PROCESS AND APPARATUS FOR GENERATING A THREE-DIMENSIONAL SWEPT ENVELOPE OF A VEHICLE

• US 20140032184A1
• Filed: 04/05/2012
• Published: 01/30/2014
• Est. Priority Date: 04/08/2011
• Status: Active Grant

• Current Assignee: Transoft Solutions Inc.
• Original Assignee: Transoft Solutions Inc.
• Inventors: Carrasco, Milton Santano Elias, Shihundu, Daniel Akwera, Milne, Christian Grant, Pei, Guanggui, Brown, Darren Earl, Chan, Billy Siu Fai, Cheng, Steven Kin-Shing, Ding, Li
• Granted Patent: US 9,633,143 B2
• Time in Patent Office: Days
• US Class Current: 703/1
• CPC Class Codes: G06F 30/15 Vehicle, aircraft or watercraft design
• CPC Class Codes: G06F 30/20 Design optimisation, verification or simulation optimisation, verification or simulation of circuit designs G06F30/30

Abstract

A method, apparatus, media and signals for generating a computer representation of a three-dimensional swept envelope of a vehicle having a wheeled chassis operable to support a vehicle body for movement along a terrain is disclosed. The method involves receiving terrain data representing a 3D terrain, receiving data defining parameters of the vehicle, and receiving data defining a path for movement of the vehicle from an initial position on the terrain to a displaced position on the terrain. The method also involves disposing a computer representation of the vehicle on the 3D representation of the terrain at successive locations along the path using the parameters. Disposing involves determining points of engagement between wheels of the wheeled chassis and the 3D representation of the terrain to dispose the chassis with respect to the terrain, and determining a corresponding 3D location of the vehicle body with respect to the terrain. The method further involves generating a plurality of spatial extents of the vehicle at the successive locations, the spatial extents defining the 3D swept envelope of the vehicle when moving between the initial position and the displaced position. In another aspect a method for generating a computer representation of a three-dimensional swept envelope of an object moving along a guideway disposed with respect to a 3D representation of a terrain is disclosed.

Claims

1-125. -125. (canceled)

126. A method for generating a computer representation of a three-dimensional (3D) swept envelope of a vehicle having a wheeled chassis operable to support a vehicle body for movement along a terrain, the method comprising:

receiving terrain data representing a 3D terrain;

receiving data defining parameters of the vehicle;

receiving data defining a path for movement of the vehicle from an initial position on the terrain to a displaced position on the terrain;

disposing a computer representation of the vehicle on the 3D representation of the terrain at successive locations along said path using said parameters, wherein said disposing comprises;

determining points of engagement between wheels of the wheeled chassis and the 3D representation of the terrain to dispose the chassis with respect to the terrain; and

determining a corresponding 3D location of the vehicle body with respect to the terrain; and

generating a plurality of spatial extents of the vehicle at said successive locations, said spatial extents defining the 3D swept envelope of the vehicle when moving between said initial position and said displaced position.

127. The method of claim 126 wherein generating said plurality of spatial extents of the vehicle comprises:

generating a plurality of spaced apart intersecting planes along said movement path; and

determining an intersection of the computer representation of vehicle with each of said intersection planes at said successive locations of the vehicle along said movement path.

128. The method of claim 127 wherein generating said plurality of spaced apart intersecting planes comprises generating intersection planes that are substantially perpendicular to said movement path.

129. The method of claim 127 wherein determining said intersection of the computer representation of the vehicle with each of said intersection planes comprises:

for each intersection plane, determining a plurality of intersection areas each corresponding to one of said successive locations of the vehicle along said movement path; and

forming a union of said plurality of intersection areas to generate a combined intersection area defining a spatial extent of the vehicle moving through said intersection plane.

130. The method of claim 129 wherein determining said plurality of intersection areas comprises:

representing said vehicle using at least one 3D geometric shape;

imposing a raster on said intersection plane, said raster comprising a plurality of raster elements; and

identifying ones of said plurality of raster elements that lie within said 3D geometric shape for each successive position, said identified ones of said plurality of raster elements corresponding to said combined intersection area.

131. The method of claim 126 further comprising generating signals operable to cause at least one of:

display of a representation of said 3D swept envelope of the vehicle on a computer display; and

a representation of said 3D swept envelope of the vehicle to be printed on a printer.

132. The method of claim 126 wherein receiving data defining said parameters of the vehicle comprises receiving at least one of:

chassis parameters defining relative orientations of said wheels of said wheeled chassis;

vehicle body parameters defining spatial extents of said vehicle body; and

linkage parameters defining a linkage between the chassis and said vehicle body.

133. The method of claim 126 wherein receiving said data defining said path of travel comprises receiving operator input of a two-dimensional arc and further comprising projecting said arc onto said terrain to obtain a three-dimensional path of travel extending between said initial position and said displaced position on the terrain.

134. The method of claim 126 further comprising receiving operator input of a change to said movement path, and in response:

disposing the computer representation of the vehicle on the 3D representation of the terrain at a plurality of locations along said changed movement path and generating an updated plurality of spatial extents of the vehicle.

135. The method of claim 126 further comprising:

computing a minimum turning angle for the vehicle;

computing turning angles associated with said movement from said initial position to said displaced position; and

causing the movement path to be limited to include turning angles that are less than or equal to said minimum turn angle.

136. The method of claim 126 wherein determining points of engagement between wheels of the wheeled chassis and the terrain comprises:

locating a reference point associated with a front axel of the chassis on said path;

longitudinally rotating the chassis to place reference point associated with a rear axel of the chassis on the terrain; and

laterally rolling the chassis to place cause wheel locations associated with said wheeled chassis to be on or proximate said terrain.

137. The method of claim 126 wherein determining said corresponding 3D location of the vehicle comprises:

disposing a computer representation of the vehicle body on the chassis;

determining a weight distribution proportion for each wheel; and

calculating a deflection of a suspension associated with each wheel to generate said 3D location of the computer representation of the vehicle body with respect to the chassis.

138. The method of claim 126 further comprising identifying points of interference between said plurality of locations of said spatial extents and said terrain.

139. The method of claim 126 further comprising receiving data defining at least one obstacle located on said terrain and further comprising identifying points of interference between said plurality of locations of said spatial extents and said at least one obstacle.

140. The method of claim 126 wherein the vehicle comprises a first vehicle and further comprising:

receiving data defining a 3D swept envelope of a second vehicle with respect to the 3D representation of the terrain; and

identifying points of interference between said plurality of locations of said spatial extents of the first vehicle and said 3D swept envelope of the second vehicle.

141. The method of claim 126 further comprising offsetting the 3D swept envelope of the vehicle to determine minimum extents of a passageway through which the vehicle must pass in moving between the initial position and the displaced position.

142. The method of claim 126 further comprising:

receiving a definition of a plane intersecting the terrain;

determining extents of an area of intersection between said plane and said spatial extents of the vehicle as the vehicle moves through said plane; and

offsetting said area of intersection to define and locate a structure through which the vehicle must pass in moving between said initial position and said displaced position.

143. The method of claim 126 wherein the vehicle is configured for movement along a track disposed on the terrain, the track being operable to receive and guide said wheels of the wheeled chassis and wherein receiving said data defining said movement from said initial position to said displaced position comprises receiving data defining a desired location of said tracks with respect to said 3D representation of said terrain.

144. The method of claim 126 wherein determining said corresponding 3D location of the vehicle body with respect to the terrain comprises:

displacing a computer representation of the vehicle body from a computer representation of the chassis by a distance corresponding to;

a ground clearance parameter associated with the vehicle body; and

a deflection of a suspension between the chassis and the body.

145. The method of claim 144 wherein displacing the vehicle body comprises displacing the vehicle body at each wheel location in accordance with a weight distribution proportion at said wheel location.

146. The method of claim 126 wherein the vehicle has a support for supporting the vehicle body for movement along a guideway and wherein receiving data defining the path for movement of the vehicle comprises receiving data defining the guideway location with respect to the 3D representation of the terrain, the guideway being operable to guide and support the vehicle for movement from the initial position on the terrain to the displaced position on the terrain.

147. The method of claim 146 wherein said disposing comprises:

determining a 3D location of the support at each successive location along the guideway; and

using said parameters to determine a 3D location of the vehicle body with respect to the terrain.

148. The method of claim 147 wherein the support comprises a plurality of supports and wherein determining said 3D location of the vehicle support comprises determining a 3D location of each of the plurality of supports at each successive location along the guideway and wherein using said parameters to determine said 3D location of the vehicle body with respect to the terrain comprises using said parameters to determine a 3D location of the vehicle body with respect to the determined locations of each of the plurality of supports.

149. The method of claim 146 wherein said support comprises a magnetic suspension operable to support the vehicle for movement along the guideway.

150. The method of claim 146 wherein the vehicle comprises a load supported for movement along an overhead guideway.

151. The method of claim 150 wherein the vehicle comprises a load suspended from the support and wherein the support includes at least one wheel for coupling the support to the guideway for movement.

152. A computer readable medium encoded with codes for directing a processor circuit to generate a computer representation of a three-dimensional (3D) swept envelope of a vehicle having a wheeled chassis operable to support a vehicle body for movement along a terrain, the codes directing the processor circuit to:

receive terrain data representing a 3D terrain;

receive data defining parameters of the vehicle;

receive data defining a path for movement of the vehicle from an initial position on the terrain to a displaced position on the terrain;

dispose a computer representation of the vehicle on the 3D representation of the terrain at successive locations along said path using said parameters by;

determining points of engagement between wheels of the wheeled chassis and the 3D representation of the terrain to dispose the chassis with respect to the terrain; and

determining a corresponding 3D location of the vehicle body with respect to the terrain; and

generate a plurality of spatial extents of the vehicle at said successive locations, said spatial extents defining the 3D swept envelope of the vehicle when moving between said initial position and said displaced position.

153. An apparatus for generating a computer representation of a three-dimensional (3D) swept envelope of a vehicle having a wheeled chassis operable to support a vehicle body for movement along a terrain, the apparatus comprising a processor circuit operably configured to:

receive terrain data representing a 3D terrain;

receive data defining parameters of the vehicle;

receive data defining a path for movement of the vehicle from an initial position on the terrain to a displaced position on the terrain;

dispose a computer representation of the vehicle on the 3D representation of the terrain at successive locations along said path using said parameters by;

determining points of engagement between wheels of the wheeled chassis and the 3D representation of the terrain to dispose the chassis with respect to the terrain; and

determining a corresponding 3D location of the vehicle body with respect to the terrain; and

generate a plurality of spatial extents of the vehicle at said successive locations, said spatial extents defining the 3D swept envelope of the vehicle when moving between said initial position and said displaced position.

154. The apparatus of claim 153 wherein said processor circuit is operably configured to generate said plurality of spatial extents of the vehicle by:

generating a plurality of spaced apart intersecting planes along said movement path; and

determining an intersection of the computer representation of vehicle with each of said intersection planes at said successive locations of the vehicle along said movement path.

155. The apparatus of claim 154 wherein said processor circuit is operably configured to generate said plurality of spaced apart intersecting planes by generating intersection planes that are substantially perpendicular to said movement path.

156. The apparatus of claim 154 wherein said processor circuit is operably configured to determine said intersection of the computer representation of the vehicle with each of said intersection planes by:

for each intersection plane, determining a plurality of intersection areas each corresponding to one of said successive locations of the vehicle along said movement path; and

forming a union of said plurality of intersection areas to generate a combined intersection area defining a spatial extent of the vehicle moving through said intersection plane.

157. The apparatus of claim 156 wherein said processor circuit is operably configured to determine said plurality of intersection areas by:

representing said vehicle using at least one 3D geometric shape;

imposing a raster on said intersection plane, said raster comprising a plurality of raster elements; and

identifying ones of said plurality of raster elements that lie within said 3D geometric shape for each successive position, said identified ones of said plurality of raster elements corresponding to said combined intersection area.

158. The apparatus of claim 153 wherein said processor circuit is operably configured to receive said data defining said path of travel by receiving operator input of a two-dimensional arc and said processor circuit is operably configured to project said arc onto said terrain to obtain a three-dimensional path of travel extending between said initial position and said displaced position on the terrain.

159. The apparatus of claim 153 wherein said processor circuit is operably configured to receive operator input of a change to said movement path, and in response:

dispose the computer representation of the vehicle on the 3D representation of the terrain at a plurality of locations along said changed movement path and generating an updated plurality of spatial extents of the vehicle.

160. The apparatus of claim 153 wherein said processor circuit is operably configured to:

compute a minimum turning angle for the vehicle;

compute turning angles associated with said movement from said initial position to said displaced position; and

cause the movement path to be limited to include turning angles that are less than or equal to said minimum turn angle.

161. The apparatus of claim 153 wherein said processor circuit is operably configured to determine points of engagement between wheels of the wheeled chassis and the terrain by:

locating a reference point associated with a front axel of the chassis on said path;

longitudinally rotating the chassis to place reference point associated with a rear axel of the chassis on the terrain; and

laterally rolling the chassis to place cause wheel locations associated with said wheeled chassis to be on or proximate said terrain.

162. The apparatus of claim 153 wherein said processor circuit is operably configured to determine said corresponding 3D location of the vehicle by:

disposing a computer representation of the vehicle body on the chassis;

determining a weight distribution proportion for each wheel; and

calculating a deflection of a suspension associated with each wheel to generate said 3D location of the computer representation of the vehicle body with respect to the chassis.

163. The apparatus of claim 153 wherein said processor circuit is operably configured to identify points of interference between said plurality of locations of said spatial extents and said terrain.

164. The apparatus of claim 153 wherein said processor circuit is operably configured to receive data defining at least one obstacle located on said terrain and to identify points of interference between said plurality of locations of said spatial extents and said at least one obstacle.

165. The apparatus of claim 153 wherein the vehicle comprises a first vehicle and wherein said processor circuit is operably configured to:

receive data defining a 3D swept envelope of a second vehicle with respect to the 3D representation of the terrain; and

identify points of interference between said plurality of locations of said spatial extents of the first vehicle and said 3D swept envelope of the second vehicle.

166. The apparatus of claim 153 wherein said processor circuit is operably configured to offset the 3D swept envelope of the vehicle to determine minimum extents of a passageway through which the vehicle must pass in moving between the initial position and the displaced position.

167. The apparatus of claim 153 wherein said processor circuit is operably configured to:

receive a definition of a plane intersecting the terrain;

determine extents of an area of intersection between said plane and said spatial extents of the vehicle as the vehicle moves through said plane; and

offset said area of intersection to define and locate a structure through which the vehicle must pass in moving between said initial position and said displaced position.

168. The apparatus of claim 153 wherein the vehicle is configured for movement along a track disposed on the terrain, the track being operable to receive and guide said wheels of the wheeled chassis and wherein said processor circuit is operably configured to receive said data defining said movement from said initial position to said displaced position by receiving data defining a desired location of said tracks with respect to said 3D representation of said terrain.

169. The apparatus of claim 153 wherein said processor circuit is operably configured to determine said corresponding 3D location of the vehicle body with respect to the terrain by:

displacing a computer representation of the vehicle body from a computer representation of the chassis by a distance corresponding to;

a ground clearance parameter associated with the vehicle body; and

a deflection of a suspension between the chassis and the body.

170. The apparatus of claim 169 wherein said processor circuit is operably configured to displace the vehicle body by displacing the vehicle body at each wheel location in accordance with a weight distribution proportion at said wheel location.

171. The apparatus of claim 153 wherein the vehicle has a support for supporting the vehicle body for movement along a guideway, and wherein the processor circuit is operably configured to:

receive data defining the path for movement of the vehicle by receiving data defining the guideway location with respect to the 3D representation of the terrain, the guideway being operable to guide and support the vehicle for movement from the initial position on the terrain to the displaced position on the terrain.

172. The apparatus of claim 171 wherein said processor circuit is operably configured to dispose said computer representation of the vehicle body by:

determining a 3D location of the support at each successive location along the guideway; and

using said parameters to determine a 3D location of the vehicle body with respect to the terrain.

173. The apparatus of claim 172 wherein the support comprises a plurality of supports and wherein said processor circuit is operably configured to determine said 3D location of the vehicle support by determining a 3D location of each of the plurality of supports at each successive location along the guideway and to use said parameters to determine said 3D location of the vehicle body with respect to the terrain by using said parameters to determine a 3D location of the vehicle body with respect to the determined locations of each of the plurality of supports.

174. The apparatus of claim 171 wherein the vehicle comprises a vehicle and said support comprises a magnetic suspension operable to support the vehicle for movement along the guideway.

175. The apparatus of claim 171 wherein the vehicle comprises a load supported for movement along an overhead guideway.

176. The apparatus of claim 175 wherein the vehicle comprises a load suspended from the support and wherein the support includes at least one wheel for coupling the support to the guideway for movement.

177. The apparatus of claim 171 wherein the 3D representation of the terrain comprises a 3D representation of a factory floor.