CN113211495A - Mechanical arm collision detection method and system, storage medium and mechanical arm - Google Patents
Mechanical arm collision detection method and system, storage medium and mechanical arm Download PDFInfo
- Publication number
- CN113211495A CN113211495A CN202110387380.9A CN202110387380A CN113211495A CN 113211495 A CN113211495 A CN 113211495A CN 202110387380 A CN202110387380 A CN 202110387380A CN 113211495 A CN113211495 A CN 113211495A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- leaf node
- collision
- leaf
- leaf nodes
- 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.)
- Pending
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
Abstract
The invention relates to a mechanical arm collision detection method, a system, a storage medium and a mechanical arm, which comprises the steps of firstly, carrying out physical modeling on the mechanical arm and a collision scene around the mechanical arm, then, constructing an integral tree structure comprising a plurality of leaf nodes and non-leaf nodes according to a model file, calculating a bounding box of each leaf node of the integral tree structure, and calculating a bounding box of each non-leaf node, and determining whether the mechanical arm collides by judging whether two bounding boxes with overlapped projections exist or not when at least one joint of the mechanical arm rotates, the dynamic collision detection requirement on the mechanical arm in the motion process can be flexibly met.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a method and a system for detecting mechanical arm collision, a storage medium and a mechanical arm.
Background
The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. The mechanical arm can be regarded as a multi-rigid-body structure, the multi-rigid-body structure comprises a plurality of joints, a rotating shaft and a front end load, each joint has one degree of freedom and can rotate around the rotating shaft under the degree of freedom, and the mechanical arm forms different configurations through the rotation of the joint, so that the front end load reaches a specified position and meets the requirement of a certain angle orientation, and operation is performed on a target object. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection.
The multi-degree-of-freedom space manipulator is a special manipulator applied to the cosmic space activity and generally comprises a carried spacecraft body and a manipulator fixed on the spacecraft body. The mechanical arm generally has multiple degrees of freedom, and the tail end of the mechanical arm reaches a preset position through planning control of each joint, so that space tasks such as assembly of a large-scale spacecraft, maintenance of space facilities or equipment, capture of a space target and the like are completed in an orbit.
After the mechanical arm is planned, collision detection needs to be carried out on a planning result, the collision condition between the mechanical arm and a surrounding environment entity is simulated, the safety of mechanical arm control is ensured, and the difficulty of the collision detection of the mechanical arm lies in that:
1) the mechanical arm is large in size, more in joints and irregular in joint shape, is provided with a monitoring camera, a rotating shaft motor and other parts, is extremely irregular in geometric appearance and is difficult to represent by simple shapes such as rectangles and cylinders;
2) the planning of mechanical arm is a motion process, along with the change of the angle of the joint of the mechanical arm, the mechanical arm presents different appearance states, collision detection needs to be continuously carried out on each state, the joints of the mechanical arm are numerous, the appearance is complex, the accurate collision detection is an operation with high calculation complexity, a rapid detection strategy needs to be adopted, the detection speed is improved on the premise of ensuring the accuracy, the existing method generally adopts the modes of basic shape fitting, static grids, space octrees and the like, and the requirements of dynamic collision detection and accurate collision detection on the motion process of the mechanical arm cannot be flexibly met.
Disclosure of Invention
The invention provides a mechanical arm collision detection method, a mechanical arm collision detection system, a storage medium and a mechanical arm, aiming at the defects of the prior art.
The technical scheme of the mechanical arm collision detection method is as follows:
carrying out physical modeling on the mechanical arm and a collision scene around the mechanical arm to obtain a model file;
constructing a whole tree structure comprising a plurality of leaf nodes and non-leaf nodes according to the model file, wherein the leaf nodes represent the geometric shapes of the joints of the mechanical arm, the geometric shapes of the rotating shaft and/or the geometric shapes of the collision barriers in the collision scene, which are obtained from the model file, and the non-leaf nodes represent labels;
calculating a bounding box of each leaf node of the overall tree structure, and calculating a bounding box of each non-leaf node, wherein a bounding box of any non-leaf node refers to a union of bounding boxes of all child nodes of the non-leaf node;
when at least one joint of the mechanical arm rotates, when any two bounding boxes with overlapped projections are judged, the mechanical arm is determined to be collided, and when no overlapped projections exist in every two bounding boxes, the mechanical arm is determined not to be collided.
The mechanical arm collision detection method has the following beneficial effects:
firstly, a mechanical arm and a collision scene around the mechanical arm are physically modeled, then, an overall tree structure comprising a plurality of leaf nodes and non-leaf nodes is constructed according to the model file, a bounding box of each leaf node of the overall tree structure is calculated, and a bounding box of each non-leaf node is calculated.
On the basis of the scheme, the mechanical arm collision detection method can be further improved as follows.
Further, before determining that the mechanical arm collides, the method further includes:
obtaining a triangular mesh according to the geometric shape of each joint of the mechanical arm, the geometric shape of each rotating shaft and the geometric shape of the collision obstacle;
acquiring a plurality of triangular patches corresponding to each leaf node from the triangular mesh, and judging whether any two leaf nodes with an intersection relation exist according to the plurality of triangular patches corresponding to each leaf node to obtain a judgment result;
the determining that the mechanical arm collides comprises:
and when the judgment result is yes, determining that the mechanical arm collides.
The beneficial effect of adopting the further scheme is that: when any two bounding boxes with overlapped projections are judged, a plurality of triangular patches corresponding to each leaf node are obtained from the triangular mesh, whether any two leaf nodes with an intersection relationship exist is judged according to the plurality of triangular patches corresponding to each leaf node, and when the judgment result is yes, the mechanical arm is determined to collide, so that the precision and the accuracy of collision detection are further improved.
Further, the model file further includes a direction vector of each rotation axis and a three-dimensional coordinate of any point on each rotation axis, and before determining whether there are two bounding boxes with overlapped projections, the method further includes:
and updating the bounding box of each leaf node and the bounding box of each non-leaf node corresponding to all the rotated joints according to the direction vector of each rotating shaft corresponding to all the rotated joints and the three-dimensional coordinates of any point on each rotating shaft.
The beneficial effect of adopting the further scheme is that: according to the direction vector of each rotating shaft corresponding to all the rotating joints and the three-dimensional coordinates of any point on each rotating shaft, the calculation process of updating the bounding box of each leaf node and the bounding box of each non-leaf node corresponding to all the rotating joints is greatly simplified, and the collision detection efficiency is greatly improved.
Further, before determining whether there are two leaf nodes having an intersection relationship, the method further includes:
and updating the triangular patch of each leaf node corresponding to all the rotated joints according to the direction vector of each rotating shaft corresponding to all the rotated joints and the three-dimensional coordinates of any point on each rotating shaft.
The beneficial effect of adopting the further scheme is that: according to the direction vector of each rotating shaft corresponding to all the rotating joints and the three-dimensional coordinates of any point on each rotating shaft, the calculation process of updating the triangular patch of each leaf node corresponding to all the rotating joints is greatly simplified, and the collision detection efficiency is greatly improved.
Further, the model file further includes a hierarchical relationship corresponding to all joints of the robot arm, and the constructing of the whole tree structure including a plurality of leaf nodes and non-leaf nodes according to the model file includes:
and constructing a first tree structure corresponding to the mechanical arm according to the hierarchical relationship among the joints of the mechanical arm, constructing a second tree structure according to the collision obstacle, and combining the first tree structure and the second tree structure to obtain an integral tree structure comprising a plurality of leaf nodes and non-leaf nodes.
Further, the process of determining whether there is projection overlap between any two bounding boxes includes:
judging whether the projections of any two bounding boxes in the three-dimensional direction have overlapping parts, if so, judging that the projections of the two bounding boxes overlap, and if not, judging that the projections of the two bounding boxes do not overlap.
The beneficial effect of adopting the further scheme is that: the calculation process is simple, and the collision detection efficiency is improved.
Further, the process of determining whether any two leaf nodes have an intersection relationship includes:
and judging whether a separating surface exists between each triangular patch of any leaf node in any two leaf nodes and each triangular patch of the other leaf node by using a separating axis method, if so, the two leaf nodes do not have an intersection relationship, and if not, the two leaf nodes have an intersection relationship.
The beneficial effect of adopting the further scheme is that: the calculation process is simple, and the collision detection efficiency is improved.
The technical scheme of the mechanical arm collision detection system is as follows:
the system comprises a physical modeling module, a tree structure construction module, a calculation module and a determination module;
the physical modeling module is used for carrying out physical modeling on the mechanical arm and a collision scene around the mechanical arm to obtain a model file;
the tree structure construction module is used for constructing a whole tree structure comprising a plurality of leaf nodes and non-leaf nodes according to the model file, wherein the leaf nodes represent the geometric shapes of joints of the mechanical arm, the geometric shapes of rotating shafts and/or the geometric shapes of collision barriers in the collision scenes, which are obtained from the model file, and the non-leaf nodes represent labels;
the computing module is used for computing a bounding box of each leaf node of the whole tree structure and computing a bounding box of each non-leaf node, wherein the bounding box of any non-leaf node refers to a union of the bounding boxes of all child nodes of the non-leaf node;
the determination module is to: when at least one joint of the mechanical arm rotates, when any two bounding boxes with overlapped projections are judged, the mechanical arm is determined to be collided, and when no overlapped projections exist in every two bounding boxes, the mechanical arm is determined not to be collided.
The mechanical arm collision detection system has the following beneficial effects:
firstly, a mechanical arm and a collision scene around the mechanical arm are physically modeled, then, an overall tree structure comprising a plurality of leaf nodes and non-leaf nodes is constructed according to the model file, a bounding box of each leaf node of the overall tree structure is calculated, and a bounding box of each non-leaf node is calculated.
In a storage medium of the present invention, instructions are stored, and when the instructions are read by a computer, the computer is caused to execute any one of the above-described robot collision detection methods.
The mechanical arm comprises a processor and the storage medium, wherein the processor executes instructions in the storage medium.
Drawings
Fig. 1 is a schematic flow chart of a method for detecting a collision of a robot arm according to an embodiment of the present invention;
FIG. 2 is a schematic view of a robotic arm;
FIG. 3 is a schematic diagram of an overall structure tree;
FIG. 4 is a schematic view of a separating surface between two triangular panels;
fig. 5 is a schematic structural diagram of a robot arm collision detection system according to an embodiment of the present invention;
Detailed Description
As shown in fig. 1, a method for detecting a collision of a robot arm according to an embodiment of the present invention includes the following steps:
s1, physical modeling, specifically: carrying out physical modeling on the mechanical arm and a collision scene around the mechanical arm to obtain a model file;
s2, constructing an integral tree structure, specifically: constructing a whole tree structure comprising a plurality of leaf nodes and non-leaf nodes according to the model file, wherein the leaf nodes represent the geometric shapes of the joints of the mechanical arm, the geometric shapes of the rotating shaft and/or the geometric shapes of the collision barriers in the collision scene, which are obtained from the model file, and the non-leaf nodes represent labels;
s3, calculating a bounding box, specifically: calculating a bounding box of each leaf node of the overall tree structure, and calculating a bounding box of each non-leaf node, wherein a bounding box of any non-leaf node refers to a union of bounding boxes of all child nodes of the non-leaf node;
s4, collision detection, specifically: when at least one joint of the mechanical arm rotates, when any two bounding boxes with overlapped projections are judged, the mechanical arm is determined to be collided, and when no overlapped projections exist in every two bounding boxes, the mechanical arm is determined not to be collided.
Firstly, a mechanical arm and a collision scene around the mechanical arm are physically modeled, then, an overall tree structure comprising a plurality of leaf nodes and non-leaf nodes is constructed according to the model file, a bounding box of each leaf node of the overall tree structure is calculated, and a bounding box of each non-leaf node is calculated.
In which the robot arm and the collision scenario around the robot arm are physically modeled using a three-dimensional modeling tool, such as 3D MAX or Unity3D, to establish an accurate geometric shape of the robot arm and the collision scenario around the robot arm, that is, the model file includes the geometric shape of the joint of the robot arm, the geometric shape of the rotation axis, and/or the geometric shape of a collision obstacle (not shown) in the collision scenario.
It can be understood that the size of the collision scene around the selected mechanical arm can be confirmed according to actual conditions, and an area surrounded by the farthest position that the mechanical arm can reach in the direction of 360 degrees is generally selected as the collision scene around the selected mechanical arm, so that the mechanical arm does not collide with collision obstacles outside the collision scene, namely, the mechanical arm does not collide with the collision obstacles outside the collision scene, and safety guarantee is provided for the control of the mechanical arm.
Taking the mechanical arm in fig. 2 as an example, specifically: the mechanical arm comprises a base 1 and four joints, the joints on the base 1 are used as a first joint 2, other joints are sequentially marked as a second joint 4, a third joint 6 and a fourth joint 8, a first rotating shaft 3 is arranged between the first joint 2 and the second joint 4, the second joint 4 and the third joint 6 are directly connected with a second rotating shaft 5, a fourth joint 8 shaft is arranged between the third joint 6 and the fourth joint 8, and a fourth rotating shaft 9 is further connected onto the fourth joint 8; the geometry of the robot arm then includes in particular: the geometry of the four joints and the geometry of the four rotation axes, when there is a collision obstacle in the surrounding collision scene, then the geometry of the joints of the mechanical arm, the geometry of the rotation axes and/or the geometry of the collision obstacle in the collision scene are included in the model file.
The method comprises the steps of establishing a model file, wherein the model file further comprises hierarchical relations corresponding to all joints of the mechanical arm, decomposing each joint of the mechanical arm in a three-dimensional modeling tool, establishing the hierarchical relations among the joints by using a Group mode, and establishing an overall tree structure comprising a plurality of leaf nodes and non-leaf nodes according to the model file, and comprises the following steps:
and constructing a first tree structure corresponding to the mechanical arm according to the hierarchical relationship among the joints of the mechanical arm, constructing a second tree structure according to the collision obstacle, and combining the first tree structure and the second tree structure to obtain an integral tree structure comprising a plurality of leaf nodes and non-leaf nodes.
The parent-child relationships between the nodes of the overall tree structure are constructed according to the joint hierarchy information in the physical modeling. As shown in fig. 3, the collision scenario tree structure includes two non-leaf nodes, namely a "mechanical arm" and a "collision obstacle", and the child nodes of the non-leaf node "mechanical arm" include 4 non-leaf nodes, which correspond to four joints of the mechanical arm in fig. 2 respectively; the collision obstacle child nodes correspond to a three-dimensional model of an obstacle scene needing collision detection with the mechanical arm, and can be grouped according to the specific situation of the obstacle scene in physical modeling to form a hierarchical structure of the nodes of the child nodes, so that a second tree structure is obtained.
Wherein, the corresponding hierarchical relationship of all joints can be understood as: each joint has one degree of freedom, and when the fourth joint 8 rotates for a certain angle, the fourth rotating shaft 9 rotates for a certain angle; when the third joint 6 rotates by a certain angle, the third rotating shaft 7 rotates by a certain angle and drives the fourth rotating shaft 9 to rotate by a certain angle, when the second joint 4 rotates by a certain angle, the second rotating shaft 5, the third rotating shaft 7 and the fourth rotating shaft 9 rotate by a certain angle, and when the first joint 2 rotates by a certain angle, the first rotating shaft 3, the second rotating shaft 5, the third rotating shaft 7 and the fourth rotating shaft 9 rotate by a certain angle, so that a first tree structure corresponding to the mechanical arm is constructed. As shown in fig. 3, specifically:
in fig. 3, the boxes represent non-leaf nodes, the non-leaf nodes represent labels, which can be considered as defined according to the actual situation, and the circles represent leaf nodes, wherein a first leaf node 15 represents the geometric shape of the base 1 of the robot arm, a second leaf node 16 represents the geometric shape of the first joint 2, a third leaf node 17 represents the geometric shape of the second joint 4, a fourth leaf node 18 represents the geometric shape of the third joint 6, a fifth leaf node 19 represents the geometric shape of the fourth joint 8, a first non-leaf node 10 connects the first leaf node 15, a second non-leaf node 11 connects the second leaf node 16, a third non-leaf node 12 connects the third leaf node 17, a fourth non-leaf node 13 connects the fourth leaf node 18, and a fifth non-leaf node 14 connects the fifth leaf node 19, wherein the first leaf node 10 is defined as a "robot arm", the second non-leaf node 11 is defined as a "first joint", defining the third non-leaf node 12 as a "second joint", the fourth non-leaf node 13 as a "third joint", and the fifth non-leaf node 14 as a "fourth joint", it is understood that the "robot arm", "first joint", "second joint", "third joint", and "fourth joint" function as labels, unlike the real robot arm, first joint 2, second joint 4, third joint 6, and fourth joint 8.
The following examples are used to illustrate the bounding boxes of leaf nodes and bounding boxes of non-leaf nodes, specifically:
1) the bounding box of the second leaf node 16 is the bounding box of the first joint 2, and as can be seen from the overall tree structure, all the child nodes of the second non-leaf node 11 include the second leaf node 16, the third leaf node 17, the fourth leaf node 18, and the fifth leaf node 19, and the geometric shape of each rotation axis, then the bounding box of the second non-leaf node 11 is: the union of the bounding box of the second leaf node 16, the bounding box of the third leaf node 17, the bounding box of the fourth leaf node 18, the bounding box of the fifth leaf node 19 and the bounding box of the geometric shape of each rotation axis may also be understood as: the bounding box for the second non-leaf node 11 is: a union of the bounding box of the geometry of the first joint 2, the bounding box of the geometry of the first rotation axis 3, the bounding box of the geometry of the second joint 4, the bounding box of the geometry of the second rotation axis 5, the bounding box of the geometry of the third joint 6, the bounding box of the geometry of the third rotation axis 7, the bounding box of the geometry of the fourth joint 8 and the bounding box of the geometry of the fourth rotation axis 9;
2) the bounding box of the third leaf node 17 is the bounding box of the first joint 2, and as can be seen from the overall tree structure, all the child nodes of the third non-leaf node 12 include the third leaf node 17, the fourth leaf node 18, and the fifth leaf node 19, as well as the geometric shape of the second rotation axis 5, the geometric shape of the third rotation axis 7, and the geometric shape of the fourth rotation axis 9, then the bounding box of the third non-leaf node 12 is: the union of the bounding box of the third leaf node 17, the bounding box of the fourth leaf node 18, the bounding box of the fifth leaf node 19 and the bounding box of the geometric shape of the second rotation axis 5, the bounding box of the geometric shape of the third rotation axis 7 and the bounding box of the geometric shape of the fourth rotation axis 9 can also be understood as: the bounding box for the second non-leaf node 11 is: a union of the bounding box of the geometry of the second joint 4, the bounding box of the geometry of the second rotation axis 5, the bounding box of the geometry of the third joint 6, the bounding box of the geometry of the third rotation axis 7, the bounding box of the geometry of the fourth joint 8 and the bounding box of the geometry of the fourth rotation axis 9;
specifically, the bounding box algorithm is used as follows: the algorithm of AABB bounding box, bounding sphere, directional bounding box OBB and fixed directional convex hull FDH calculates the bounding box of each leaf node, i.e. the bounding box that calculates the geometry of the joints of the robot arm, the bounding box that calculates the geometry of the rotation axis and/or the bounding box that calculates the geometry of the collision barrier in the collision scenario.
Wherein, judge whether two arbitrary bounding boxes exist the process that the projection overlaps, include:
judging whether the projections of any two bounding boxes in the three-dimensional direction have overlapping parts, if so, judging that the projections of the two bounding boxes overlap, and if not, judging that the projections of the two bounding boxes do not overlap. The calculation process is simple, and the collision detection efficiency is improved. Any two bounding boxes are taken as examples for explanation:
with this two bounding boxes mark as first bounding box and second bounding box, throw on first bounding box respectively in the three-dimensional direction, can understand respectively at x, y, the three direction of z projection, obtain the x direction projection that first bounding box corresponds, y direction projection and z direction projection respectively, and on the same principle, throw on second bounding box respectively in the three-dimensional direction, obtain the x direction projection that second bounding box corresponds, y direction projection and z direction projection respectively, so:
1) when the projection in the x direction corresponding to the first bounding box and the projection in the x direction corresponding to the second bounding box are overlapped, the projection in the y direction corresponding to the first bounding box and the projection in the y direction corresponding to the second bounding box are overlapped, and the projection in the z direction corresponding to the first bounding box and the projection in the z direction corresponding to the second bounding box are overlapped, judging that the two bounding boxes are overlapped in projection, and determining that the mechanical arm collides;
2) when the projections of the first bounding box and the second bounding box in any direction are not overlapped, judging that the projections of the two bounding boxes are not overlapped, and determining that the mechanical arm is not collided.
Preferably, in the above technical solution, the model file further includes a direction vector of each rotation axis and a three-dimensional coordinate of any point on each rotation axis, and before determining whether there are two bounding boxes with overlapping projections, the method further includes:
updating the bounding box of each leaf node and the bounding box of each non-leaf node corresponding to all the rotated joints according to the direction vector of each rotating shaft corresponding to all the rotated joints and the three-dimensional coordinates of any point on each rotating shaft, and using the three-dimensional coordinates (x) of any point on any rotating shaft, such as the center point0，y0，z0) For illustration, specifically:
in physical modeling, each axis of rotation defines the motion of the corresponding joint, using the three-dimensional coordinates (x) of any point of the axis of rotation, e.g., the center point0，y0，z0) And the direction vector (V) of the rotation axisx，Vy，Vz) Indicating that the rotation vector due to the rotation axis is (V)x，Vy，Vz)TWhen at least one joint of the mechanical arm rotates and drives the rotating shaft to rotate, and the rotating angle is alpha, then the edge (V) is arrangedx，Vy，Vz)TA rotation matrix of rotation alpha is M, then three-dimensional coordinate (x)0，y0，z0) The transformed coordinates are calculated as follows:
therefore, the geometric shape of the mechanical arm is updated, the change of the geometric shape of the mechanical arm can cause the change of the bounding box, specifically, a point is selected from the bounding box, the change relation is constructed, and the constructed change relation can simplify and update the bounding box of each leaf node corresponding to all the rotating jointsThe computation of boxes and bounding boxes for each non-leaf node "improves the efficiency of collision detection.
Preferably, in the above technical solution, before determining that the robot arm collides, the method further includes:
obtaining a triangular mesh according to the geometric shape of each joint of the mechanical arm, the geometric shape of each rotating shaft and the geometric shape of the collision obstacle;
acquiring a plurality of triangular patches corresponding to each leaf node from the triangular mesh, and judging whether any two leaf nodes with an intersection relation exist according to the plurality of triangular patches corresponding to each leaf node to obtain a judgment result;
the determining that the mechanical arm collides comprises:
and when the judgment result is yes, determining that the mechanical arm collides.
When any two bounding boxes with overlapped projections are judged, a plurality of triangular patches corresponding to each leaf node are obtained from the triangular mesh, whether any two leaf nodes with an intersection relationship exist is judged according to the plurality of triangular patches corresponding to each leaf node, and when the judgment result is yes, the mechanical arm is determined to collide, so that the precision and the accuracy of collision detection are further improved.
The process of judging whether any two leaf nodes have an intersection relationship includes:
by using a separation axis method, it is determined whether a separation plane exists between each triangular patch of any leaf node of any two leaf nodes and each triangular patch of another leaf node, if so, the two leaf nodes do not have an intersection relationship, if not, the two leaf nodes have an intersection relationship, and specifically, taking any two leaf nodes as an example:
the two leaf nodes are respectively marked as a leaf node a 'and a leaf node B', and since the leaf node a 'and the leaf node B' are both in geometric shapes, the leaf node a 'and the leaf node B' both include a plurality of triangular patches, that is, a plurality of triangular patches corresponding to the leaf node a 'and the leaf node B', respectively, and whether the leaf node a 'and the leaf node B' have an intersection relationship is detected, that is, whether each triangular patch of the leaf node a 'intersects each triangular patch of the leaf node B' is detected, which is described by taking a triangular patch P of the leaf node a 'and a triangular patch Q of the leaf node B' as an example, specifically:
detecting whether the triangular patch P and the triangular patch Q collide by adopting a separation axis method, namely detecting whether a face exists, separating the triangular patch P from the triangular patch Q so that the triangular patch P and the triangular patch Q are respectively positioned at two sides of the face, and if the face exists, namely the separating face can separate the triangular patch P from the triangular patch Q, judging that the triangular patch P and the triangular patch Q do not collide; otherwise, a collision is determined, which is illustrated by the following example:
as shown in fig. 4, the vertices of the triangular patch P are vertex a, vertex B and vertex C, the vertices of the triangular patch Q are vertex D, vertex E and vertex F, one triangle, that is, one edge of the triangular patch and one vertex of another triangle, is selected, the formed plane is a possible separating plane, there are 12 possible separating planes, and it is determined whether each possible separating plane separates the triangular patch P from the triangular patch Q, so as to determine whether the two triangular patches are separated, and the algorithm step of selecting the possible separating plane formed by edge AC and vertex E for determination is as follows:
1) calculating an equation of a surface where the vertex A, the vertex C and the vertex E are located according to the three-dimensional coordinates of the edge AC and the vertex E;
2) substituting the three-dimensional coordinates of the vertex B, the vertex D and the vertex F into the equation of the surface, and judging whether the three vertices are positioned above or below the surface;
3) if the vertex D and the vertex F are positioned on the same side of the surface and the vertex B is positioned on the other side of the surface, the possible separating surface is judged to separate the two triangles, namely the possible separating surface is the separating surface, otherwise, the separating surface is judged not to separate the two triangles.
Preferably, in the above technical solution, before determining whether there are two leaf nodes having an intersection relationship, the method further includes:
and updating the triangular patch of each leaf node corresponding to all the rotated joints according to the direction vector of each rotating shaft corresponding to all the rotated joints and the three-dimensional coordinates of any point on each rotating shaft. For a specific process, reference is made to the process of updating the bounding box, which is not described herein again.
According to the direction vector of each rotating shaft corresponding to all the rotating joints and the three-dimensional coordinates of any point on each rotating shaft, the calculation process of updating the triangular patch of each leaf node corresponding to all the rotating joints is greatly simplified, and the collision detection efficiency is greatly improved.
The invention provides a flexible dynamic accurate collision detection method for a mechanical arm, aiming at the defects of collision detection between the existing mechanical arm and the surrounding environment. By using the method, the mechanical arm can be modeled and described in motion state, the collision condition of the mechanical arm and the surrounding environment can be accurately analyzed, and safety guarantee is provided for mechanical arm control.
According to the structural characteristics of the mechanical arm, the mechanical arm is accurately represented by adopting a triangular grid, a tree structure is adopted to establish a dynamic link relation between mechanical arm joints, and a hierarchical structure is formed according to the activity relation between the joints; adopting a strategy from coarse to fine, and analyzing and excluding the separation structure by using a bounding box; and after the cells are removed by the bounding boxes, the remaining cells are used for accurately detecting the triangular meshes by using a separation axis method.
By adopting the technical scheme, the dynamic accurate collision detection method for the mechanical arm has the advantages of strong expansibility, high flexibility and strong functions, can well adapt to the structural characteristics of the mechanical arm, and realizes accurate collision detection in the dynamic motion process of the mechanical arm.
First, a mechanical arm and a surrounding environment are physically modeled to form a model file, and the model file is loaded when a later program is initialized; then, the program reads the model file to form a geometric data structure of the mechanical arm and the scene, wherein the geometric data structure comprises a whole scene tree structure, a part unit triangular mesh, a node bounding box and joint rotation transformation information; and finally, performing collision detection by adopting a strategy from coarse to fine, traversing according to the hierarchy structure according to the depth priority, performing coarse detection by using a node bounding box, quickly removing most nodes, and accurately detecting the rest nodes by using a triangular network. Outputting the triangular mesh with the detected collision into a detection result, specifically:
and S20, forming a model file, and carrying out geometric modeling on the mechanical arm and the surrounding collision scene by using a three-dimensional modeling tool to obtain the model file. Specifically, three aspects are included:
1) geometric shape. And performing geometric modeling on the mechanical arm and the surrounding collision scene by using a three-dimensional modeling tool, such as 3D MAX and the like, and establishing an accurate geometric shape of the mechanical arm and the surrounding collision scene.
2) The level of the joint. The mechanical arm is composed of a plurality of joints which are sequentially connected and fixed on the base 1, and the joints have rotational freedom degrees. As shown in fig. 2, a first joint 2 is connected to the base 1, a second joint 4 is connected to the first joint 2, the rotation of the former joint can drive the movement of the latter joint, and the latter joint can rotate around a rotating shaft relative to the former joint. Therefore, a hierarchical relationship exists among the joints of the mechanical arm, the base 1 is the uppermost layer, the first joint 2 is the next layer, the second joint 4 is the next layer, and the fourth joint 8 is the last layer. In the three-dimensional modeling tool, each joint of the mechanical arm is separated, and a Group mode is used for establishing the hierarchical relationship among the joints.
3) Each axis of rotation defining the mode of motion of the respective joint, the axis of rotation being defined by the three-dimensional coordinates (x) of any point of the axis of rotation, e.g. the centre point0，y0，z0) And the direction vector (V) of the rotation axisx，Vy，Vz) Represents;
and S21, reading the model file and establishing an internal data structure when the program is initialized. The method comprises the following aspects, in particular:
1) the triangular mesh acquires the geometric shapes of the mechanical arm and the collision scene from the model file to obtain the triangular mesh, the triangular mesh comprises a vertex coordinate array and a triangular surface array, and the vertex coordinates are three-dimensional coordinates of all vertexes of the mesh and are stored in one array; the triangular patch stores the sequence numbers of the three vertexes of the triangle in the vertex coordinate array, which represents which three vertexes the triangular patch is composed of, and the sequence numbers of the vertexes of all the triangular patches constitute the triangular patch array.
2) And the whole tree structure is adopted to represent the three-dimensional object in order to represent the joint motion of the mechanical arm and represent the complex scene in a blocking mode so as to carry out a collision detection strategy from coarse to fine. Wherein, the leaf nodes of the tree structure, i.e. the circles in fig. 3, are the most basic geometric units, representing specific entities with triangular meshes; the non-leaf nodes, i.e. the boxes in fig. 3, can be understood as transformation nodes, corresponding to the transformation of a joint, representing a rotational degree of freedom, by which the child nodes are affected;
the parent-child relationships between the nodes of the overall tree structure are constructed according to the joint hierarchy information in the physical modeling. As shown in fig. 3, the collision scenario tree structure includes two non-leaf nodes, namely a "mechanical arm" and a "collision obstacle", and the node of the "mechanical arm" includes 4 non-leaf nodes, which correspond to four joints of the mechanical arm in fig. 2 respectively; the collision obstacle nodes correspond to a three-dimensional model of an obstacle scene needing collision detection with the mechanical arm, and can be grouped according to the specific situation of the obstacle scene in physical modeling to form a hierarchical structure of the collision obstacle nodes, so that a second tree structure is obtained.
3) And the bounding boxes of any leaf node represent the coordinate ranges of the leaf node in three spatial directions and are represented by X-axis maximum values, X-axis minimum values, Y-axis maximum values, Y-axis minimum values, Z-axis maximum values and Z-axis minimum values.
The bounding box is constructed in a depth-first traversal mode, and the bounding box of the leaf node is calculated according to the three-dimensional grid data of the leaf node; then, the bounding box of the non-leaf node is calculated, and the bounding box of the non-leaf node is the union of the bounding boxes of all the child nodes of the node.
4) And transforming the joints, wherein the transformation of the joints corresponds to the degrees of freedom of the joints of the mechanical arm, and the description of each joint comprises the three-dimensional coordinates of the fixed point of the rotating shaft and the direction of the rotating vector. The degrees of freedom for all joints are saved to the array.
And S22, updating the joint information of the mechanical arm according to the angle of each joint of the mechanical arm, and detecting the collision between the mechanical arm and the obstacle environment by adopting a strategy from rough to fine to obtain the position of the triangular surface where the mechanical arm and the obstacle environment collide. And circularly repeating S22 to realize dynamic accurate collision detection on the motion process of one section of mechanical arm, specifically:
1) the joint angle is driven, the joint angle is the rotation angle of the joint of the mechanical arm in the current state, and the mechanical arm presents different configurations through the rotation of the joint, so that the tail end of the mechanical arm reaches a target position. A movable joint with rotational freedom corresponds to a non-leaf node in the whole tree structure, and the position state of a child node is influenced by rotation;
let the three-dimensional coordinate of any point of the rotation axis, e.g. the center point, be (x)0，y0，z0) The direction vector of the rotation axis is (V)x，Vy，Vz) The rotation angle is alpha, then, let edge (V)x，Vy，Vz)TA rotation matrix of rotation alpha is M, then three-dimensional coordinate (x)0，y0，z0) The transformed coordinates are calculated as follows:
2) and (3) carrying out bounding box coarse detection, wherein according to the hierarchical structure of the whole tree structure, the collision detection between two nodes is carried out in a recursive mode, and the method comprises the following steps:
firstly, detecting whether collision exists in bounding boxes of two nodes, if the collision does not occur, stopping the detection, judging that the collision does not occur in the two nodes, and returning; if a collision occurs, the following steps are continued.
Then, if the two nodes are both leaf nodes, the triangulation network fine detection of the two leaf nodes is carried out.
Collision detection between child nodes of two nodes is performed recursively.
Wherein, judge whether two arbitrary bounding boxes exist the process that the projection overlaps, include:
judging whether the projections of any two bounding boxes in the three-dimensional direction respectively have overlapping parts, if so, judging that the projections of the two bounding boxes are overlapped, and if not, judging that the projections of the two bounding boxes are not overlapped, specifically referring to the above;
the process of determining whether any two leaf nodes have an intersection relationship includes:
judging whether a separating surface exists between each triangular patch of any leaf node of any two leaf nodes and each triangular patch of another leaf node by using a separating axis method, if so, the two leaf nodes do not have an intersection relationship, and if not, the two leaf nodes have an intersection relationship, which is specifically referred to above;
the mechanical arm collision detection method has the advantages that:
1) the setting is simple and flexible, the joints of the mechanical arm are defined and described in the configuration file in the text format, the separation of a three-dimensional model and action information is realized, the modification of the action information is more flexible, the initialization loading is simpler, and the support of third-party software is not needed, namely the configuration file in the text format related to the model file is set so as to be convenient for configuration; the three-dimensional model refers to the geometrical shape of the mechanical arm and the geometrical shape of the collision obstacle, and the action information refers to: information when at least one joint of the mechanical arm rotates;
2) and detecting the dynamic process. The configuration of the mechanical arm can be controlled through the joint angle of the external mechanical arm, and collision detection is carried out on the mechanical arm in different states and the surrounding environment.
3) And (4) accurate collision detection. Adopt by thick to smart tactics, get rid of most structures fast through bounding box tactics, adopt triangular mesh to carry out accurate detection to remaining structure, wherein, the bounding box tactics judge promptly whether there are two bounding boxes that the projection overlaps to confirm whether the arm bumps, can understand as: the box enclosing strategy is coarse detection, and the triangular mesh is adopted to accurately detect the remaining structure, namely fine detection.
In the foregoing embodiments, although the steps are numbered as S1, S2, etc., but only the specific embodiments are given in this application, and those skilled in the art may adjust the execution order of S1, S2, etc. according to the actual situation, which is also within the protection scope of the present invention, and it is understood that some embodiments may include some or all of the above embodiments.
As shown in fig. 5, a mechanical arm collision detection system according to an embodiment of the present invention includes a physical modeling module, a tree structure building module, a calculation module, and a determination module;
the physical modeling module is used for carrying out physical modeling on the mechanical arm and a collision scene around the mechanical arm to obtain a model file;
the tree structure construction module is used for constructing a whole tree structure comprising a plurality of leaf nodes and non-leaf nodes according to the model file, wherein the leaf nodes represent the geometric shapes of joints of the mechanical arm, the geometric shapes of rotating shafts and/or the geometric shapes of collision barriers in the collision scenes, which are obtained from the model file, and the non-leaf nodes represent labels;
the computing module is used for computing a bounding box of each leaf node of the whole tree structure and computing a bounding box of each non-leaf node, wherein the bounding box of any non-leaf node refers to a union of the bounding boxes of all child nodes of the non-leaf node;
the determination module is to: when at least one joint of the mechanical arm rotates, when any two bounding boxes with overlapped projections are judged, the mechanical arm is determined to be collided, and when no overlapped projections exist in every two bounding boxes, the mechanical arm is determined not to be collided.
Preferably, in the above technical solution, before the determining module determines that the robot arm collides, the determining module is further configured to:
obtaining a triangular mesh according to the geometric shape of each joint of the mechanical arm, the geometric shape of each rotating shaft and the geometric shape of the collision obstacle;
acquiring a plurality of triangular patches corresponding to each leaf node from the triangular mesh, and judging whether any two leaf nodes with an intersection relation exist according to the plurality of triangular patches corresponding to each leaf node to obtain a judgment result;
the determining that the mechanical arm collides comprises:
and when the judgment result is yes, determining that the mechanical arm collides.
When any two bounding boxes with overlapped projections are judged, a plurality of triangular patches corresponding to each leaf node are obtained from the triangular mesh, whether any two leaf nodes with an intersection relationship exist is judged according to the plurality of triangular patches corresponding to each leaf node, and when the judgment result is yes, the mechanical arm is determined to collide, so that the precision and the accuracy of collision detection are further improved.
Preferably, in the above technical solution, the model file further includes a direction vector of each rotation axis and a three-dimensional coordinate of any point on each rotation axis, and before determining whether there are two bounding boxes with overlapping projections, the method further includes:
and updating the bounding box of each leaf node and the bounding box of each non-leaf node corresponding to all the rotated joints according to the direction vector of each rotating shaft corresponding to all the rotated joints and the three-dimensional coordinates of any point on each rotating shaft.
According to the direction vector of each rotating shaft corresponding to all the rotating joints and the three-dimensional coordinates of any point on each rotating shaft, the calculation process of updating the bounding box of each leaf node and the bounding box of each non-leaf node corresponding to all the rotating joints is greatly simplified, and the collision detection efficiency is greatly improved.
Preferably, in the above technical solution, before determining whether there are two leaf nodes having an intersection relationship, the method further includes:
and updating the triangular patch of each leaf node corresponding to all the rotated joints according to the direction vector of each rotating shaft corresponding to all the rotated joints and the three-dimensional coordinates of any point on each rotating shaft.
According to the direction vector of each rotating shaft corresponding to all the rotating joints and the three-dimensional coordinates of any point on each rotating shaft, the calculation process of updating the triangular patch of each leaf node corresponding to all the rotating joints is greatly simplified, and the collision detection efficiency is greatly improved.
Preferably, in the above technical solution, the model file further includes a hierarchical relationship corresponding to all joints of the robot arm, and the tree structure building module is specifically configured to:
and constructing a first tree structure corresponding to the mechanical arm according to the hierarchical relationship among the joints of the mechanical arm, constructing a second tree structure according to the collision obstacle, and combining the first tree structure and the second tree structure to obtain an integral tree structure comprising a plurality of leaf nodes and non-leaf nodes.
Preferably, in the above technical solution, the process of determining whether there is projection overlap between any two bounding boxes includes:
judging whether the projections of any two bounding boxes in the three-dimensional direction have overlapping parts, if so, judging that the projections of the two bounding boxes overlap, and if not, judging that the projections of the two bounding boxes do not overlap.
Preferably, in the above technical solution, the process of determining whether any two leaf nodes have an intersection relationship includes:
and judging whether a separating surface exists between each triangular patch of any leaf node in any two leaf nodes and each triangular patch of the other leaf node by using a separating axis method, if so, the two leaf nodes do not have an intersection relationship, and if not, the two leaf nodes have an intersection relationship.
The above-mentioned parameters and steps of implementing corresponding functions for each parameter and each unit module in the mechanical arm collision detection system according to the present invention may refer to the above-mentioned parameters and steps in the embodiment of the mechanical arm collision detection method, which are not described herein again.
In an embodiment of the present invention, the storage medium stores instructions, and when the instructions are read by a computer, the computer is caused to execute a method for detecting a collision of a robot arm according to any one of the embodiments.
The mechanical arm comprises a processor and the storage medium, wherein the processor executes instructions in the storage medium.
As will be appreciated by one skilled in the art, the present invention may be embodied as a system, method or computer program product.
Accordingly, the present disclosure may be embodied in the form of: may be embodied entirely in hardware, entirely in software (including firmware, resident software, micro-code, etc.) or in a combination of hardware and software, and may be referred to herein generally as a "circuit," module "or" system. Furthermore, in some embodiments, the invention may also be embodied in the form of a computer program product in one or more computer-readable media having computer-readable program code embodied in the medium.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A mechanical arm collision detection method is characterized by comprising the following steps:
carrying out physical modeling on the mechanical arm and a collision scene around the mechanical arm to obtain a model file;
constructing a whole tree structure comprising a plurality of leaf nodes and non-leaf nodes according to the model file, wherein the leaf nodes represent the geometric shapes of the joints of the mechanical arm, the geometric shapes of the rotating shaft and/or the geometric shapes of the collision barriers in the collision scene, which are obtained from the model file, and the non-leaf nodes represent labels;
calculating a bounding box of each leaf node of the overall tree structure, and calculating a bounding box of each non-leaf node, wherein a bounding box of any non-leaf node refers to a union of bounding boxes of all child nodes of the non-leaf node;
when at least one joint of the mechanical arm rotates, when any two bounding boxes with overlapped projections are judged, the mechanical arm is determined to be collided, and when no overlapped projections exist in every two bounding boxes, the mechanical arm is determined not to be collided.
2. The method according to claim 1, wherein before determining that the robot arm collides, the method further comprises:
obtaining a triangular mesh according to the geometric shape of each joint of the mechanical arm, the geometric shape of each rotating shaft and the geometric shape of the collision obstacle;
acquiring a plurality of triangular patches corresponding to each leaf node from the triangular mesh, and judging whether any two leaf nodes with an intersection relation exist according to the plurality of triangular patches corresponding to each leaf node to obtain a judgment result;
the determining that the mechanical arm collides comprises:
and when the judgment result is yes, determining that the mechanical arm collides.
3. The method according to claim 1, wherein the model file further includes a direction vector of each rotation axis and three-dimensional coordinates of any point on each rotation axis, and before determining whether there are two bounding boxes with overlapping projections, the method further includes:
and updating the bounding box of each leaf node and the bounding box of each non-leaf node corresponding to all the rotated joints according to the direction vector of each rotating shaft corresponding to all the rotated joints and the three-dimensional coordinates of any point on each rotating shaft.
4. The method according to claim 3, wherein before determining whether there are two leaf nodes having an intersection relationship, the method further comprises:
and updating the triangular patch of each leaf node corresponding to all the rotated joints according to the direction vector of each rotating shaft corresponding to all the rotated joints and the three-dimensional coordinates of any point on each rotating shaft.
5. The method according to any one of claims 1 to 4, wherein the model file further includes a hierarchical relationship corresponding to all joints of the robot arm, and the constructing the whole tree structure including a plurality of leaf nodes and non-leaf nodes according to the model file includes:
and constructing a first tree structure corresponding to the mechanical arm according to the hierarchical relationship among the joints of the mechanical arm, constructing a second tree structure according to the collision obstacle, and combining the first tree structure and the second tree structure to obtain an integral tree structure comprising a plurality of leaf nodes and non-leaf nodes.
6. The method for detecting the collision of the mechanical arm according to any one of claims 1 to 4, wherein the process of determining whether there is projection overlap between any two bounding boxes includes:
judging whether the projections of any two bounding boxes in the three-dimensional direction have overlapping parts, if so, judging that the projections of the two bounding boxes overlap, and if not, judging that the projections of the two bounding boxes do not overlap.
7. The method according to any one of claims 2 to 4, wherein the step of determining whether any two leaf nodes have an intersection relationship includes:
and judging whether a separating surface exists between each triangular patch of any leaf node in any two leaf nodes and each triangular patch of the other leaf node by using a separating axis method, if so, the two leaf nodes do not have an intersection relationship, and if not, the two leaf nodes have an intersection relationship.
8. A mechanical arm collision detection system is characterized by comprising a physical modeling module, a tree structure construction module, a calculation module and a determination module;
the physical modeling module is used for carrying out physical modeling on the mechanical arm and a collision scene around the mechanical arm to obtain a model file;
the tree structure construction module is used for constructing a whole tree structure comprising a plurality of leaf nodes and non-leaf nodes according to the model file, wherein the leaf nodes represent the geometric shapes of joints of the mechanical arm, the geometric shapes of rotating shafts and/or the geometric shapes of collision barriers in the collision scenes, which are obtained from the model file, and the non-leaf nodes represent labels;
the computing module is used for computing a bounding box of each leaf node of the whole tree structure and computing a bounding box of each non-leaf node, wherein the bounding box of any non-leaf node refers to a union of the bounding boxes of all child nodes of the non-leaf node;
the determination module is to: when at least one joint of the mechanical arm rotates, when any two bounding boxes with overlapped projections are judged, the mechanical arm is determined to be collided, and when no overlapped projections exist in every two bounding boxes, the mechanical arm is determined not to be collided.
9. A storage medium having stored therein instructions that, when read by a computer, cause the computer to execute a robot collision detection method according to any one of claims 1 to 7.
10. A robotic arm comprising a processor and the storage medium of claim 9, the processor executing instructions in the storage medium.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110387380.9A CN113211495A (en) | 2021-04-12 | 2021-04-12 | Mechanical arm collision detection method and system, storage medium and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110387380.9A CN113211495A (en) | 2021-04-12 | 2021-04-12 | Mechanical arm collision detection method and system, storage medium and mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113211495A true CN113211495A (en) | 2021-08-06 |
Family
ID=77086998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110387380.9A Pending CN113211495A (en) | 2021-04-12 | 2021-04-12 | Mechanical arm collision detection method and system, storage medium and mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113211495A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113987666A (en) * | 2021-12-29 | 2022-01-28 | 深圳市毕美科技有限公司 | BIM (building information modeling) model examination method, device, equipment and storage medium |
| CN114536342A (en) * | 2022-03-23 | 2022-05-27 | 宁波睿达医疗器械有限公司 | Multi-arm system and inter-arm collision avoidance control method thereof |
| CN114918913A (en) * | 2022-03-31 | 2022-08-19 | 杭州芯控智能科技有限公司 | Collision detection method and device, computer equipment and storage medium |
| WO2023093735A1 (en) * | 2021-11-23 | 2023-06-01 | 上海微创医疗机器人（集团）股份有限公司 | System and method for detecting collision force on robot arm, and electronic device and storage medium |
-
2021
- 2021-04-12 CN CN202110387380.9A patent/CN113211495A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023093735A1 (en) * | 2021-11-23 | 2023-06-01 | 上海微创医疗机器人（集团）股份有限公司 | System and method for detecting collision force on robot arm, and electronic device and storage medium |
| CN113987666A (en) * | 2021-12-29 | 2022-01-28 | 深圳市毕美科技有限公司 | BIM (building information modeling) model examination method, device, equipment and storage medium |
| CN113987666B (en) * | 2021-12-29 | 2022-08-12 | 深圳市毕美科技有限公司 | BIM (building information modeling) model examination method, device, equipment and storage medium |
| CN114536342A (en) * | 2022-03-23 | 2022-05-27 | 宁波睿达医疗器械有限公司 | Multi-arm system and inter-arm collision avoidance control method thereof |
| CN114918913A (en) * | 2022-03-31 | 2022-08-19 | 杭州芯控智能科技有限公司 | Collision detection method and device, computer equipment and storage medium |
| CN114918913B (en) * | 2022-03-31 | 2024-04-19 | 杭州芯控智能科技有限公司 | Collision detection method, device, computer equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113211495A (en) | Mechanical arm collision detection method and system, storage medium and mechanical arm | |
| EP3410246B1 (en) | Robot obstacle avoidance control system and method, robot, and storage medium | |
| CN111360824B (en) | Double-arm self-collision detection method and computer-readable storage medium | |
| US5056031A (en) | Apparatus for detecting the collision of moving objects | |
| Hwang et al. | Gross motion planning—a survey | |
| CN110613511B (en) | Obstacle avoidance method for surgical robot | |
| CN112264991B (en) | Layered rapid on-orbit collision detection method suitable for space manipulator | |
| CN114460965B (en) | Unmanned aerial vehicle three-dimensional obstacle avoidance method based on improved artificial potential field method | |
| JP2826138B2 (en) | Mobile body interference check device | |
| KR20230137334A (en) | Semantic models for robot autonomy in dynamic sites | |
| CN114012726B (en) | Method for detecting collision of spaceflight mechanical arm | |
| CN113778096A (en) | Positioning and model building method and system for indoor robot | |
| Becker et al. | Automatic sensor placement in a 3D volume | |
| JP2023084115A (en) | Point-set interference check | |
| US20220143836A1 (en) | Computer-readable recording medium storing operation control program, operation control method, and operation control apparatus | |
| Będkowski et al. | Methodology of control and supervision of web connected mobile robots with cuda technology application | |
| Shiang et al. | Estimate of minimum distance between convex polyhedra based on enclosed ellipsoids | |
| Liu et al. | An effective self-collision detection algorithm for multi-degree-of-freedom manipulator | |
| Mandal et al. | Autonomous robot coverage in rescue operation | |
| Vonásek et al. | Techniques for modeling simulation environments for modular robotics | |
| Marzat et al. | Vision-based localization, mapping and control for autonomous MAV: EuRoC challenge results | |
| Parveen et al. | Developing a testing framework for cyber-physical systems using gazebo | |
| Pudney | Surface modelling and surface following for robots equipped with range sensors | |
| Liski | 3-D collision checking for improving machine operator's spatial awareness | |
| Löpez-Damian et al. | Probabilistic view planner for 3D modelling indoor environments |
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 |