Voxel Map Bitwise Collision Detection for Robotic Motion Planning
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Solution Overview
Problem
Conventional collision detection methods for inventory management systems, particularly in large and complex environments, are inefficient and resource-intensive, especially when dealing with multiple objects and complex geometries, leading to potential collisions and suboptimal resource utilization.
Innovation Solution
A system and method utilizing bitwise operations between voxel maps to quickly identify collision-free repositioning options for robotic units, where area voxel maps representing the environment are compared to movement voxel maps to detect potential collisions, allowing for the selection of valid repositioning paths that avoid collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional collision detection methods check every object against every other object, then collision detection completeness is improved, but computational efficiency deteriorates
Solution Approach 1:
The patent segments the continuous space into discrete voxel units, transforming the collision detection problem from checking continuous object geometries to checking discrete voxel occupancy. This segmentation allows the system to efficiently represent complex environments and objects using simple grid-based data structures, significantly reducing computational complexity while maintaining detection completeness.
Solution Approach 2:
The patent creates voxel map representations (copies) of the physical environment and objects within it. Instead of directly analyzing complex geometric models, the system works with simplified voxel map copies that capture spatial occupancy information. This copying approach enables fast bitwise operations for collision detection while preserving the essential spatial relationships needed for accurate collision detection.
2Productivity
If the number of inventory management requests increases, then system responsiveness is improved, but collision risk increases
Solution Approach 1:
The patent performs preliminary collision detection using voxel maps before executing motion commands. By pre-computing voxel representations of the environment and checking potential collision paths in advance, the system can quickly identify safe routes and prevent collisions before they occur, enabling faster response to inventory requests while maintaining safety.
Solution Approach 2:
The patent replaces traditional geometric collision detection algorithms with a different computational approach based on voxel map representation and bitwise operations. This substitution transforms the collision detection mechanism from complex geometric calculations to efficient bit-level operations, dramatically improving computational speed and enabling the system to handle increased request volumes without increasing collision risk.
3Measurement precision
If conventional collision detection checks objects with complex geometry, then detection accuracy is improved, but computational resource consumption increases
Solution Approach 1:
The patent creates simplified voxel map copies of complex geometric objects, capturing their spatial occupancy characteristics without requiring detailed geometric information. These voxel copies preserve the essential collision-relevant properties of objects while eliminating the computational burden of processing complex geometries, achieving accurate collision detection with minimal resource consumption.
Solution Approach 2:
The patent transforms the representation parameters of objects from detailed geometric descriptions to discrete voxel occupancy data. This parameter change simplifies the data structure while retaining the critical spatial information needed for collision detection, enabling accurate detection with significantly reduced computational resource requirements.
Data Source
AI summary
Techniques described herein include a system and methods for implementing fast motion planning of collision detection. In some embodiments, an area voxel map is generated with respect to a three-dimensional space within which a repositioning event is to occur. A number of movement voxel maps are then identified as being related to potential repositioning options. The area voxel map is then compared to each of the movement voxel maps to identify collisions that may occur with respect to the repositioning options. In some embodiments, each voxel map includes a number of bits which each represent voxels in a volume of space. The comparison between the area voxel map and each of the movement voxel maps may include a logical conjunction (e.g., an AND operation). Movement voxel maps for which the comparisons result includes a value of 1 are then removed from a set of valid repositioning options.