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A method of rapid collision detection between material frame and fixture

A technology of collision detection and material frame, which is applied in the field of collision detection and can solve the problem of insufficient real-time performance of collision detection methods.

Active Publication Date: 2020-10-23
FOSHAN LONGSHEN ROBOT
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the technical defect that the real-time performance of the existing collision detection method is not high enough, the present invention provides a method for rapid collision detection between a material frame and a fixture

Method used

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  • A method of rapid collision detection between material frame and fixture
  • A method of rapid collision detection between material frame and fixture
  • A method of rapid collision detection between material frame and fixture

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Experimental program
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Embodiment 1

[0063] Such as figure 1 As shown, a method for rapid collision detection between a material frame and a fixture includes the following steps:

[0064] S1: Establish the model of fixture and material frame;

[0065] S2: Establish a coordinate system according to the model, and perform coordinate system one;

[0066] S3: Perform bottom surface collision detection;

[0067] If no collision occurs, step S4 is executed;

[0068] If a collision occurs, step S7 is executed;

[0069] S4: Transform the three-dimensional collision detection problem into a two-dimensional collision detection problem;

[0070] S5: Transform the two-dimensional collision detection problem into a one-dimensional collision detection problem;

[0071] S6: Detect the collision between the side of the material frame and the fixture;

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Abstract

The invention provides a method for rapid collision detection between a material frame and a fixture, comprising the following steps: S1: establishing a model of the fixture and the material frame; S2: establishing a coordinate system according to the model, and performing coordinate system one; S3: performing bottom surface collision detection; If there is no collision, execute step S4; if there is a collision, execute step S7; S4: transform the three-dimensional collision detection problem into a two-dimensional collision detection problem; S5: transform the two-dimensional collision detection problem into a one-dimensional collision detection problem; S6: Detect the collision between the side of the material frame and the fixture; S7: Complete the rapid collision detection between the material frame and the fixture. The invention provides a method for rapid collision detection between a material frame and a fixture. By unifying the coordinate system and simplifying the three-dimensional collision problem into a one-dimensional collision problem, the collision detection efficiency is improved, a quasi-real-time effect is achieved, and the existing problems are solved. The real-time performance of the collision detection method is not high enough.

Description

technical field [0001] The invention relates to the technical field of collision detection, and more specifically, to a method for rapid collision detection between a material frame and a fixture. Background technique [0002] In three-dimensional grasping, the grasping posture of the robotic arm is not unique, and the grasping positions and postures of different workpieces are different. The number of workpieces to be recognized at a time is large, and each workpiece has a variety of grasping postures. It is necessary to perform a collision detection for each grasping posture of each workpiece. However, there is a time limit for the production cycle at the industrial site, so the collision The real-time requirements of the detection method are very high, and it is necessary to achieve quasi real-time. [0003] In the prior art, the real-time performance of the collision detection method is not high enough to achieve quasi real-time, such as the anti-collision control metho...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00G06F30/20
CPCB25J19/0095G06F30/20
Inventor 候金良盛国强汪良红王辉王雪峰
Owner FOSHAN LONGSHEN ROBOT