초록 ▼

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 centr

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.

대표청구항 ▼

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 numbe

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.