Method and System for Avoiding Collisions Between Moveable Devices
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Abstract
A method for avoiding collisions between at least two physical entities consisting of elements definable by points which can be known in a digital form. The points can be displaced simultaneously according to at least one degree of freedom. Each of the simultaneous displacements requires a minimum variation in the corresponding degree of freedom prior to stopping. A computer-type system is used to store and process the points in digital form. The deformable digital model is defined inside the computer-type system for each of the elements of the physical entitites. The deformable model contains the positions which the points of the associated element can assume during any particular combination of simultaneous displacements according to the degrees of freedom during minimum variations prior to stopping.
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Citations
70 Claims
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1-36. -36. (canceled)
- 37. Process for avoiding collisions between at least two elements (11, 12, 13, 14, 15, 16, 21, 22, 23, 24, 25, 26) of at least one lifting machine (1, 2), said elements (11, 12, 13, 14, 15, 16, 21, 22, 23, 24, 25, 26) able to be intrinsic elements of said at least one lifting machine (1, 2) or loads that are transported by said at least one lifting machine (1, 2), said elements (11, 12, 13, 14, 15, 16, 21, 22, 23, 24, 25, 26) being defined by points, said points being able to be known in digital form, said points being able to move simultaneously according to at least one degree of freedom, the amount of movement according to each of said at least one degree of freedom being able to be known in digital form, each of said simultaneous movements requiring a minimum variation of said corresponding degree of freedom prior to stopping, at least one computer-type system (17, 27) being used to store and to process said points and said amounts of movement in digital form, characterized by the fact that a deformable digital model is defined inside of said computer-type system (17, 27) for each of said elements (11, 12, 13, 14, 15, 16, 21, 22, 23, 24, 25, 26) of said machines (1, 2), said deformable model containing all of the positions that the points of said associated element (11, 12, 13, 14, 15, 16, 21, 22, 23, 24, 25, 26) are able to assume during any combination of simultaneous movements according to said at least one degree of freedom during said minimum variations prior to stopping, said at least one computer-type system (17, 27) calculating, for at least one machine (1, 2), a distance between each of said deformable models of said elements (11, 12, 13, 14, 15, 16) of said at least one machine (1, 2) and each of said deformable models of said elements (11, 12, 13, 14, 15, 16, 21, 22, 23, 24, 25, 26) of the same machine (1, 2) or of another machine (1, 2), said at least one computer-type system (17, 27) detecting a risk of collision when at least one of said distances is less than a predefined safety distance.
Specification