Anti-collision method and system of multi-axis motion system and storage medium

Abstract

The embodiment of the invention provides an anti-collision method and system for a multi-axis motion system and a storage medium. The method comprises the following steps: acquiring current motion position information of each axis of each moving object in the multi-axis motion system; inputting the obtained current motion position information into a trained anti-collision prediction model as a group of input data to obtain anti-collision prediction related information outputted by the anti-collision prediction model; and controlling the corresponding moving object of the multi-axis motion system based on the anti-collision prediction related information. According to the technical scheme in the embodiment of the invention, the collision prevention of the multi-axis motion system can be conveniently and effectively realized.

Description

technical field [0001] The invention relates to the field of motion control, in particular to an anti-collision method, system and storage medium of a multi-axis motion system. Background technique [0002] In multi-axis motion systems, such as various robot systems and C-arm X-ray machine systems, etc., usually include at least two moving objects that cooperate with each other, and the at least two moving objects can be multi-axis moving objects, or can be Both multi-axis moving objects and single-axis moving objects are included, but since it is called a multi-axis moving system, at least one of the at least two moving objects must include at least one multi-axis moving object, such as a robot arm, a multi-degree-of-freedom table, a C-shaped Arm X-ray machines, multi-degree-of-freedom patient detection tables, etc. The trajectory and position of these multi-axis moving objects are usually determined by the coordinated movement of multiple axes, so it is relatively complica...

AI Technical Summary

Problems solved by technology

In this way, sometimes the C-arm and the patient examination table 20 or other obstacles may be caused due to the personnel not paying attention to the movement of the C-arm or the patient examination table, or the C-arm 101 or the patient examination table 20 being misoperated, etc. Wait for a collision, so on the one hand, it may cause injury to personnel, and on the other hand, it may also cause damage to the C-arm 101 or obstacles

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