Robot Interference Checking With Cuboid Models for Accurate Simulation
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Solution Overview
Problem
Existing interference check methods using triangle meshes, convex closures, and voxel models face high calculation costs, accuracy issues, and false interference detections, particularly when dealing with complex shapes and close proximity of robots and obstacles.
Innovation Solution
An interference check device that converts robot and obstacle models into three-dimensional cuboid sets, allowing for simulation-based interference determination using a motion program, thereby reducing data requirements and improving accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If triangle meshes are used for interference checking, then accurate determination results are obtained, but calculation cost becomes extremely high
Solution Approach 1:
The patent segments complex three-dimensional models into simplified cuboid components. Instead of processing entire complex models as single units, the system divides robot and obstacle models into multiple cuboids, enabling more efficient collision detection while maintaining accuracy. This segmentation allows the interference checking to focus on critical geometric relationships rather than processing all mesh details.
Solution Approach 2:
The patent creates simplified cuboid representations (copies) of the original complex three-dimensional models. These cuboid copies retain the essential spatial and geometric characteristics needed for interference detection while requiring significantly less computational resources. The cuboid models serve as approximate representations that enable faster calculation without sacrificing critical accuracy.
2Productivity
If convex closure is used for simplified modeling, then calculation speed improves, but accuracy reduces when obstacle shape is complex
Solution Approach 1:
Instead of using a single convex closure that envelopes the entire complex obstacle, the patent segments the obstacle into multiple cuboids. This segmentation allows the model to capture concave features and complex geometries that a single convex closure would miss, thereby maintaining accuracy while still achieving computational efficiency through simplified geometric primitives.
Solution Approach 2:
The patent applies different levels of modeling detail to different regions. By using multiple cuboids to represent specific portions of the obstacle rather than a single global convex closure, the system maintains high local accuracy in critical areas while keeping overall computational complexity low. Each cuboid provides precise local representation where needed.
3Device complexity
If voxel models with spheres and cylinders are used, then modeling is simplified, but false interference detection occurs when models are larger than actual objects
Solution Approach 1:
The patent creates accurate cuboid representations that faithfully copy the actual dimensions and positions of robot and obstacle components. Unlike voxel models that use spheres and cylinders larger than actual objects, the cuboid copies maintain precise geometric correspondence with the real-world objects, eliminating false interference detections while preserving modeling simplicity.
Solution Approach 2:
The patent changes the geometric parameters of the model representation from spheres and cylinders (voxel approach) to cuboids. This parameter change allows for more accurate representation of rectangular and linear features common in industrial equipment, reducing false positives while maintaining the computational advantages of simplified geometric primitives.
Data Source
AI summary
The purpose of the present invention is to model the shapes of a robot and a surrounding obstacle with a small amount of data, and to improve the accuracy of checking interference. An interference check device for checking interference between a robot and a surrounding obstacle, the interference check device comprising: an inclusive cuboid set conversion unit for converting each of the robot and the surrounding obstacle into a three-dimensional model of a set of cuboids; and an interference determination unit for determining whether or not there is interference between the three-dimensional model of the robot and the three-dimensional model of the surrounding obstacle by simulation of motions of the three-dimensional models of the robot and surrounding obstacle based on a motion program.