Collision prevention method and apparatus

A collision preventing apparatus for a processing machine (2), comprising: a parameter data memory module (14) in response to a control command (Cm) outputs protection information (Ps) which corresponds to a target component (20) of the processing machine (2); and a control module (18) in response to an operation event (Ev) outputs the control command (Cm), wherein the control module (18) further comprises a base envelope (Eb) calculates the target component (20) by corresponding to the protection information (Ps) performs an envelope calculation process for the target component (20), and the control module (18) further comprises a multi-hierarchical region (Eh) is calculated, by causing that the base envelope (Eb) accordingly (for multi-hierarchical protection parameters Ph ) is segmented into a plurality of sub-areas, and a part of the plurality of sub-regions removed, which is not linked (with the destination component 20); wherein the control module (18) determines whether a collision event between the multi-hierarchical region (Eh) and a correlated object has occurred, to see if a collision event at the target component (20) has occurred, and a control signal (Sc) for controlling the operation of the processing machine output (2) when the collision event is detected, wherein the control module (18) according to a dynamic protection parameter (Pd) size of the basic envelope (Eb) destined to the multi-hierarchical region (Eh) for the target component (20), which is dynamically adjustable, (corresponding to the dynamic protection parameters to form Pd), ...