Collision detection method and device for claying mechanical arm

Through the sphere-capsule hybrid bounding box strategy and dynamic radius mapping table, the collision detection accuracy and real-time issues of the plastering robot arm in a high-temperature and dusty environment were solved, high-precision and real-time collision detection was achieved, and the safety and efficiency of coke oven masonry operations were improved.

CN120663311APending Publication Date: 2025-09-19WUHAN UNIV OF SCI & TECH +1
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Patent Information

Application Number
CN202510755213.3
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-06-06
Publication Date
2025-09-19

AI Technical Summary

Technical Problem

The existing collision detection method for plastering robotic arms in coke oven masonry has problems such as insufficient accuracy, poor real-time performance and weak environmental adaptability. In particular, it is difficult to accurately identify collision risks in high-temperature and dusty environments, affecting operation safety and efficiency.

Method used

A sphere-capsule hybrid bounding box strategy and a dynamic radius mapping table are adopted. Through a multi-level geometric approximation algorithm and octree space partitioning, an accurate geometric envelope is constructed for collision detection. For three types of collision detection: sphere-to-sphere, sphere-to-capsule, and capsule-to-capsule, the detection accuracy and real-time performance are improved.

Benefits of technology

It achieves high-precision, real-time collision detection of plastering robot arms in hot and dusty environments, significantly improving operation safety and reliability, reducing misjudgments and missed detections, and ensuring high-quality completion of plastering operations.

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Abstract

The invention provides a collision detection method and device for a claying mechanical arm, and relates to the technical field of coke oven slurry smearing robots, and the method comprises the following steps: S1, obtaining a movement environment data set, and calculating according to the movement environment data set to obtain a modeling parameter set of the claying mechanical arm and a wall body; s2, a modeling parameter and dynamic radius mapping table is obtained, envelope modeling is conducted on the claying mechanical arm and the wall according to the modeling parameter and dynamic radius mapping table and the modeling parameter set, and a bounding box set is obtained; the type of the bounding box comprises a sphere bounding box and a capsule bounding box; s3, selecting two bounding boxes from the bounding box set according to a preset sequence; if the two bounding boxes are both spherical bounding boxes, first-class collision detection is carried out on the two bounding boxes; if one of the two bounding boxes is a sphere bounding box and the other one is a capsule bounding box, carrying out second-class collision detection on the two bounding boxes; if the two bounding boxes are capsule bounding boxes, carrying out third-class collision detection on the two bounding boxes; obtaining a collision detection result; and S4, operation of the claying mechanical arm is controlled according to the collision detection result. By setting three different types of collision detection, high-precision real-time collision detection of the claying mechanical arm is realized on the premise of not increasing hardware complexity, and the safety and reliability of claying operation are remarkably improved.
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