Methods, apparatus and systems for detecting collision are provided. In one aspect, a method includes: obtaining a first model by performing modelling based on an exterior shape of a first component in the target system, the first component being a movable component, obtaining a second model by performing modelling based on an exterior shape of a second component in the target system, the second component being different from the first component, determining a spatial position of the first model and a spatial position of the second model according to a movement process of the first component at each of detection timings, and for each of the detection timings, determining whether the first component collides with the second component according to the spatial position of the first model, the spatial position of the second model, and a collision condition.
