Robot Spatial Area Collision Detection via Border Intersection
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Solution Overview
Problem
Existing methods for operating and monitoring multiple axis robots are inefficient in detecting collisions and planning collision-free paths, as they require complex distance calculations and comprehensive spatial area checks.
Innovation Solution
A system that determines whether the outer borders of two spatial areas intersect, allowing for simplified collision detection and path planning by checking for cuts in these borders, eliminating the need for detailed inner area calculations and enabling faster operation and monitoring.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If complex distance calculations and comprehensive spatial area checks are performed for collision detection, then measurement precision is improved, but computing time and processing speed deteriorate
Solution Approach 1:
The spatial areas are segmented into outer borders only for collision detection purposes. Instead of analyzing the complete inner areas of spatial volumes, the method extracts and processes only the boundary surfaces (outer borders) of the robot's spatial envelope and obstacle spatial areas. This segmentation reduces the computational domain from volumetric to surface-level analysis, significantly decreasing computing time while preserving collision detection accuracy.
Solution Approach 2:
The essential collision detection information is extracted from the complete spatial areas by isolating only the outer borders. The method takes out the critical boundary elements that define spatial occupancy and uses these extracted borders for intersection detection, eliminating the need to process the entire volumetric data of spatial areas.
2Manufacturing precision
If complete spatial area analysis is performed for path planning, then manufacturing precision is improved, but productivity deteriorates
Solution Approach 1:
For path planning, the method segments the spatial analysis task to consider only outer border intersections rather than complete spatial area overlaps. This allows the system to determine collision-free paths by checking boundary conditions alone, maintaining path planning accuracy while reducing computational effort and increasing planning speed.
3Measurement precision
If detailed inner area calculations are performed, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The method extracts only the necessary geometric information (outer borders) from the complete spatial areas, eliminating the need for complex inner area calculations. This extraction approach simplifies the computational model while retaining the essential information needed for accurate collision detection and spatial analysis.
Data Source
AI summary
A method for operating and/or monitoring a machine, in particular, a multiple axis robot, includes determining whether an outer border of a first spatial area and an outer border of a second spatial area intersect each other, and detecting a penetration of the first spatial area by the second spatial area, in the event that the two outer borders intersect each other, wherein one of the two spatial areas is machine-fixed.