METHOD AND SYSTEM FOR AVOIDING COLLISIONS BETWEEN MOVEABLE DEVICES

摘要

A method for avoiding collisions between at least two physical entities (1, 2) consisting of elements which can be defined by points which can be known in a digital form. Said points can be displaced simultaneously according to at least one degree of freedom. Each of said simultaneous displacements requires a minimum variation in the corresponding degree of freedom prior to stopping. A computer-type system (17) is used to store and process said points in digital form. The invention is characterized by the fact that a deformable digital model is defined inside the computer-type system (17) for each of the elements (11, 12, 13, 14, 15, 16, 21, 22, 23, 24, 25, 26) of the physical entitites (1, 2). 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. The computer-type system (17) calculates, for at least one entity (1, 2), a distance between each of the deformable models of the elements (11, 12, 13, 14, 15, 16) of the entity (1,2) and each of the deformable models of the elements of the same entity (1, 2) or another entity (1, 2), wherein the computer-type system (17) detects a risk of collision when at least one of the distances is less than a predefined safety distance.