the safety of workers is possibly threatened, so that collision detection is important content of the mechanical arm in obstacle avoidance movement planning.
The nature of the collision detection problem is to find the shortest distance between objects, and when the distance is less than or equal to zero, it is assumed that the objects are in contact or have collided, so it is necessary to calculate the distance of the objects in space. In most cases, the shape of an object is irregular, and the current solutions mainly include a Space partition Bounding box method (Bounding Volume) and a hierarchical Bounding box method (Bounding Volume Hierarchy), wherein the hierarchical Bounding box method has a significant collision detection effect in a complex environment and is more suitable for the problem of collision detection of a mechanical arm.
The basic idea of Bounding Boxes is to achieve the purpose of collision detection by simplifying the outline of a complex object, wrapping the object with a simple solid geometry, and converting the wrapped object into calculation of distances between different Bounding Boxes, such as the common Bounding Box axial Bounding Boxes (Axis-Aligned Bounding Boxes: AABB), directed Bounding Boxes (Oriented Bounding Boxes: OBB), Discrete Orientation polyhedrons (Discrete Orientation polymers: k-DOP), and the like. Although the object contour is simplified by using a bounding box, the detection accuracy cannot be guaranteed. The existing bounding box collision detection technology has the condition of low detection precision, and particularly has the condition of large error in the detection of objects with irregular shapes.
Disclosure of Invention
The invention aims to provide a high-precision mechanical arm collision detection method based on a bounding box algorithm, which improves the detection precision and reduces the detection error.
In order to achieve the above object, the present invention provides a high precision mechanical arm collision detection method based on bounding box algorithm, including:
acquiring bounding boxes of the mechanical arm and the workpiece, and performing intersection tests;
acquiring an intersection point and an overlapping area of the intersection of the bounding boxes of the mechanical arm and the workpiece to obtain a line segment solution;
identifying the workpiece according to the acquired reference edge and determining a rotating ray;
and combining and iterating the rotating rays to complete the separation of the bounding boxes.
Before acquiring the bounding boxes of the mechanical arm and the workpiece and performing intersection tests, the method further comprises the following steps:
and performing collision test on the mechanical arm according to the set test requirement, if the mechanical arm connecting rods are mutually contacted, finishing collision detection, and if the mechanical arm connecting rods are not mutually contacted, performing intersection detection on the mechanical arm and the workpiece.
Wherein, the bounding box of arm and work piece is obtained to intersect the test, include:
and modeling and model simplification are respectively carried out on the mechanical arm and the workpiece, intersection tests are carried out according to the calculated bounding boxes of the mechanical arm and the workpiece, if the mechanical arm and the workpiece do not intersect, detection is finished, and if the mechanical arm and the workpiece intersect, a line segment solution is calculated.
Wherein, the crossing point and the overlapping region of the bounding box of the arm and the workpiece are obtained to obtain a line segment solution, and the method comprises the following steps:
and acquiring two intersection points of the intersection of the bounding boxes of the mechanical arm and the workpiece and a rectangular overlapping area formed by the intersection points, connecting the intersection points in the rectangular overlapping area, and calculating to obtain a line segment solution.
Wherein, the crossing point and the overlapping region of the bounding box of obtaining arm and work piece are crossed, obtain the line segment and solve, still include:
and connecting a starting point and an end point obtained based on a set condition to generate a hyperplane, if the generated hyperplane is not intersected with the mechanical arm and the workpiece, obtaining a unique line segment solution, and if the generated hyperplane is intersected with any one of the mechanical arm and the workpiece, obtaining the line segment solution which is invalid.
Wherein, the identifying the workpiece and determining the rotating ray according to the acquired reference edge comprises:
and obtaining a first ray formed by the intersection point sequence of the identified object according to the obtained reference edge, simultaneously obtaining a first object and a second object which are sequentially intersected with the intersection point sequence, and projecting from the starting point or rotating according to a set angle in the rectangular overlapping area to obtain a first second ray which is not intersected with the first object, wherein the second ray is a rotating ray.
Merging and iterating the rotating rays to complete separation of bounding boxes, wherein the method comprises the following steps:
and judging whether the rotating rays are in contact with the line segment solution or not based on the geometrical shapes of different workpieces, and then merging and iterating the rotating rays to obtain a multi-hyperplane solution so as to complete the separation of the intersecting bounding boxes of the mechanical arm and the workpieces.
Judging whether the rotating ray is in contact with the line segment solution or not, and then merging and iterating the rotating ray, wherein the method comprises the following steps:
if the rotating ray is located between the previous starting point and the current starting point and is a part of the line segment solution, the line segment solution is obtained again, the rotating ray is determined, then each new line segment solution is searched until the current starting point and the current end point coincide, and the rotating rays are merged;
if the rotating ray is in contact with the line segment solution, the search of the current line segment is terminated, and the bounding box cannot be separated;
if the rotating ray intersects with the first object and the intersection line is not on any side of the rectangular overlapping area, constructing a new reference edge which is parallel to the original reference edge and passes through the starting point, mutually exchanging the positions of the first object and the second object, reversing the direction of the rotating ray, and performing iteration of the rotating ray.
Wherein, in reversing the direction of the rotated ray, performing an iteration of the rotated ray, the method further comprises:
if the rotating ray is not found during inversion, replacing the rotating ray with the first ray, incorporating the rotating ray into a multi-hyperplane solution, and keeping the reference edge unchanged in the next iteration;
if the rotating ray intersects the rectangular overlapping area, replacing the intersecting edge with the reference edge, and then performing iteration of the rotating ray.
The invention relates to a high-precision mechanical arm collision detection method based on a bounding box algorithm, which comprises the steps of carrying out collision test on a mechanical arm according to a set test requirement, respectively carrying out modeling and model simplification on the mechanical arm and a workpiece when the mechanical arm and the workpiece are not in mutual contact, carrying out intersection test according to a bounding box of the mechanical arm and the workpiece obtained through calculation, obtaining two intersection points of the intersection of the bounding box of the mechanical arm and the workpiece and a rectangular overlapping region formed by the intersection points when the bounding boxes are intersected, connecting the intersection points in the rectangular overlapping region, calculating to obtain a line segment solution, carrying out workpiece identification and determining a rotating ray according to an obtained reference edge when the line segment solution is invalid, judging whether the rotating ray is in contact with the line segment solution or not based on the geometric shapes of different workpieces, and further carrying out merging and iteration of the rotating ray, and obtaining a multi-hyperplane solution, completing the separation of the crossed bounding boxes of the mechanical arm and the workpiece, improving the detection precision and reducing the detection error.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic step diagram of a high-precision mechanical arm collision detection method based on a bounding box algorithm provided by the invention.
Fig. 2 is a schematic diagram of the division of the rectangular overlapping area provided by the present invention.
FIG. 3 is a schematic diagram of the validation of the line segment solution provided by the present invention.
FIG. 4 is a schematic diagram of a bounding box with wireless segment solution provided by the present invention.
FIG. 5 is a schematic diagram of a separation enclosure provided by the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Referring to fig. 1, the present invention provides a high precision mechanical arm collision detection method based on bounding box algorithm, including:
s101, acquiring a bounding box of the mechanical arm and the workpiece, and performing intersection testing.
Specifically, firstly, a collision test is performed on the mechanical arm according to a set test requirement, if the mechanical arm connecting rods are in mutual contact, the collision detection is finished, if the mechanical arm connecting rods are not in mutual contact, intersection detection of the mechanical arm and a workpiece is performed, in the mechanical arm obstacle avoidance research, firstly, modeling and model simplification are respectively performed on the mechanical arm and an obstacle, and bounding boxes of the mechanical arm and the workpiece are respectively calculated. And carrying out intersection test on the mechanical arm and the workpiece according to the obtained bounding box, finishing detection if the mechanical arm and the workpiece do not intersect, and calculating a line segment solution if the mechanical arm and the workpiece intersect.
And S102, acquiring an intersection point and an overlapping area of the intersection of the mechanical arm and the bounding box of the workpiece to obtain a line segment solution.
Specifically, when the bounding boxes do not intersect, then the objects are considered to be out of contact. When the bounding boxes intersect, it is necessary to determine whether the robot arm and the workpiece are in contact. If the respective bounding boxes of the robot arm and the workpiece overlap, the robot arm and the workpiece are divided into two parts, and two intersection points are generated, wherein the two intersection points form a rectangular overlapping region R, and the intersection points can appear on the same side of the region, as shown in a dividing schematic diagram a of the rectangular overlapping region provided in FIG. 2; or on one diagonal side as shown in the partition diagram b of the rectangular overlap region provided in fig. 2. Since this overlap region does not actually cause the robot arm to contact the workpiece, there is a solution consisting of one or more interconnected hyperplanes, connecting two intersection points in the region and dividing the two bounding boxes. In practice, there will be many solutions, and the algorithm proposed by the present invention will guarantee that a line segment solution S is obtained. The line segment solution S is obtained based on the idea of rotating light rays, and the specific algorithm is described as follows:
(1) a starting point is selected. Selecting an intersection point by using the principle that the adjacent edge is intersected with at least one bounding box as a rule, and recording the intersection point as PstartAs shown in the confirmation diagram a of the line segment solution provided in fig. 3. If both points meet the requirements, one of the points is selected as a starting point. If neither of the two intersections satisfies the requirement, a line segment solution S is directly obtained in the next step, as shown in the schematic diagram b for confirming the line segment solution provided in fig. 3.
(2) Early termination. Before the line segment solution S is generated, there are two cases where the solution may be generated directly, resulting in early termination of the algorithm, where such cases are handled in advance:
i. as shown in the confirmation diagram b of the line segment solution provided in fig. 3, by connecting PstartAnd PendGenerating a hyperplane ensures that a line segment solution S is obtained directly.
if the starting point and the end point are on the diagonal of the rectangular overlap region R and the connected hyperplane does not intersect the object, then there is a wired segment solution S, as shown in the bounding box diagram a provided in FIG. 4 with a wireless segment solution. If the hyperplane intersects any object, as shown in the bounding box diagram b provided in fig. 4 and with the wireless section solution, the solution is invalid, and then the solution of multiple hyperplanes is obtained.
And S103, identifying the workpiece according to the acquired reference edge and determining a rotating ray.
Specifically, according to the obtained reference edge ErObtaining a first ray r composed of a sequence of intersections of the identified objecttrialSimultaneously obtaining a first object O which is sequentially intersected with the intersection point sequencesAnd a second object OεAnd in the rectangular overlapping region, from the starting point PstartProjecting or rotating according to a set angle to obtain a first strip and the first object OsA second ray which is not intersected, the second ray being a rotation ray rfirst-collisionWherein the reference edge ErIs one side of the rectangular overlapping region R and this side is from the starting point PstartAt the beginning, record ErWhich is initially the side that intersects the touching object, however, in a later step, the other sides in the rectangular overlap region R may also be defined as new ErIf two adjacent edges of the starting point are both in accordance with ErThen, the selection can be arbitrary; as shown in the schematic a of the separation bounding box provided in FIG. 5, the first ray segment represents the left edge of the initially selected rectangular overlap region R, giving a view along ErFirst ray r oftrialTo identify a sequence of intersecting points of bounded objects, the first intersecting object (robot arm or workpiece) being marked OsThen another object is marked as Oε，OsAnd OεThe conditions for the line segment search are defined. And according to OsAnd OεThen the starting point P is determinedstartThe collision test ray projected at is defined as the rotation ray rfirst-collisionI.e. the first strip does not react with OsImpinging rays by surrounding the rays with PstartBy rotation through an angular interval theta, the ray projection being from ErThe direction starts and rotates into a range that keeps the ray within the rectangular overlap region R. According to the reference edge ErAnd the relative position of the rectangular overlap region R, the ray rotation may be either clockwise or counterclockwise.
And S104, combining and iterating the rotating rays to complete the separation of the bounding boxes.
Specifically, according to different geometric shapes of the workpiece, whether the rotating ray is in contact with the line segment solution or not is judged, then merging and iteration of the rotating ray are carried out, a multi-hyperplane solution is obtained, separation of the intersecting bounding boxes of the mechanical arm and the workpiece is completed, and the rotating ray r is searchedfirst-collisionThree situations may occur, as follows: if rotating ray rfirst-collisionAt the previous PnewAnd current PnewAnd is part of the solution. The segment solution is retrieved and the rotational ray is determined, then each new segment solution is searched until the current start point and end point coincide and the rotational ray r is takenfirst-collisionAnd (4) merging. The final line segment solution S consists of each line segment.
Wherein the rotation interval angle of the ray is 180 degrees at most. If rotating ray rfirst-collisionContact with any previously found solution segment terminates the search process for the current line segment because the resulting solution will not separate the bounding box. Another possible scenario is described below, as follows:
i. if rotating ray rfirst-collisionAnd the first object OsIntersecting, but the intersecting line is not on any side of the rectangular overlapping region R, then constructing a reference edge ErParallel and passing through a new starting point PnewNew reference edge E ofr. Then the first object OsAnd a second object OεIn the next iteration process, the direction of the rotating ray is reversed, and the iteration of the rotating ray is carried out.
if no rotating ray r can be found during inversionfirst-collisionThen use the first ray rtrialInstead of rotating ray rfirst-collisionAnd incorporate it into a multi-hyperplane solution, in this case, reference edge ErAnd remains unchanged in the next iteration.
if rotating ray rfirst-collisionIntersecting one edge of the rectangular overlap region R, the intersecting edge is designated as a new reference edge ErThen said rotating ray r is carried outfirst-collisionAnd (4) iterating.
As shown in the schematic a of the separation bounding box provided in fig. 5, two contact bounding boxes are separated according to the above steps, and the line segment solution S is composed of a hyperplane represented by each segment of rays. As shown in the schematic diagram b of the separation bounding box provided in fig. 5, the line segment solution S and the original bounding box form two new polygons together, so that the separation of the two intersected bounding boxes of the objects is completed, the problem of large error in the conventional bounding box algorithm is solved, the detection efficiency is improved, and the method is suitable for the mechanical arm work occasion with high precision requirement.
The invention relates to a high-precision mechanical arm collision detection method based on a bounding box algorithm, which comprises the steps of carrying out collision test on a mechanical arm according to a set test requirement, respectively carrying out modeling and model simplification on the mechanical arm and a workpiece when the mechanical arm and the workpiece are not in mutual contact, carrying out intersection test according to a bounding box of the mechanical arm and the workpiece obtained through calculation, obtaining two intersection points of the intersection of the bounding box of the mechanical arm and the workpiece and a rectangular overlapping region formed by the intersection points when the bounding boxes are intersected, connecting the intersection points in the rectangular overlapping region, calculating to obtain a line segment solution, carrying out workpiece identification and determining a rotating ray according to an obtained reference edge when the line segment solution is invalid, judging whether the rotating ray is in contact with the line segment solution or not based on the geometric shapes of different workpieces, and further carrying out merging and iteration of the rotating ray, and obtaining a multi-hyperplane solution, completing the separation of the crossed bounding boxes of the mechanical arm and the workpiece, improving the detection precision and reducing the detection error.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A high-precision mechanical arm collision detection method based on a bounding box algorithm is characterized by comprising the following steps:
acquiring bounding boxes of the mechanical arm and the workpiece, and performing intersection tests;
acquiring an intersection point and an overlapping area of the intersection of the bounding boxes of the mechanical arm and the workpiece to obtain a line segment solution;
identifying the workpiece according to the acquired reference edge and determining a rotating ray;
and combining and iterating the rotating rays to complete the separation of the bounding boxes.
2. The method for detecting the collision of the mechanical arm with high precision based on the bounding box algorithm as claimed in claim 1, wherein before the bounding box of the mechanical arm and the workpiece is obtained and the intersection test is carried out, the method further comprises:
and performing collision test on the mechanical arm according to the set test requirement, if the mechanical arm connecting rods are mutually contacted, finishing collision detection, and if the mechanical arm connecting rods are not mutually contacted, performing intersection detection on the mechanical arm and the workpiece.
3. The method for detecting the collision of the high-precision mechanical arm based on the bounding box algorithm in claim 2 is characterized in that the acquiring the bounding box of the mechanical arm and the workpiece and the performing the intersection test comprise:
and modeling and model simplification are respectively carried out on the mechanical arm and the workpiece, intersection tests are carried out according to the calculated bounding boxes of the mechanical arm and the workpiece, if the mechanical arm and the workpiece do not intersect, detection is finished, and if the mechanical arm and the workpiece intersect, a line segment solution is calculated.
4. The method for detecting the collision of the high-precision mechanical arm based on the bounding box algorithm of claim 3, wherein the intersection point and the overlapping area of the intersection of the bounding box of the mechanical arm and the workpiece are obtained, and a line segment solution is obtained, and the method comprises the following steps:
and acquiring two intersection points of the intersection of the bounding boxes of the mechanical arm and the workpiece and a rectangular overlapping area formed by the intersection points, connecting the intersection points in the rectangular overlapping area, and calculating to obtain a line segment solution.
5. The method for detecting the collision of the high-precision mechanical arm based on the bounding box algorithm of claim 4, wherein the intersection point and the overlapping area of the intersection of the bounding box of the mechanical arm and the workpiece are obtained to obtain a line segment solution, and the method further comprises the following steps:
and connecting a starting point and an end point obtained based on a set condition to generate a hyperplane, if the generated hyperplane is not intersected with the mechanical arm and the workpiece, obtaining a unique line segment solution, and if the generated hyperplane is intersected with any one of the mechanical arm and the workpiece, obtaining the line segment solution which is invalid.
6. The high-precision mechanical arm collision detection method based on the bounding box algorithm as claimed in claim 5, wherein the identifying the workpiece and determining the rotating ray according to the acquired reference edge comprises:
and obtaining a first ray formed by the intersection point sequence of the identified object according to the obtained reference edge, simultaneously obtaining a first object and a second object which are sequentially intersected with the intersection point sequence, and projecting from the starting point or rotating according to a set angle in the rectangular overlapping area to obtain a first second ray which is not intersected with the first object, wherein the second ray is a rotating ray.
7. The method for detecting the collision of the high-precision mechanical arm based on the bounding box algorithm in claim 6, wherein the rotating rays are combined and iterated to complete the separation of the bounding boxes, and the method comprises the following steps:
and judging whether the rotating rays are in contact with the line segment solution or not based on the geometrical shapes of different workpieces, and then merging and iterating the rotating rays to obtain a multi-hyperplane solution so as to complete the separation of the intersecting bounding boxes of the mechanical arm and the workpieces.
8. The method for detecting the collision of the high-precision mechanical arm based on the bounding box algorithm as claimed in claim 7, wherein the step of judging whether the rotating ray is in contact with the segment solution or not and further performing the combination and iteration of the rotating ray comprises the following steps:
if the rotating ray is located between the previous starting point and the current starting point and is a part of the line segment solution, the line segment solution is obtained again, the rotating ray is determined, then each new line segment solution is searched until the current starting point and the current end point coincide, and the rotating rays are merged;
if the rotating ray is in contact with the line segment solution, the search of the current line segment is terminated, and the bounding box cannot be separated;
if the rotating ray intersects with the first object and the intersection line is not on any side of the rectangular overlapping area, constructing a new reference edge which is parallel to the original reference edge and passes through the starting point, mutually exchanging the positions of the first object and the second object, reversing the direction of the rotating ray, and performing iteration of the rotating ray.
9. The method for detecting the collision of the high-precision mechanical arm based on the bounding box algorithm as claimed in claim 8, wherein in the step of reversing the direction of the rotating ray and performing the iteration of the rotating ray, the method further comprises:
if the rotating ray is not found during inversion, replacing the rotating ray with the first ray, incorporating the rotating ray into a multi-hyperplane solution, and keeping the reference edge unchanged in the next iteration;
if the rotating ray intersects the rectangular overlapping area, replacing the intersecting edge with the reference edge, and then performing iteration of the rotating ray.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010214757.6A CN111251335B (en) | 2020-03-24 | 2020-03-24 | High-precision mechanical arm collision detection method based on bounding box algorithm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010214757.6A CN111251335B (en) | 2020-03-24 | 2020-03-24 | High-precision mechanical arm collision detection method based on bounding box algorithm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111251335A true CN111251335A (en) | 2020-06-09 |
| CN111251335B CN111251335B (en) | 2021-06-08 |
Family
ID=70944354
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010214757.6A Active CN111251335B (en) | 2020-03-24 | 2020-03-24 | High-precision mechanical arm collision detection method based on bounding box algorithm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111251335B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112364421A (en) * | 2020-11-12 | 2021-02-12 | 天河超级计算淮海分中心 | Rendering method and device of building information model, computer equipment and storage medium |
| CN113781846A (en) * | 2021-09-28 | 2021-12-10 | 中国人民解放军空军工程大学 | Horizontal dimension airspace conflict detection method |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100053162A1 (en) * | 2000-06-19 | 2010-03-04 | Holger Dammertz | Accelerated ray tracing using shallow bounding volume hierarchies |
| CN103065319A (en) * | 2012-12-31 | 2013-04-24 | 上海同岩土木工程科技有限公司 | Closed surface automatic search method of space multiply connected domain |
| CN104408774A (en) * | 2014-12-11 | 2015-03-11 | 中国科学院合肥物质科学研究院 | Detection method for collision between solid mesh models based on GPU (Graphics Processing Unit) acceleration |
| CN104462688A (en) * | 2014-12-05 | 2015-03-25 | 国家电网公司 | Operation simulation system of power grid information equipment |
| US20150279092A1 (en) * | 2014-03-31 | 2015-10-01 | Per Ganestam | Bounding Volume Hierarchy Generation Using a Heterogeneous Architecture |
| CN105096381A (en) * | 2015-07-09 | 2015-11-25 | 河海大学常州校区 | Collision detecting method using moving three-dimension ship models in navigation channel |
| US20160085510A1 (en) * | 2014-09-18 | 2016-03-24 | Samsung Electronics Co., Ltd. | Method and apparatus for performing ray-node intersection test |
| US9430863B1 (en) * | 2011-10-27 | 2016-08-30 | Nvidia Corporation | System, method, and computer program product for constructing a hierarchical acceleration data structure that supports ray tracing of motion blur |
| CN107803831A (en) * | 2017-09-27 | 2018-03-16 | 杭州新松机器人自动化有限公司 | A kind of AOAAE bounding volume hierarchy (BVH)s collision checking method |
| CN109262652A (en) * | 2018-09-06 | 2019-01-25 | 上海大学 | A kind of interference detection method for early warning for more rod piece multi-joints mechanism |
| WO2019088681A1 (en) * | 2017-10-31 | 2019-05-09 | 경희대학교산학협력단 | Safety improvement and safety evaluation method for robot |
| CN109773785A (en) * | 2018-12-29 | 2019-05-21 | 南京埃斯顿机器人工程有限公司 | A kind of industrial robot collision-proof method |
| CN110232741A (en) * | 2019-06-17 | 2019-09-13 | 腾讯科技（深圳）有限公司 | Multilayer bounding box determines method, collision detection and motion control method and equipment |
| CN110796742A (en) * | 2019-10-25 | 2020-02-14 | 西安建筑科技大学 | Three-dimensional scene cone eliminating method based on object-oriented |
-
2020
- 2020-03-24 CN CN202010214757.6A patent/CN111251335B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100053162A1 (en) * | 2000-06-19 | 2010-03-04 | Holger Dammertz | Accelerated ray tracing using shallow bounding volume hierarchies |
| US9430863B1 (en) * | 2011-10-27 | 2016-08-30 | Nvidia Corporation | System, method, and computer program product for constructing a hierarchical acceleration data structure that supports ray tracing of motion blur |
| CN103065319A (en) * | 2012-12-31 | 2013-04-24 | 上海同岩土木工程科技有限公司 | Closed surface automatic search method of space multiply connected domain |
| US9990758B2 (en) * | 2014-03-31 | 2018-06-05 | Intel Corporation | Bounding volume hierarchy generation using a heterogeneous architecture |
| US20150279092A1 (en) * | 2014-03-31 | 2015-10-01 | Per Ganestam | Bounding Volume Hierarchy Generation Using a Heterogeneous Architecture |
| US20160085510A1 (en) * | 2014-09-18 | 2016-03-24 | Samsung Electronics Co., Ltd. | Method and apparatus for performing ray-node intersection test |
| CN104462688A (en) * | 2014-12-05 | 2015-03-25 | 国家电网公司 | Operation simulation system of power grid information equipment |
| CN104408774A (en) * | 2014-12-11 | 2015-03-11 | 中国科学院合肥物质科学研究院 | Detection method for collision between solid mesh models based on GPU (Graphics Processing Unit) acceleration |
| CN105096381A (en) * | 2015-07-09 | 2015-11-25 | 河海大学常州校区 | Collision detecting method using moving three-dimension ship models in navigation channel |
| CN107803831A (en) * | 2017-09-27 | 2018-03-16 | 杭州新松机器人自动化有限公司 | A kind of AOAAE bounding volume hierarchy (BVH)s collision checking method |
| WO2019088681A1 (en) * | 2017-10-31 | 2019-05-09 | 경희대학교산학협력단 | Safety improvement and safety evaluation method for robot |
| CN109262652A (en) * | 2018-09-06 | 2019-01-25 | 上海大学 | A kind of interference detection method for early warning for more rod piece multi-joints mechanism |
| CN109773785A (en) * | 2018-12-29 | 2019-05-21 | 南京埃斯顿机器人工程有限公司 | A kind of industrial robot collision-proof method |
| CN110232741A (en) * | 2019-06-17 | 2019-09-13 | 腾讯科技（深圳）有限公司 | Multilayer bounding box determines method, collision detection and motion control method and equipment |
| CN110796742A (en) * | 2019-10-25 | 2020-02-14 | 西安建筑科技大学 | Three-dimensional scene cone eliminating method based on object-oriented |
Non-Patent Citations (3)
| Title |
|---|
| 王志良: "开放式虚拟环境实验平台的设计与初步实现", 《系统仿真学报》 * |
| 谢斌斌: "基于包围盒的碰撞检测技术的研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
| 魏迎梅: "虚拟环境中碰撞检测问题的研究", 《中国优秀博硕士学位论文全文数据库（博士） 信息科技辑》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112364421A (en) * | 2020-11-12 | 2021-02-12 | 天河超级计算淮海分中心 | Rendering method and device of building information model, computer equipment and storage medium |
| CN112364421B (en) * | 2020-11-12 | 2023-10-27 | 天河超级计算淮海分中心 | Rendering method and device of building information model, computer equipment and storage medium |
| CN113781846A (en) * | 2021-09-28 | 2021-12-10 | 中国人民解放军空军工程大学 | Horizontal dimension airspace conflict detection method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111251335B (en) | 2021-06-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111360824B (en) | Double-arm self-collision detection method and computer-readable storage medium | |
| US11200351B2 (en) | Method for constructing curve of robot processing path of part with small curvature based on point cloud boundary | |
| Tang | Algorithms for collision detection and avoidance for five-axis NC machining: a state of the art review | |
| Ding et al. | Oriented bounding box and octree based global interference detection in 5-axis machining of free-form surfaces | |
| US5056031A (en) | Apparatus for detecting the collision of moving objects | |
| CN111251335B (en) | High-precision mechanical arm collision detection method based on bounding box algorithm | |
| CN106248035A (en) | The method and system that a kind of surface profile based on point cloud model accurately detects | |
| Pek et al. | CommonRoad drivability checker: Simplifying the development and validation of motion planning algorithms | |
| US20010029440A1 (en) | Apparatus and method for obtaining shape data of analytic surface approximate expression | |
| Xu et al. | A pseudo-distance algorithm for collision detection of manipulators using convex-plane-polygons-based representation | |
| Li et al. | Path planning method for on-machine inspection of aerospace structures based on adjacent feature graph | |
| You et al. | Tool-path verification in five-axis machining of sculptured surfaces | |
| Li et al. | A tracking-based numerical algorithm for efficiently constructing the feasible space of tool axis of a conical ball-end cutter in five-axis machining | |
| Barnfather et al. | Efficient compensation of dimensional errors in robotic machining using imperfect point cloud part inspection data | |
| GB2227106A (en) | Detecting collision | |
| Bonner et al. | A novel representation for planning 3-D collision-free paths | |
| CN113203420B (en) | Industrial robot dynamic path planning method based on variable density search space | |
| US20040128648A1 (en) | Face correlation between computer aided design models | |
| Liu et al. | Direct 5-axis tool posture local collision-free area generation for point clouds | |
| JP4628160B2 (en) | 3D model processing method | |
| CN114820505A (en) | Non-contact measurement method of dynamic target | |
| CN112987740A (en) | Mobile robot path planning control method | |
| JP4949953B2 (en) | Method for calculating distance between curved surface shape and reference surface | |
| Li et al. | A unified method for invalid 2D loop removal in tool-path generation | |
| JP3094306B2 (en) | Mobile robot position identification method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |