Ship curved surface segment layout method based on adaptive grid and AABB-GJK collision detection

Abstract

The invention discloses a ship curved surface segment layout method based on adaptive grids and AABB-GJK collision detection, and provides an efficient and high-precision layout scheme. Comprising the steps of determining a curved surface segment set according to processing information of curved surface segments and a current scheduling plan; the set is sorted according to the earliest processing time, and then the first curved surface segment to be arranged is determined; constructing an adaptive grid to obtain a plurality of unprocessed feasible regions used for placing the curved surface segment in the current processing site, and then determining a target feasible region as an initial layout position of the first curved surface segment to be arranged; on the basis of the initial layout position, whether the curved surface segment collides with other curved surface segments in the processing site in the target feasible region or not is determined by using an AABB-GJK collision detection algorithm, and the angle is adjusted under the collision condition until no collision occurs, so that an adjusted layout position is obtained; and repeating the steps until all the curved surface segments are arranged, and outputting the planned starting time and the layout positions of all the curved surface segments.

Description

Technical Field

[0001] The invention relates to the field of manufacturing technology, and in particular to a ship curved surface segmentation layout method based on adaptive grid and AABB-GJK collision detection. Background Art

[0002] The shipbuilding industry is a modern, comprehensive and strategic industry that provides technical equipment for water transportation, marine resource development and national defense construction. It is the foundation and important support. High-tech ships are at the core of the marine equipment industry chain. Promoting the development of marine equipment and high-tech ships is an inevitable requirement for promoting the structural adjustment, transformation and upgrading of my country's shipbuilding industry and accelerating the pace of building my country into a world shipbuilding power. With the development of shipbuilding, orders continue to increase, and improving construction capacity and reducing construction cycles have become the key. Sections are intermediate products that make up a ship. They are composed of parts and components of the hull. After all the components and parts are assembled, the sections will be used in the slipway or dock to become complete products. Therefore, the construction capacity of sections is a major constraint on the improvement of shipbuilding capacity.

[0003] As a special segment, the surface segment has a particularly special use of the processing site. Improving the construction capacity of the surface segment is crucial to improving the shipbuilding capacity. Existing shipyards have long relied on the historical experience of workers to schedule the surface segment, which has many problems such as insufficient utilization of the surface segment processing site, long segment manufacturing cycle, high cost, and uneven site utilization. The scheduling of surface segments has time-space coupling. The utilization of spatial resources will affect the utilization of time resources. That is, when a segment is still being produced on the site, the next surface segment can only be built after the construction of the segment is completed. With the completion and start of the surface segment processing, the site resources are dynamic, and the projection surface of the surface segment is irregular. The layout position of different surface segments affects the site utilization rate, thereby affecting the ship construction cycle. As the site of the processing segment is a key construction resource, how to reasonably arrange the construction position of the surface segment in a limited site has become an important issue.

[0004] Existing layout algorithms simplify the modeling of surface segments. For example, surface segments are modeled as rectangles, which turns the problem into a rectangular layout, reduces the difficulty of splicing irregular graphics, or directly ignores the splicing of irregular graphics, resulting in the inability to effectively improve the utilization rate of shipbuilding sites. For layout algorithms modeled as irregular graphics, when performing collision detection on site traversal with a fixed unit length such as one meter as the minimum moving distance, the search space is very large, which greatly reduces the computational efficiency. In addition, the collision detection algorithms used by existing layout algorithms generally have low computational efficiency. For example, the separation axis theorem is computationally complex and may require the calculation of the normal vector and projection of the polygon to determine whether there is overlap between the two graphics and whether there is interference. Therefore, there is an urgent need for an efficient and accurate method for the layout of ship surface segments. Summary of the invention

[0005] The present invention provides a ship surface segmentation layout method based on adaptive grid and AABB-GJK collision detection, aiming to effectively solve the above technical problems.

[0006] According to a first aspect of the present invention, the present invention provides a ship surface segmentation layout method based on adaptive grid and AABB-GJK collision detection, the method comprising:

[0007] Step 1: determining a surface segment set corresponding to a current scheduling plan according to processing information of the surface segment, wherein the surface segment set includes a first surface segment set and a second surface segment set, wherein the first surface segment set is characterized as a set of surface segments that need to be processed at the start time of the current scheduling plan, and the second surface segment set is characterized as a set of surface segments that have not been successfully processed;

[0008] Step 2, sorting the first curved surface segment set in the order of earliest processing time, and selecting a curved surface segment to be arranged first;

[0009] Step 3, obtaining multiple unprocessed feasible domains in the current processing site for placing the surface segments to be arranged first according to the current scheduling plan and the layout of the current processing site;

[0010] Step 4, according to the heuristic rule of the largest feasible domain first, determine the target feasible domain from multiple unprocessed feasible domains, and use the target feasible domain as the initial layout position of the surface segment to be arranged first;

[0011] Step 5: Based on the initial layout position, a collision detection algorithm is used to determine whether the first surface segment to be arranged collides with other surface segments in the processing site within the target feasible domain, and if there is a collision, the angle is adjusted until no collision occurs, so as to obtain an adjusted layout position;

[0012] Repeat steps 2 to 5 until all the surface segments of the first surface segment set are arranged, and output the planned start time and layout position of all the surface segments;

[0013] Among them, the layout of the unsuccessfully processed surface segments in the second surface segment set takes precedence over the layout of the surface segments in the first surface segment set under the current scheduling plan.

[0014] Furthermore, the processing information of the surface segment includes at least the surface segment processing time, the surface segment size, the number of processing sites, the geometry of the processing sites and the site size.

[0015] Furthermore, the process of obtaining the first surface segment set is as follows: for the surface segment set, the earliest processing time and the latest processing time of each surface segment are obtained from the schedule plan, and the surface segments that can be arranged for processing at the start time of the current scheduling plan are found to form a set of surface segments that need to be processed at the start time of the current scheduling plan. As the start time of the scheduling plan changes, the first surface segment set is also dynamically updated.

[0016] Furthermore, the step three is specifically as follows: through the positions of the vertices of the projected right-angled trapezoid of the surface segment, draw horizontal and vertical grid lines parallel to the boundary of the processing site, determine the adaptive grid, mark the rectangular area and triangular area in the right-angled trapezoid, and based on the adaptive grid, find the largest rectangle that can be formed by the grids of the processing site, and determine the rectangle that can be placed as the feasible domain according to the size of the surface segment to be arranged.

[0017] Furthermore, in the step three, if no unprocessed feasible domain is obtained, the first surface segment to be arranged is added to the second surface segment set.

[0018] Furthermore, the collision detection algorithm adopts an AABB-GJK collision detection algorithm, and the collision detection is divided into two stages: rough collision detection and fine collision detection; wherein, the rough collision detection is used to quickly exclude two surface segments that are obviously not colliding, and uses the vertical boundary of the processing site as the X, Y coordinate axes and the rectangular coordinate system to perform AABB axis-aligned bounding box collision detection between the surface segments to exclude surface segments that are not colliding; the remaining surface segments are further determined through the fine collision detection, and since the projection geometry of the surface segments is a rectangular trapezoid, the GJK collision detection algorithm is used for fine collision detection.

[0019] Furthermore, the rough collision detection excludes two surface segments that do not collide according to the following conditions: the minimum value of surface segment A in the Y-axis direction is greater than the maximum value of surface segment B in the Y-axis direction; the minimum value of surface segment A in the X-axis direction is greater than the maximum value of surface segment B in the X-axis direction; the minimum value of surface segment B in the Y-axis direction is greater than the maximum value of surface segment A in the Y-axis direction; the minimum value of surface segment B in the X-axis direction is greater than the maximum value of surface segment A in the X-axis direction.

[0020] Furthermore, the GJK collision detection algorithm calculates the Minkowski difference of the projected geometric figures of the two surface segments to determine whether the points in the difference include the origin. If the origin is included, it indicates that a collision has occurred; if the origin is not included, it indicates that no collision has occurred.

[0021] According to a second aspect of the present invention, the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above method.

[0022] According to a third aspect of the present invention, the present invention further provides a storage medium on which a computer program is stored, and when the program is executed by a processor, the method as described above is implemented.

[0023] Through one or more of the above embodiments of the present invention, at least the following technical effects can be achieved: The ship surface segment layout method based on adaptive grid and AABB-GJK collision detection provided by the present application proposes a feasible domain acquisition scheme for the problem of invalid collision detection in infeasible space. This method will obtain all possible maximum non-occupied rectangles at present by comprehensively combining grids, and effectively find all unoccupied placement positions. The feasible domain is determined by screening non-occupied rectangles according to the size of the target placement surface segment, which reduces the blind search of the grid and the subsequent heavy collision detection, thereby improving the calculation efficiency. In addition, in order to solve the problem of low efficiency and low precision of collision detection, an AABB-GJK collision detection method is proposed. Through the AABB collision detection method, surface segments without collision are quickly eliminated with the least amount of calculation, and then the GJK algorithm is further used to detect the surface segments that are not eliminated, providing efficient and high-precision collision detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The technical solutions and other beneficial effects of the present invention will be made apparent by describing in detail the specific embodiments of the present invention in conjunction with the accompanying drawings.

[0025] Figure 1 The overall flow chart of the ship surface segment layout method based on adaptive grid and AABB-GJK collision detection provided by the embodiment of the present invention;

[0026] Figure 2 A schematic diagram of adaptive grid division provided by an embodiment of the present invention;

[0027] Figure 3 A flowchart for determining a feasible domain provided by an embodiment of the present invention;

[0028] Figure 4 This is a flow chart of a collision detection algorithm provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0029] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0030] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the term "and / or" herein is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " herein, unless otherwise specified, generally indicates that the associated objects before and after are in an "or" relationship.

[0031] In order to overcome the problem that existing shipyards have long relied on the historical experience of workers to schedule surface segments, resulting in insufficient utilization of surface segment processing sites, long segment manufacturing cycle, high cost, uneven site utilization and other problems, the present invention provides a method for generating intelligent layout scheduling solutions using a computer. Given various surface segment sizes and processing requirements, the surface segment scheduling solution is generated intelligently and efficiently, which is suitable for large-scale manufacturing of various types of ships. It can reasonably and accurately arrange the construction positions of surface segments, effectively utilize construction resources, and assist intelligent manufacturing. The following is an introduction to a ship surface segment layout method based on adaptive grids and AABB-GJK collision detection provided by the present invention in conjunction with the accompanying drawings.

[0032] Figure 1 This is an overall flow chart of the ship surface segment layout method based on adaptive grid and AABB-GJK collision detection provided by an embodiment of the present invention. Figure 1 , a ship surface segment layout method based on adaptive grid and AABB-GJK collision detection, comprising the following steps:

[0033] Step S1, collects the surface segment processing time and surface segment size, determines the geometry and size of the site boundary of the processing site, obtains a set of surface segments that can be processed based on the current scheduling plan start time, and sorts the surface segments in the set according to the order of the earliest processing time of the surface segments in the mid-schedule plan.

[0034] The projection of the surface segment is approximately a right-angled trapezoid. In this embodiment, the surface segment is modeled as a right-angled trapezoid, which is beneficial to improving site utilization and computing efficiency. For the current scheduling plan start time, a set of surface segments that can be processed is obtained, and the earliest start time and the latest start time of each segment are obtained from the schedule. According to the current scheduling plan start time, the segments that can be processed at the current scheduling plan start time are found to form a set of surface segments that need to be processed at the current scheduling plan start time, which is defined as a group. As the scheduling plan start time changes, the set of surface segments that need to be processed is also dynamically updated.

[0035] Step S2, determining the surface segment set that needs to be processed currently from the surface segment set that can be processed, including the surface segment set that needs to be processed at the start time of the current scheduling plan and the surface segment set that has not been successfully processed.

[0036] In this embodiment, the unsuccessfully processed surface segment set is processed first, and if there is no unsuccessfully processed surface segment, the unsuccessfully processed surface segment set is initialized to an empty set.

[0037] Step S3, based on the order of the earliest processing time, determine a surface segment that needs to be arranged first in the set of surface segments that currently need to be processed, that is, the surface segment to be arranged.

[0038] Step S4, according to the current scheduling plan start time, the current layout of the processing site and the size of the surface segment to be arranged, all feasible domains that can be used to place the surface segment are obtained based on the adaptive grid.

[0039] In order to solve the problem of large search space and low computational efficiency of traditional grid, this application proposes an improved adaptive grid, which builds grids based on the surface segments being processed in the processing site. Compared with the traditional gridding method, this method can grid and continuously update according to the surface segments placed in the site. The grid is the basis for searching the feasible domain, which reduces invalid grids, thereby reducing a large number of invalid searches and improving computational efficiency.

[0040] Specifically, based on the current scheduling plan start time, find out the surface segments that are already being processed at the site and determine the current feasible domain. Figure 2 and Figure 3, through the location of each vertex of the projected right-angled trapezoid of the surface segment, draw horizontal and vertical grid lines parallel to the site boundary, determine the adaptive grid, and initialize the grid value to 1. The value of the grid that marks the rectangular part of the right-angled trapezoid is 0, among which the triangular part divided from the right-angled trapezoid is marked as 1, in order to reserve the potential for the other half of the unoccupied triangular area to be placed. Based on the adaptive grid, find the largest rectangle that can be formed by each grid of the site, and determine the rectangle that can be placed as the feasible domain according to the size of the surface segment to be arranged.

[0041] Step S5, judging whether all feasible domains have been processed, if not, that is, there are feasible domains that have not been processed, proceeding to step S6, if yes, proceeding to step S9.

[0042] Step S6, select a feasible domain from the feasible domains that have not been processed according to the heuristic rule of the largest feasible domain first, and place it in the lower left corner of the feasible domain according to the lower left rule as the initial layout position of the surface segment to be arranged.

[0043] Step S7, using the AABB-GJK collision detection algorithm, determine whether the surface segment collides with other surface segments in the venue in the current feasible domain. If not, obtain the layout position of the surface segment and proceed to step S10. If yes, proceed to step S8.

[0044] To address the problems of low efficiency and low accuracy in collision detection, this application proposes an AABB-GJK collision detection algorithm to provide efficient and high-precision collision detection.

[0045] In some embodiments of the present application, collision detection is divided into two stages, namely, rough collision detection and fine collision detection. The rough collision detection quickly eliminates two surface segments that are obviously not colliding with each other through the least amount of calculation, and the surface segments that are not eliminated are further determined through fine collision detection, thereby achieving a technical effect of low computational complexity and high detection accuracy. Figure 4 .

[0046] The specific process of rough collision detection is as follows: using the vertical boundary of the processing site as the X, Y coordinate axes and as the rectangular coordinate system, axis-aligned bounding box (AABB) collision detection is performed between surface segments, thereby excluding surface segments that have not collided. Specifically, if surface segment A and surface segment B meet one of the following conditions, it is proved that surface segment A and surface segment B have not collided: (1) The minimum value of surface segment A in the Y-axis direction is greater than the maximum value of surface segment B in the Y-axis direction; (2) The minimum value of surface segment A in the X-axis direction is greater than the maximum value of surface segment B in the X-axis direction; (3) The minimum value of surface segment B in the Y-axis direction is greater than the maximum value of surface segment A in the Y-axis direction; (4) The minimum value of surface segment B in the X-axis direction is greater than the maximum value of surface segment A in the X-axis direction.

[0047] For the surface segments that cannot be ruled out as not colliding, this application further adopts the GJK (Gilbert–Johnson–Keerthi) algorithm collision detection algorithm for accurate and efficient collision detection. Specifically, since the projection geometry of the surface segment is a right-angled trapezoid, the Minkowski difference of the projection geometry of surface segment A and the projection geometry of surface segment B is calculated to determine whether the points in the difference include the origin. If the origin is included, surface segment A and surface segment B collide; otherwise, surface segment A and surface segment B do not collide.

[0048] Step S8, rotate the surface segments in turn until the detection result is no collision, or collision occurs at all rotation angles. The rotation angles are 90°, 180°, and 270°. After rotating the surface segments in turn, return to step S7 to determine whether there is a collision with other surface segments. If all angles have been rotated and collision still occurs, it indicates that the current feasible domain cannot be placed, and return to step S5.

[0049] Step S9: If the surface segment collides with other surface segments at all positions and angles, the surface segment is added to the unsuccessfully processed surface segment set at the start time of the next scheduling plan, and the process goes to step S10.

[0050] Step S10, determine whether the layout of all surface segments of the current surface segment set that needs to be processed has been completed. If not, return to step S3. If so, and there are still surface segments that have not been arranged, update the start time of the current scheduling plan to the latest completion time of the surface segments on the processing site plus one day, then enter step S1. If all surface segments have been arranged, enter step S11.

[0051] Step S11, outputting the planned start time and layout position of all surface segments.

[0052] In summary, the ship surface segmentation layout method based on adaptive grid and AABB-GJK collision detection provided by the embodiment of the present application aims at the problem of large search space and low computational efficiency of traditional grid. By constructing an improved adaptive grid as the basis of feasible domain search based on the real-time situation of the ship surface segmentation task, the grid can be gridded and continuously updated according to the situation of the surface segmentation placed on the site, thereby reducing invalid grids, thereby reducing a large number of invalid searches and improving computational efficiency. In addition, in order to solve the problem of low efficiency and poor accuracy of collision detection, the present application also proposes a two-stage collision detection method of rough collision detection and fine collision detection combining AABB and GJK, thereby reducing computational complexity and improving the accuracy of collision detection.

[0053] Based on any of the above embodiments, another embodiment of the present invention further provides an electronic device, which may include: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor may call logic instructions in the memory to execute the above method.

[0054] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0055] On the other hand, an embodiment of the present invention further provides a storage medium on which a plurality of instructions are stored, and the instructions are suitable for being loaded by a processor to execute the AIS data ship trajectory extraction method based on the improved LOF-GMM algorithm as provided in the above embodiments.

[0056] On the other hand, the technical solution of the present invention, in essence or in other words, the part that contributes to the prior art, or the whole or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0057] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0058] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0059] In summary, although the present invention has been disclosed as above in terms of preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. A ship surface segmentation layout method based on adaptive grid and AABB-GJK collision detection, characterized in that: include: Step 1: determining a surface segment set corresponding to a current scheduling plan according to processing information of the surface segment, wherein the surface segment set includes a first surface segment set and a second surface segment set, wherein the first surface segment set is characterized as a set of surface segments that need to be processed at the start time of the current scheduling plan, and the second surface segment set is characterized as a set of surface segments that have not been successfully processed; Step 2, sorting the first curved surface segment set in the order of earliest processing time, and selecting a curved surface segment to be arranged first; Step 3, obtaining multiple unprocessed feasible domains in the current processing site for placing the surface segments to be arranged first according to the current scheduling plan and the layout of the current processing site; Step 4, according to the heuristic rule of the largest feasible domain first, determine the target feasible domain from multiple unprocessed feasible domains, and use the target feasible domain as the initial layout position of the surface segment to be arranged first; Step 5: Based on the initial layout position, a collision detection algorithm is used to determine whether the first surface segment to be arranged collides with other surface segments in the processing site within the target feasible domain, and if there is a collision, the angle is adjusted until no collision occurs, so as to obtain an adjusted layout position; Repeat steps 2 to 5 until all the surface segments of the first surface segment set are arranged, and output the planned start time and layout position of all the surface segments; Among them, the layout of the unsuccessfully processed surface segments in the second surface segment set takes precedence over the layout of the surface segments in the first surface segment set under the current scheduling plan.

2. The method according to claim 1, characterized in that The processing information of the surface segment at least includes the surface segment processing time, the surface segment size, the number of processing sites, the geometric figures of the processing sites and the site size.

3. The method according to claim 1, characterized in that The process of obtaining the first surface segment set is as follows: for the surface segment set, the earliest processing time and the latest processing time of each surface segment are obtained from the schedule plan, and the surface segments that can be arranged for processing at the start time of the current scheduling plan are found to form a set of surface segments that need to be processed at the start time of the current scheduling plan. As the start time of the scheduling plan changes, the first surface segment set is also dynamically updated.

4. The method according to claim 1, characterized in that: The step three is specifically as follows: by using the positions of the vertices of the projected right-angled trapezoid of the surface segment, draw horizontal and vertical grid lines parallel to the boundary of the processing site, determine the adaptive grid, mark the rectangular area and the triangular area in the right-angled trapezoid, and based on the adaptive grid, find the largest rectangle that can be formed by the grids of the processing site, and determine the rectangle that can be placed as the feasible domain according to the size of the surface segment to be arranged.

5. The method according to claim 1, characterized in that In the step three, if no unprocessed feasible domain can be obtained, the first surface segment to be arranged is added to the second surface segment set.

6. The method according to claim 1, characterized in that The collision detection algorithm adopts the AABB-GJK collision detection algorithm, and the collision detection is divided into two stages: rough collision detection and fine collision detection; Among them, the rough collision detection is used to quickly eliminate two surface segments that obviously do not collide. The vertical boundary of the processing site is used as the X, Y coordinate axis and the rectangular coordinate system to perform AABB axis-aligned bounding box collision detection between the surface segments to eliminate the surface segments that do not collide. The remaining surface segments are further determined by the fine collision detection. Since the projection geometry of the surface segment is a rectangular trapezoid, the GJK collision detection algorithm is used for fine collision detection.

7. The method according to claim 6, characterized in that The rough collision detection excludes two surface segments that do not collide based on the following conditions: The minimum value of the surface segment A in the Y-axis direction is greater than the maximum value of the surface segment B in the Y-axis direction; The minimum value of the surface segment A in the X-axis direction is greater than the maximum value of the surface segment B in the X-axis direction; The minimum value of the surface segment B in the Y-axis direction is greater than the maximum value of the surface segment A in the Y-axis direction; The minimum value of the surface segment B in the X-axis direction is greater than the maximum value of the surface segment A in the X-axis direction.

8. The method according to claim 6, characterized in that The GJK collision detection algorithm calculates the Minkowski difference of the projected geometric figures of two surface segments, and determines whether the points in the difference include the origin. If the origin is included, it indicates that a collision has occurred, and if the origin is not included, it indicates that no collision has occurred.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: The processor runs the computer program to implement the method according to any one of claims 1 to 8.

10. A storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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