Complex multi-body device motion interference detection method

Abstract

The invention discloses a motion interference detection method for a complex multi-body device, and the method comprises the steps: scanning each part of the complex multi-body device, obtaining a surface scatter model of each part, and constructing a part initial bounding box for each part based on the part scatter model; on the basis, in the interference detection operation stage, firstly, carrying out interference detection operation between every two initial bounding boxes of all components, judging whether the initial bounding boxes need to be further subdivided or not according to the operation result, if interference occurs, outputting a current result, and otherwise, subdividing the initial bounding boxes again, and carrying out pairwise interference detection operation; respectively obtaining a bounding box model binary tree of each part in the whole operation process, traversing interference detection operation layer by layer from top to bottom between every two of the component bounding box model binary trees to realize the interference detection of the complex multi-body device. According to the invention, the motion interference analysis and collision safety detectionin a motion control process can be performed on the complex multi-body device.

Description

technical field [0001] The invention belongs to the technical field of mechanisms and robots, and in particular relates to a motion interference detection method of complex multi-body devices. Background technique [0002] For complex multi-body and multi-degree-of-freedom devices such as antennas and manipulators, in the process of configuration design and overall mechanical layout, the risk of self-motion interference under complex motion conditions and the need for safety in complex environments make the motion process It is very necessary to conduct full coverage analysis and real-time detection of possible interference conditions in the system. During the operation of the device, in order to ensure the safety of the movement trajectory, it is also necessary to quickly and accurately detect the collision interference of the movement process of the components. [0003] After searching the relevant literature, many studies have adopted the simplified geometric model envel...

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Problems solved by technology

[0003] After searching the relevant literature, many studies have adopted the simplified geometric model envelope method for collision interference detection, that is, to carry out envelope modeling of moving parts with typical geometric models such as spheres, cubes, and cylinders, and then to carry out envelope modeling between basic geometric bodies. To detect the interference situation, this method can achieve extremely limited detection accuracy when dealing with complex structure objects

In addition, it is necessary to manually envelope according to the local shape, which consumes a lot of time, and the shapes between the geometries do not have the sameness and versatility

In addition, the biggest problem is that its interference detection algorithm is inefficient, and the detection time increases geometrically with the increase of scene complexity, which is difficult to meet the requirements of use. Therefore, a reliable, fast and accurate detection method is needed. Safety precautions for complex multi-body motion devices are crucial

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