Method for preventing collision of two mutually movable bodies and an apparatus including an arrangement for preventing collision

• US 4,578,757 A
• Filed: 02/24/1983
• Issued: 03/25/1986
• Est. Priority Date: 02/24/1982
• Status: Expired due to Fees

• Current Assignee: US Philips Corporation (Koninklijke Philips N.V.)
• Original Assignee: US Philips Corporation (Koninklijke Philips N.V.)
• Inventors: Stark, Johan S. H.
• Primary Examiner(s): Krass, Errol A.
• Assistant Examiner(s): Black, Thomas G.
• Application Number:
  US06/469,364
• Time in Patent Office: 1,125 Days
• Field of Search: 364/461, 364/513, 364/559, 364/439, 364/463, 340/685, 340/686, 250/363.5 SC, 250/363.8 SF, 343/455
• US Class Current: 701/301
• CPC Class Codes: A61B 6/102 Protection against mechanical damage, e.g. anti-collision devices
• CPC Class Codes: B66C 15/045 electrical
• CPC Class Codes: F04D 29/057 hydrostatic; hydrodynamic
• CPC Class Codes: G05B 19/4061 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/34215 Microprocessor
• CPC Class Codes: G05B 2219/34236 Multiplex for servos, actuators
• CPC Class Codes: G05B 2219/40492 Model manipulator by spheres for collision avoidance
• CPC Class Codes: G05B 2219/49157 Limitation, collision, interference, forbidden zones, avoid obstacles

Abstract

The invention relates to a method and a device for prevention of collision between two mutually and independently movable bodies (A, B). In the method the outer contour of each body is approximated by a number of virtual subvolumes, preferably spheres (SA₁, SA₂), whereafter the position of the centrum point (c₁, c₂) of each such sphere, when the respective body assumes a zero or reference position, is stored in a fixed memory together with the radius (r₁, r₂) of each sphere. Repeatedly during a motion the new position of each sphere (SA₁, SA₂) is determined by means of the stored positions and the output signals from position transducers associated to the bodies (A, B) and finally the distance between each sphere of one body (A) and each sphere of the second body (B) is calculated. These calculated distances indicate the risk for collision and must exceed a given threshold value. In an anti-collision system said calculated distances may be used to generate signals, which automatically brake or stop the motion of the bodies.

Claims

1. An improved method to determine the risk of collision for two mutually movable bodies, whose movements are sensed by transducers for continuous monitoring of the position of the bodies during a motion, said method including the steps of:

determining repeatedly the position for the centrum of a number of virtual spherical subvolumes, whose outer circumferences together approximate the outer contour of each body during the motion; and

calculating the distance between the outer circumferences of those subvolumes which represent the outer contour of one of the bodies and the outer circumferences of those subvolumes which represent the outer contour of a second body by determining the centrum positions and the known diameters of the subvolumes; and

comparing each calculated distance with a safety distance;

wherein the improvement comprises

representing the spheres by cubes in the first calculation step thereby taking into account only the projections of the spheres on the axes in an orthogonal coordinate system at the distance determination between the spheres.

2. An improved apparatus having at least one motor-driven element and including a circuit for preventing collision of said element and a body, said motor-driven element being provided with transducers for sensing the momentary positions of said motor-driven element during a motion, said apparatus also including:

storing device for storing the coordinates of the centrum points of a number of virtual spheres, whose outer circumferences approximate the outer contour of the element and a body, and the value of the radius of each sphere;

a calculating unit for repeatedly calculating during the motion, by means of the said centrum point coordinates and the position indication of the transducers, the current position of the centrum points of the spheres and for calculating thereafter, by means of these centrum positions and the known radii of the spheres, the distance between those spheres which represent the element and those spheres which represent the body; and

comparison means for comparing each calculated distance with a safety distance;

each transducer delivering a signal representing the absolute deviation of the element in a given motion direction relative to a zero or reference position in this direction;

the values stored in the storing device representing the centrum positions of the different spheres, when the bodies are situated in the said zero or reference position; and

means in said calculating unit, at each calculation process, to carry out a complete position determination of the centrum positions of the different spheres by means of these fixed stored values and the output signals of the transducers;

wherein the improvement comprises;

means in the calculating unit to determine the distance between the projections of a first pair of spheres on the axes in an orthogonal coordinate system and, as long as the distance between the projections of each of these spheres on the actual axis exceeds a given value, to terminate the signal processing for the first pair of spheres and to start distance determination along the same axis for a second pair of spheres.

3. An apparatus as claimed in claim 2, wherein, if the distance between the projection of the first pair spheres along one axis is below a given value, the calculation unit has means to initiate determination of the distance between the projection of the spheres along another axis and, when the distance between the projection of the spheres along all three axes is below the given value, to calculate the real distance between the spheres for comparing this distance with the safety distance.

4. An apparatus as claimed in any one of claims 2 or 3, wherein the comparison means include means to compare the calculated distances with two different safety distances, and that signal appears on a first output, when the calculated distance is below the larger safety distance, while signal appears on a second output when the calculated distance is below the smaller safety distance.

5. An apparatus as claimed in claim 4, wherein said outputs are connected to control circuits for the motors, which cause motion in the respective motion direction, which control circuits are so constructed that, when signal appears on the first output, the speed of the motors is reduced and that, when signal appears on the second output, the motors are stopped.