The invention discloses a public
pipe gallery
collision detection method, and belongs to the technical field of pipeline
collision detection and three-
dimensional simulation. The method comprises the following steps: constructing a spatial geometric model of a public
pipe gallery according to gallery entering design, and extracting vertex coordinates and triangular mesh information of the spatial geometric model; a mixed hierarchical bounding
box model is established, a
shaft alignment bounding box is adopted for static structures such as a
pipe shaft, a pipe frame and monitoring equipment, a
capsule bounding box is adopted for a pipeline, and a hierarchical bounding box tree is constructed from top to bottom; performing interference judgment between the bounding boxes by adopting a repeated
projection method to realize coarse detection; performing triangular
mesh point cloudization on intersected leaf nodes, and performing fine detection by calculating an
inclusion relation between a
point set and a
capsule bounding box; and finally outputting a collision position. According to the invention, through combination of the mixed hierarchical bounding box structure and the triangular
mesh point cloud technology, the precision and efficiency of
collision detection in a public pipe gallery scene are significantly improved, the
false alarm rate and the calculation complexity are effectively reduced, and the method is suitable for real-time collision detection and pipeline entry planning of a complex industrial pipe gallery.