Methods, apparatus, devices, and media for avoidance of inter-component motion interference

Abstract

The application discloses an assembly motion interference avoidance method, device, equipment and medium, comprising: when the current control assembly receives a motion control instruction through the interference area, judging whether the current control assembly is currently in the interference area; if not, controlling the current control assembly to move to the nearest safe point, since the set safe point is not affected by the interference, so that the assembly motion interference can be avoided while the waiting time of the assembly in the early stage is minimized. Then in the interference area, based on the current position of the relative control assembly, judging whether there is an interference risk between the current control assembly and the relative control assembly; if there is, controlling the current control assembly and the relative control assembly to perform the first risk response control based on the interference risk. If not, controlling the current control assembly to speed up the execution of the motion control instruction of the current control assembly. It can be seen that the application can minimize the waiting time of the assembly, thereby effectively improving the working efficiency of the equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor interference, in particular to a method, device, equipment and medium for avoiding motion interference between components. BACKGROUND

[0002] Mechanical equipment often needs to perform coordinated motion based on each component therein, and an important point in the coordinated motion is to let each component not interfere with each other through a control algorithm.

[0003] In the existing control algorithm, the motion trajectory of each component is often predicted in advance before the control component is moved, and once there is a conflict between the motion trajectories of two components, one of the components is allowed to move preferentially, and the other component waits until the first moving component completes the movement before starting to move, thereby avoiding motion interference. However, such a control method will significantly reduce the working efficiency of the equipment due to the long idle waiting time. SUMMARY

[0004] Therefore, it is necessary to provide a method, device, equipment and medium for avoiding motion interference between components to solve the problem of long idle waiting time and significant reduction in working efficiency of the equipment in the prior art.

[0005] A method for avoiding motion interference between components is applied to a coordinated motion device, the coordinated motion device comprising a current control component and a relative control component, there is an interference region between the motion trajectory of the current control component and the motion trajectory of the relative control component, the edge points of the interference region are two interference points, and the method comprises:

[0006] When the current control component receives a motion control instruction passing through the interference region, it is determined whether the current control component is currently in the interference region;

[0007] If the current control component is not currently in the interference region, the current control component is controlled to move to the nearest safety point; wherein the safety point is a point on the motion trajectory of the component at a preset distance from the interference point, and the safety point is not in the interference region;

[0008] Based on the current position of the relative control component, it is determined whether there is an interference risk between the current control component and the relative control component;

[0009] If there is an interference risk between the current control component and the relative control component, the current control component and the relative control component are controlled based on the interference risk for first risk response control; wherein the first risk response control includes control component waiting, continuing to execute the motion control instruction at an initial set speed, and acceleration;

[0010] If there is no interference risk between the current control component and the relative control component, control the current control component to speed up the execution of the motion control instruction of the current control component.

[0011] In one embodiment, the determination of whether there is an interference risk between the current control component and the relative control component based on the current position of the relative control component comprises:

[0012] determining whether the relative control component is currently in the interference region and whether the interference motion direction of the current control component and the relative control component is the same;

[0013] If the relative control component is currently in the interference region and the interference motion direction of the current control component and the relative control component is the same, it is determined that there is a same-direction interference risk between the current control component and the relative control component; wherein the interference motion direction is the motion direction of the component in the interference region;

[0014] The first risk response control of the current control component and the relative control component based on the interference risk comprises:

[0015] controlling the relative control component to speed up the execution of the motion control instruction of the relative control component, and controlling the current control component to continue to execute the motion control instruction of the current control component at an initial set speed; wherein the speed of the component that has been sped up is faster than the speed of the component that has not been sped up.

[0016] In one embodiment, the determination of whether there is an interference risk between the current control component and the relative control component based on the current position of the relative control component comprises:

[0017] determining whether the relative control component is currently in the interference region and whether the interference motion direction of the current control component and the relative control component is the same;

[0018] If the relative control component is currently in the interference region and the interference motion direction of the current control component and the relative control component is not the same, it is determined that there is a reverse interference risk between the current control component and the relative control component;

[0019] The first risk response control of the current control component and the relative control component based on the interference risk comprises:

[0020] controlling the relative control component to speed up the execution of the motion control instruction of the relative control component, and controlling the current control component to wait at the safety point, and after the relative control component leaves the interference region, controlling the current control component to speed up the execution of the motion control instruction of the current control component.

[0021] In one of the embodiments, the judging whether there is a risk of interference between the current control component and the relative control component based on the current position of the relative control component comprises:

[0022] judging whether the relative control component is currently in the interference region;

[0023] if the relative control component is not currently in the interference region, judging that there is no risk of interference between the current control component and the relative control component.

[0024] In one of the embodiments, the method further comprises:

[0025] if the current control component is currently in the interference region, judging whether there is a risk of interference between the current control component and the relative control component based on the current position of the relative control component;

[0026] if there is a risk of interference between the current control component and the relative control component, performing second risk response control on the current control component and the relative control component based on the risk of interference; wherein the second risk response control comprises controlling the control components to continue to execute the motion control instructions at an initially set speed and to accelerate.

[0027] In one of the embodiments, the judging whether there is a risk of interference between the current control component and the relative control component based on the current position of the relative control component comprises:

[0028] judging whether the relative control component is currently in the interference region and whether the interference movement directions of the current control component and the relative control component are the same;

[0029] if the relative control component is currently in the interference region and the interference movement directions of the current control component and the relative control component are the same, determining that there is a same-direction interference risk between the current control component and the relative control component.

[0030] the performing second risk response control on the current control component and the relative control component based on the risk of interference comprises:

[0031] controlling the component closer to an end-point interference point to execute the corresponding motion control instruction at a higher speed, and controlling the component farther away from the end-point interference point to continue to execute the corresponding motion control instruction at an initially set speed; wherein the end-point interference point is an interference point closer to a destination position indicated by the motion control instruction.

[0032] In one of the embodiments, the cooperative control device comprises a plurality of components, and there is at least one interference area between the plurality of components. Two components between which there is an interference area are regarded as a current control component and a relative control component.

[0033] An interference avoidance device for inter-component motion interference is applied to a cooperative motion device, the cooperative motion device comprising a current control component and a relative control component, and there is an interference area between a motion trajectory of the current control component and a motion trajectory of the relative control component, edges of the interference area being two interference points, the device comprising:

[0034] A position initial module is configured to determine whether the current control component is currently in the interference area when the current control component receives a motion control instruction through the interference area. If the current control component is not currently in the interference area, the current control component is controlled to move to a nearest safety point. The safety point is a point on a motion trajectory of a component at a preset distance from an interference point, and the safety point is not in the interference area.

[0035] An interference avoidance module is configured to determine whether there is an interference risk between the current control component and the relative control component based on a current position of the relative control component. If there is an interference risk between the current control component and the relative control component, the current control component and the relative control component are controlled based on the interference risk for a first risk response control. The first risk response control comprises component waiting, continuing to execute a motion control instruction at an initial set speed, and acceleration. If there is no interference risk between the current control component and the relative control component, the current control component is controlled to execute a motion control instruction of the current control component at a higher speed.

[0036] A computer readable storage medium stores a computer program, and the computer program is executed by a processor to make the processor execute steps of the above-mentioned interference avoidance method for inter-component motion interference.

[0037] An interference avoidance method and device for inter-component motion interference comprise a memory and a processor, wherein the memory stores a computer program, and the computer program is executed by the processor to make the processor execute steps of the above-mentioned interference avoidance method for inter-component motion interference.

[0038] The application provides an evading method, device, equipment and medium for motion interference between components. First, when a current control component receives a motion control instruction passing through an interference area, it is determined whether the current control component is currently in the interference area. If the current control component is not currently in the interference area, the current control component is controlled to move to the nearest safe point. Since the safe point is not affected by interference, the waiting time of the component in the early stage can be reduced while avoiding the motion interference between components. Then, in the interference area, it is determined whether there is an interference risk between the current control component and a relative control component based on the current position and motion direction of the relative control component. In the first case, if there is an interference risk between the current control component and the relative control component, the first risk response control is performed on the current control component and the relative control component based on the interference risk, wherein the first risk response control includes component waiting, continuing to execute the motion control instruction at an initially set speed, and acceleration. That is, if there is a risk of component interference in the interference area, not only one component waits for another component to complete the motion before continuing to execute the action, but also the two components cooperate with each other based on the first risk response control to reduce the waiting time of the component in the early stage while avoiding the motion interference between components. In the second case, if there is no interference risk between the current control component and the relative control component, the current control component is controlled to accelerate to execute the motion control instruction of the current control component, which can also shorten the time as much as possible. It can be seen that the application can reduce the waiting time of the component as much as possible while avoiding the motion interference between components, thereby effectively improving the working efficiency of the equipment. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0040] Among them:

[0041] Figure 1 It is a flowchart of the evading method for motion interference between components in the first embodiment;

[0042] Figure 2 It is a schematic diagram of a cooperative motion device in a specific embodiment;

[0043] Figure 3 It is an interference diagram when component 2 runs from a remote position to an initial position;

[0044] Figure 4 It is an interference diagram when component 2 runs from an initial position to a remote position;

[0045] Figure 5 This is a motion position diagram for component 2;

[0046] Figure 6 This is a flowchart illustrating the process of determining interference risk and implementing corresponding response control in the first embodiment;

[0047] Figure 7 This is a flowchart illustrating the method for avoiding motion interference between components in the second embodiment;

[0048] Figure 8 This is a flowchart illustrating the process of determining interference risk and implementing corresponding response control in the second embodiment;

[0049] Figure 9 This is a schematic diagram of the structure of a device for avoiding motion interference between components in one embodiment;

[0050] Figure 10 This is a structural block diagram of a device for avoiding motion interference between components in one embodiment. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] like Figure 1 As shown, Figure 1 This is a flowchart illustrating the method for avoiding motion interference between components in the first embodiment. The method is applied to a cooperative motion device, which includes a current control component and a relative control component. An interference region exists between the motion trajectories of the current control component and the relative control component, and the edge points of the interference region are two interference points.

[0053] For example, such as Figure 2 The diagram shown is a schematic of a coordinated motion device in a specific embodiment. This device includes motion component 1 and motion component 2. Both motion components are assigned initial positions and positions 1 to 4. The outer circle formed by the initial positions and positions 1 to 4 represents the motion trajectory of the components. In this specific embodiment, the two components are mechanically restricted in the region between position 4 and the initial position, preventing them from moving. Meanwhile, as shown... Figure 2 As shown, the edge points of the interference region are two interference points, namely interference point 1 and interference point 2, which are marked with triangles.

[0054] like Figure 3As shown, when the assembly 2 moves from the distal position to the initial position, interference can occur at the tail end of the movement. As shown Figure 4 As shown, when the assembly 2 moves from the initial position to other positions, interference can occur at the initial end of the movement. The interference graph of the movement of the assembly 1 is similar, when the assembly moves from the position 4 to other positions, interference can occur at the tail end of the movement. When the assembly moves from the position 4 to other positions, interference can occur at the initial end of the movement.

[0055] In this embodiment, the current position of the assembly is also recorded in real time, as shown Figure 5 As shown, when the assembly is at the initial position, the current position Div2DiscdStepCnt = 0. When the assembly moves counterclockwise to the interference point 1, the interference point 2, the positions 1-4, the current position Div2DiscdStepCnt is recorded as Div2DiscdPos1Num, Div2DiscdPos2Num, Div2Pos1Num, Div2Pos2Num, Div2Pos3Num, Div2Pos4Num respectively. When the assembly moves clockwise from the distal end to the initial position, the current position Div2DiscdStepCnt is recorded as -Div2Pos4Num, -Div2Pos3Num, -Div2Pos2Num, -Div2Pos1Num, -Div2DiscdPos2Num, -Div2DiscdPos1Num respectively. The movement of the assembly 1 is similar, the clockwise rotation of the motor is positive, and the counterclockwise rotation is negative. The above "Div2XX" format can be recorded as "Div1XX" format.

[0056] Further, this method can also be applied to a cooperative movement device including multiple assemblies, and there is at least one interference region between the multiple assemblies in the cooperative movement device. For example, a certain cooperative movement device includes assembly 1, assembly 2, and assembly 3. There is an interference region between assembly 1 and assembly 2, an interference region between assembly 1 and assembly 3, and an interference region between assembly 2 and assembly 3. Then in this cooperative movement device, if only considering the interference region between assembly 1 and assembly 2 for the time being, if assembly 1 is regarded as the assembly controlled by the main perspective, then assembly 1 is the current control assembly, and assembly 2 is the relative control assembly. Similarly, assembly 2 can also be regarded as the assembly controlled by the main perspective, then assembly 2 is the current control assembly, and assembly 1 is the relative control assembly. This is also applicable to the interference region between assembly 1 and assembly 3, and the interference region between assembly 2 and assembly 3. Each current control assembly and a corresponding relative control assembly can apply the following avoidance method, and the movement interference between multiple assemblies can be avoided.

[0057] The steps provided by the avoidance method of the movement interference between assemblies in this first embodiment include:

[0058] Step 102, when the current control component receives the motion control instruction passing through the interference region, it is determined whether the current control component is currently in the interference region. If the current control component is not currently in the interference region, step 104 is executed.

[0059] For the convenience of discussion, the motion component 2 is uniformly taken as the current control component and the motion component 1 is taken as the relative control component in the following. It can be understood that the embodiment can also take the motion component 1 as the current control component and the motion component 2 as the relative control component, which can also avoid the motion interference.

[0060] When the current control component receives the motion control instruction passing through the interference region, it is determined whether the conditions of Div2DiscdPos1Num < Div2DiscdStepCnt < Div2DiscdPos2Num and -Div2DiscdPos2Num < Div2DiscdStepCnt < -Div2DiscdPos1Num are not met at the same time. If the above conditions are not met at the same time, it is determined that the current control component is not currently in the interference region and needs to pass through the interference region, and step 104 is executed at this time.

[0061] Step 104, the current control component is controlled to move to the nearest safety point.

[0062] The safety point is a point on the motion trajectory of the component at a preset distance from the interference point, and the safety point is not in the interference region. As shown in the figure, four safety points are provided on the two motion trajectories in the embodiment, which are safety point 1-safety point 4. When the component is located on the safety point, there is no motion interference, so that the component motion interference can be avoided while the waiting time of the component in the early stage is reduced as much as possible. Figure 2

[0063] For example, it is assumed that in the embodiment, the current control component receives the running control instruction of the destination position being position 1 to position 4 at the initial position, and then the current control component is controlled to move to the safety point 1.

[0064] Step 106, based on the current position of the relative control component, it is determined whether there is an interference risk between the current control component and the relative control component. If there is an interference risk between the current control component and the relative control component, step 108 is executed, and the first risk response control is performed on the current control component and the relative control component based on the interference risk. If there is no interference risk between the current control component and the relative control component, step 110 is executed,

[0065] The first risk response control includes controlling the component to wait, continuing to execute the motion control instruction at the initial set speed, and accelerating.

[0066] ​That is, the current control component is currently located at a safety point, at which it is determined, based on the current position of the relative control component, whether there is a risk of interference between the current control component and the relative control component if the current control component continues to move. If there is a risk of component interference in the interference region, not only does one component wait for the other component to complete movement before starting to continue to perform an action, but the cooperation between the two components is controlled based on a first risk response, so as to avoid component movement interference while minimizing the waiting time of the components in the early stage. If there is no risk of interference between the current control component and the relative control component, the current control component is controlled to speed up to execute the movement control instruction of the current control component, so as to also shorten the time as much as possible.

[0067] In one specific embodiment, as shown in Figure 6 whether there is a risk of interference is determined in the following manner, and the corresponding response control is performed.

[0068] Step 106a: Determine whether the relative control component is currently in the interference region.

[0069] Step 106b: Determine whether the interference movement directions of the current control component and the relative control component are the same.

[0070] If the relative control component is currently in the interference region and the interference movement directions of the current control component and the relative control component are the same, it is determined that there is a same-direction interference risk between the current control component and the relative control component, step 108a is performed, the relative control component is controlled to speed up to execute the movement control instruction of the relative control component, and the current control component is controlled to continue to execute the movement control instruction of the current control component at the initially set speed. If the relative control component is currently in the interference region and the interference movement directions of the current control component and the relative control component are not the same, it is determined that there is a reverse-direction interference risk between the current control component and the relative control component, step 108b is performed, the relative control component is controlled to speed up to execute the movement control instruction of the relative control component, and the current control component is controlled to wait at the safety point. After the relative control component leaves the interference region, step 110 is performed, the current control component is controlled to speed up to execute the movement control instruction of the current control component. If the relative control component is not currently in the interference region, it is determined that there is no risk of interference between the current control component and the relative control component, and step 110 is performed.

[0071] If the relative control component satisfies Div1DiscdPos1Num < Div1DiscdStepCnt < Div1DiscdPos2Num, or satisfies -Div1DiscdPos2Num < Div1DiscdStepCnt < -Div1DiscdPos1Num, it is considered that the relative control component is currently in the interference region.

[0072] The direction of interference motion is the direction of movement of the component within the interference region. For example, if the current control component moves from its initial position to position 1, and the relative control component moves from position 4 to position 3, then the direction of interference motion is from interference point 1 to interference point 2, therefore the directions of interference motion are the same.

[0073] In the first scenario of this embodiment, if the judgment results of steps 106a and 106b are both "yes," there is a possibility that the current control component might "tailgate" the relative control component due to continued movement, i.e., there is a risk of interference in the same direction. Therefore, step 108a is executed to accelerate the relative control component, and the current control component continues to execute the motion control command of the current control component at the initially set speed. It is worth noting that the present invention also includes a feature to make the speed of the accelerated component faster than the speed of the non-accelerated component. In this way, regardless of the speed of the component before acceleration, as long as it has been accelerated, there will be no risk of interference in the same direction, and the waiting time can be minimized.

[0074] In the second scenario of this embodiment, if the judgment result of step 106a is "yes" and the judgment result of step 106b is "no", there is a possibility that the current control component may "collide head-on" with the relative control component due to continued movement, i.e., there is a risk of reverse interference. Therefore, step 108b is executed to make the relative control component accelerate while the current control component waits. After the relative control component leaves the interference area, step 110 is executed to control the current control component to accelerate and execute the motion control command of the current control component. This avoids a "head-on collision" with the relative control component, and since the current control component only waits for the relative control component to move in the interference area during the entire process, the waiting time can also be minimized.

[0075] In the third case of this embodiment, if the judgment result of step 106a is "no", it means that the current control component will not cause motion interference when it enters the interference region. The present invention gives the current control component the highest priority to pass through, allowing it to accelerate through the interference region, thereby minimizing the waiting time.

[0076] It is evident that the above-mentioned methods for avoiding motion interference between components can effectively prevent motion interference and minimize waiting time in various scenarios where the current control component is not initially in the interference zone.

[0077] like Figure 7 As shown, Figure 7 This is a flowchart illustrating the method for avoiding motion interference between components in the second embodiment. The steps provided by the method for avoiding motion interference between components in this second embodiment include:

[0078] Step 202, when the current control component receives the motion control instruction passing through the interference region, it is determined whether the current control component is currently in the interference region. If the current control component is currently in the interference region, step 204 is executed.

[0079] When the current control component receives the motion control instruction passing through the interference region, it is determined whether Div2DiscdPos1Num

[0080] Step 204, based on the current position of the relative control component, it is determined whether there is an interference risk between the current control component and the relative control component. If there is an interference risk between the current control component and the relative control component, step 206 is executed, and the second risk response control is performed on the current control component and the relative control component based on the interference risk. If there is no interference risk between the current control component and the relative control component, step 208 is executed, and the current control component is controlled to speed up to execute the motion control instruction of the current control component.

[0081] The second risk response control includes controlling the component to continue to execute the motion control instruction at the initial set speed, and accelerating.

[0082] That is, the current control component is located in the interference region. At this time, based on the current position of the relative control component, it is determined whether there is an interference risk between the current control component and the relative control component. If there is a risk of component interference in the interference region, not only one component waits for the other component to complete the motion before continuing to execute the action, but also the cooperation between the two components based on the second risk response control, avoiding component motion interference while minimizing the waiting time of the component in the early stage. If there is no interference risk between the current control component and the relative control component, the current control component is controlled to speed up to execute the motion control instruction of the current control component, which can also shorten the time as much as possible.

[0083] In one specific embodiment, as shown in Figure 8 , whether the interference risk is determined and the corresponding response control is performed in the following way.

[0084] Step 204a, it is determined whether the relative control component is currently in the interference region.

[0085] Step 204b, it is determined whether the interference motion direction of the current control component and the relative control component is the same.

[0086] If the relative control component is currently in the interference region and the interference movement direction of the current control component and the relative control component is the same, it is determined that there is a same-direction interference risk between the current control component and the relative control component, step 206 is performed, the component closer to the end interference point is controlled to speed up to execute the corresponding movement control instruction, and the component farther from the end interference point is controlled to continue to execute the corresponding movement control instruction at the initial set speed. If the relative control component is not currently in the interference region, it is determined that there is no interference risk between the current control component and the relative control component, and step 208 is performed.

[0087] Steps 204a and 204b are the same as steps 106a and 106b respectively, and will not be described again here.

[0088] The end interference point is the interference point closer to the destination position indicated by the movement control instruction. For example, referring to Figure 2 , the current control component moves from the initial position to position 1, and the relative control component moves from position 4 to position 3, so the interference point 2 is closer to the destination position, and is taken as the end interference point.

[0089] In the first case of the embodiment, if the determination results of steps 204a and 204b are both “yes”, it is possible that the current control component continues to move and “collides” with the relative control component, that is, there is a same-direction interference risk, so step 206 is performed, the component closer to the end interference point is controlled to speed up, and the component farther from the end interference point is controlled to continue to execute the movement control instruction of the current control component at the initial set speed.

[0090] In the second case of the embodiment, if the determination result of step 204a is “no”, it is indicated that the current control component will not interfere when it enters the interference region, the current control component is given the highest priority to pass through the interference region, so as to minimize the waiting time.

[0091] It can be seen that the above-mentioned avoidance method of movement interference between components can well avoid movement interference and minimize the waiting time for various scenarios in which the current control component is initially in the interference region.

[0092] In one embodiment, as shown in Figure 9 , an avoidance device for movement interference between components is proposed, which is applied to a cooperative movement device including a current control component and a relative control component, a movement trajectory of the current control component and a movement trajectory of the relative control component have an interference region, edge points of the interference region are two interference points, the avoidance device for movement interference between components includes:

[0093] The position initial module 902 is configured to determine whether the current control component is currently in the interference region when the current control component receives the motion control instruction passing through the interference region; if the current control component is not currently in the interference region, the current control component is controlled to move to the nearest safety point; wherein the safety point is a point on the motion track of the component at a preset distance from the interference point, and the safety point is not in the interference region;

[0094] The interference avoidance module 904 is configured to determine whether there is an interference risk between the current control component and the relative control component based on the current position of the relative control component; if there is an interference risk between the current control component and the relative control component, the current control component and the relative control component are controlled to perform first risk response control based on the interference risk; wherein the first risk response control includes waiting, continuing to execute the motion control instruction at an initial set speed, and accelerating; if there is no interference risk between the current control component and the relative control component, the current control component is controlled to accelerate to execute the motion control instruction of the current control component.

[0095] Figure 10 An internal structure diagram of the interference avoidance device between components in an embodiment is shown. As shown in the figure, Figure 10 The interference avoidance device between components includes a processor, a memory and a network interface connected through a system bus. The memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the interference avoidance device between components stores an operating system, and can also store a computer program, which, when executed by the processor, can enable the processor to implement the interference avoidance method between components. The internal memory can also store a computer program, which, when executed by the processor, can enable the processor to execute the interference avoidance method between components. Those skilled in the art can understand, Figure 10 The structure shown in the figure is only a block diagram of part of the structure related to the present application, and does not constitute a limitation on the interference avoidance device between components to which the present application is applied. The specific interference avoidance device between components can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0096] An evading device of inter-component motion interference, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the following steps when executing the computer program: when a current control component receives a motion control instruction passing through an interference area, determining whether the current control component is currently in the interference area; if the current control component is not currently in the interference area, controlling the current control component to move to the nearest safe point; based on a current position of a relative control component, determining whether there is an interference risk between the current control component and the relative control component; if there is an interference risk between the current control component and the relative control component, performing first risk response control on the current control component and the relative control component based on the interference risk; and if there is no interference risk between the current control component and the relative control component, controlling the current control component to speed up execution of the motion control instruction of the current control component.

[0097] A computer readable storage medium storing a computer program, the computer program being executed by a processor to implement the following steps: when a current control component receives a motion control instruction passing through an interference area, determining whether the current control component is currently in the interference area; if the current control component is not currently in the interference area, controlling the current control component to move to the nearest safe point; based on a current position of a relative control component, determining whether there is an interference risk between the current control component and the relative control component; if there is an interference risk between the current control component and the relative control component, performing first risk response control on the current control component and the relative control component based on the interference risk; and if there is no interference risk between the current control component and the relative control component, controlling the current control component to speed up execution of the motion control instruction of the current control component.

[0098] It should be noted that the above inter-component motion interference evading method, device, equipment and computer readable storage medium belong to one general inventive concept, and the contents in the inter-component motion interference evading method, device, equipment and computer readable storage medium embodiments can be mutually applicable.

[0099] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer readable storage medium. When the program is executed, it can include the processes of the above-mentioned embodiment methods. Any reference to memory, storage, database or other medium used in each embodiment of the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0100] Any combination of the technical features of the above embodiments can be made, and in order to make the description simple, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0101] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A method of avoiding inter-component motion interference, characterized in that, The application is applied to a cooperative motion device, the cooperative motion device comprises a current control component and a relative control component, there is an interference region between a motion trajectory of the current control component and a motion trajectory of the relative control component, edge points of the interference region are two interference points, the method comprises: when the current control component receives a motion control instruction passing through the interference region, judging whether the current control component is currently in the interference region; if the current control component is not currently in the interference region, controlling the current control component to move to the nearest safety point; wherein the safety point is a point on the motion trajectory of the component at a preset distance from the interference point, and the safety point is not in the interference region; based on the current position of the relative control component, judging whether there is an interference risk between the current control component and the relative control component; if there is an interference risk between the current control component and the relative control component, performing first risk response control on the current control component and the relative control component based on the interference risk; wherein the first risk response control comprises controlling the component to wait, continuing to execute the motion control instruction at an initially set speed, and accelerating. if there is no interference risk between the current control component and the relative control component, controlling the current control component to execute the motion control instruction of the current control component at a higher speed; the method further comprises: if the current control component is currently in the interference region, based on the current position of the relative control component, judging whether there is an interference risk between the current control component and the relative control component; if there is an interference risk between the current control component and the relative control component, performing second risk response control on the current control component and the relative control component based on the interference risk; wherein the second risk response control comprises controlling the component to continue to execute the motion control instruction at an initially set speed, and accelerating.

2. The method of claim 1, wherein, the judgment of whether there is an interference risk between the current control component and the relative control component based on the current position of the relative control component comprises: judging whether the relative control component is currently in the interference region, and whether the interference motion directions of the current control component and the relative control component are the same; if the relative control component is currently in the interference region, and the interference motion directions of the current control component and the relative control component are the same, it is determined that there is a same-direction interference risk between the current control component and the relative control component; wherein the interference motion direction is the motion direction of the component in the interference region; the first risk response control on the current control component and the relative control component based on the interference risk comprises: controlling the relative control component to execute the motion control instruction of the relative control component at a higher speed, and controlling the current control component to continue to execute the motion control instruction of the current control component at an initially set speed; wherein the speed of the component that has been accelerated is faster than the speed of the component that has not been accelerated.

3. The method of claim 1, wherein, The method comprises the following steps: determining whether there is an interference risk between the current control component and the relative control component based on the current position of the relative control component, comprising: determining whether the relative control component is currently in the interference region and whether the interference movement direction of the current control component and the relative control component is the same; if the relative control component is currently in the interference region and the interference movement direction of the current control component and the relative control component is not the same, it is determined that there is a reverse interference risk between the current control component and the relative control component; the first risk response control of the current control component and the relative control component based on the interference risk, comprising:

4. The method of claim 1, wherein, controlling the relative control component to speed up the execution of the movement control instruction of the relative control component, and controlling the current control component to wait at the safety point, and after the relative control component leaves the interference region, controlling the current control component to speed up the execution of the movement control instruction of the current control component. The method comprises the following steps: determining whether there is an interference risk between the current control component and the relative control component based on the current position of the relative control component, comprising:

5. The method of claim 1, wherein, determining whether the relative control component is currently in the interference region; if the relative control component is not currently in the interference region, it is determined that there is no interference risk between the current control component and the relative control component. The method comprises the following steps: determining whether there is an interference risk between the current control component and the relative control component based on the current position of the relative control component, comprising: determining whether the relative control component is currently in the interference region and whether the interference movement direction of the current control component and the relative control component is the same; 6. The method of claim 1, wherein, if the relative control component is currently in the interference region and the interference movement direction of the current control component and the relative control component is the same, it is determined that there is a same-direction interference risk between the current control component and the relative control component; 7. An apparatus for avoiding inter-component motion interference, comprising: the second risk response control of the current control component and the relative control component based on the interference risk, comprising: controlling the component closer to the end point interference point to speed up the execution of the corresponding movement control instruction, and controlling the component farther away from the end point interference point to continue to execute the corresponding movement control instruction at the initial set speed; wherein the end point interference point is the interference point closer to the destination position indicated by the movement control instruction. The cooperative motion device comprises a plurality of components, and there is at least one interference region between the plurality of components. Between the two components in the interference region, the component controlled in the main perspective is regarded as the current control component, and the component outside the main perspective is regarded as the relative control component. The application is applied to a cooperative motion device, the cooperative motion device comprises a current control component and a relative control component, the movement trajectory of the current control component and the movement trajectory of the relative control component have an interference region, the edge points of the interference region are two interference points, and the device comprises: A position initial module is configured to determine whether the current control component is currently in the interference region when the current control component receives a motion control instruction passing through the interference region. If the current control component is not currently in the interference region, the current control component is controlled to move to a nearest safety point. The safety point is a point on a motion trajectory of the component at a preset distance from an interference point, and the safety point is not in the interference region. An interference avoidance module is configured to determine whether there is an interference risk between the current control component and the relative control component based on a current position of the relative control component. If there is an interference risk between the current control component and the relative control component, the current control component and the relative control component are controlled by a first risk response control based on the interference risk. The first risk response control includes control component waiting, continuing to execute a motion control instruction at an initial set speed, and acceleration. If there is no interference risk between the current control component and the relative control component, the current control component is controlled to execute a motion control instruction of the current control component at a high speed. If the current control component is currently in the interference region, it is determined whether there is an interference risk between the current control component and the relative control component based on a current position of the relative control component. If there is an interference risk between the current control component and the relative control component, the current control component and the relative control component are controlled by a second risk response control based on the interference risk. The second risk response control includes control component continuing to execute a motion control instruction at an initial set speed, and acceleration.

8. A computer readable storage medium storing a computer program, characterized in that, The computer program is executed by the processor, so that the processor executes the steps of the method in any one of claims 1 to 6.

9. An apparatus for avoiding inter-component motion interference, comprising a memory and a processor, wherein, The memory stores a computer program, and the computer program is executed by the processor, so that the processor executes the steps of the method in any one of claims 1 to 6.

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