ANTI-COLLISION SYSTEM FOR MOVING AN OBJECT AROUND A CONGESTED ENVIRONMENT

• US 20130178980A1
• Filed: 12/17/2010
• Published: 07/11/2013
• Est. Priority Date: 12/18/2009
• Status: Abandoned Application

• Current Assignee: Jerome Chemouny, Samuel Pinault, Stephane Clerambault
• Original Assignee: Jerome Chemouny, Samuel Pinault, Stephane Clerambault
• Inventors: Chemouny, Jerome, Clerambault, Stephane, Pinault, Samuel
• Application Number:
  US13/516,823
• Publication Number:
  US 20130178980A1
• Time in Patent Office: Days
• US Class Current: 700/255
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
• CPC Class Codes: G05B 2219/39082 Collision, real time collision avoidance
• CPC Class Codes: G05B 2219/49137 Store working envelop, limit, allowed zone

Abstract

An anti-collision system is provided for moving an object around an environment, the system including a processing unit connected to sensors capable of obtaining the position of the object in the environment in real time, the processing unit being provided with software and hardware for monitoring the object and for implementing: a virtual 3-D model of the environment, a real-time virtual 3-D model of the object moving around the environment, a virtual 3-D model of a virtual shell around the object, and an algorithm for real-time detection of collisions between the virtual shell and the modeled environment, a warning signal and an estimation of the collision being generated in the event of a virtual collision.

Claims

1. An anti-collision system for the movement of an object in an environment;

said system comprising;

a processing unit connected to sensors enabling the position of the object in the environment to be known in real time, said processing unit being provided with software and hardware means for controlling the object and for implementing;

a virtual 3-D modeling of the environment,

a real-time virtual 3D modeling of the object moving in the environment,

a 3D modeling of a virtual envelope around the object, this virtual envelope forming a volume called a “

dummy”

volume, predicting the movements of the object and

a real-time collision detection algorithm between the virtual envelope and the modeled environment;

in the event of a virtual collision, an alert signal and an assessment of this collision being generated.

2. The system according to claim 1, characterized in that the virtual 3D modeling of the environment further comprises a virtual 3D modeling of fixed elements and a real-time virtual 3D modeling of movable elements using sensors provided on these movable elements or in the environment.

3. The system according to claim 2, characterized in that the software and hardware means are also configured to implement a virtual 3D modeling of a virtual envelope on at least one of the fixed or movable elements modeled, the collision detection being performed between virtual envelopes.

4. The system according to claim 1, characterized in that the volume of a virtual envelope is higher than the volume of the object or elements around which the virtual envelope is made.

5. The system according to claim 1, characterized in that the processing unit is parameterized so as to trigger, in response to the alert signal and the collision assessment, an anti-collision process consisting in stopping or redirecting the movement of the object.

6. The system according to claim 1, characterized by the use of a 3D engine and a physical engine of video games connected to real electromechanical systems providing,

an optimum frequency of at least 60 Hz, and

a system with a real-time refreshing.

7. The system according to claim 1, characterized in that the object is a poly-articulated robot, and the system comprises at least one strain sensor attached to this poly-articulated robot and connected to a processing unit controlling the poly-articulated robot so as to perform a co-manipulation by following any strain detected by said at least one strain sensor.

8. The system according to claim 1, characterized in that the object is a poly-articulated robot, and in that the so-called “

dummy volume”

is a dynamic representation of the aggregation of the expanded volume of each of the axes of the poly-articulated robot.

9. The system according to claim 1, characterized in that the object is a robot and the processing unit is configured to run an automatic procedure for changing a tool attached to the robot through a pneumatic coupler when a removable tool of the robot is detected in a predefined virtual volume of the environment.

10. A computer processing medium comprising:

algorithms executed by a microprocessor of a processing unit connected to a moving object, said computer algorithms implementing the following functionalities;

virtual 3D modeling of the environment;

real-time virtual 3D modeling of the object moving in the environment;

3D modeling of a virtual envelope around the object, this virtual envelope forming a volume called a “

dummy volume”

, predicting the movements of the object; and

real-time detection of collisions between the virtual envelope and the modeled environment, an alert signal and a collision assessment being generated in the event of a virtual collision.

11. The computer processing medium according to claim 10, characterized in that the virtual 3D modeling of the environment further comprises a virtual 3D modeling of fixed elements and a real-time virtual 3D modeling of movable elements from data coming from sensors provided on these movable elements or in the environment.

12. The computer processing medium according to claim 11, characterized in that the execution of computer codes also implements a virtual 3D modeling of a virtual envelope at least on one of the fixed or movable elements modeled of the environment, the collision detection being made between virtual envelopes.