Dynamic collision detection method and device for mobile mechanical arm based on time-varying volume model

By constructing a digital twin joint model synchronized with a real mobile robotic arm, calculating the sweep volume and intersecting it with the environment map, the conservatism and tunneling effect problems of collision detection in the mobile robotic arm system are solved, achieving efficient and safe collision detection.

CN120886314AActive Publication Date: 2025-11-04SHENZHEN NEW TREND INT ROBOT CO LTD
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Patent Information

Application Number
CN202511409986.2
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-09-29
Publication Date
2025-11-04
Estimated Expiration
2045-09-29

AI Technical Summary

Technical Problem

Existing collision detection methods in mobile robotic arm systems are overly conservative, inefficient, unable to cover risks under extreme poses, and have tunneling effect safety vulnerabilities, failing to meet the requirements of high efficiency, high precision, and high reliability in complex dynamic environments.

Method used

A dynamic collision detection method based on a time-varying volume model is adopted. By constructing a digital twin joint model that is completely synchronized with the real mobile robotic arm, the sweep volume of the joint on the planned path is calculated, and the volume intersection operation is performed with the 3D environment map to determine whether the path is safe.

Benefits of technology

It maximizes operational efficiency and spatial adaptability while ensuring absolute safety, solves the problems of overly conservative and inefficient collision detection methods in existing technologies, eliminates the safety loophole of tunnel effect, and ensures safety and high accuracy under all working conditions.

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Abstract

The invention discloses a mobile mechanical arm dynamic collision detection method and device based on a time-varying volume model. The mobile mechanical arm dynamic collision detection method based on the time-varying volume model comprises the following steps: constructing a digital twin joint body model which is completely consistent with the current physical state of a real mobile mechanical arm based on the pose of a mobile platform and the joint angle data of the mechanical arm, which are acquired in real time; based on the planned path, calculating the swept volume of the digital twin joint body model in the process of simulating and executing the planned path; and carrying out volume intersection operation on the swept volume and the three-dimensional environment map in the three-dimensional space, and judging whether a planned path is safe or not according to an operation result. The technical problems that a collision detection method in the prior art is too conservative, low in efficiency and incapable of covering risks under extreme poses and has tunnel effect security vulnerabilities are solved.
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