Avoidance Control Method for Common Rail Multi-Truss System and Common Rail Multi-Truss System

Abstract

The present application provides an avoidance control method and a multi-truss system for a common-rail multi-truss system, which solves the technical problems in the prior art that it is impossible to simultaneously meet the operation efficiency of multiple trusses and prevent interference and collision between multiple trusses when grasping and obtaining based on a truss manipulator. The avoidance control method for the common-rail multi-truss system provided by the present application, during the operation of multiple trusses, determines the motion mode in real time according to the current working states of two adjacent trusses among multiple trusses, and determines whether interference and collision will occur between the two trusses according to the motion mode and the current working states. When no interference and collision will occur between the two trusses, the current motion state is maintained and the work continues. When interference and collision will occur, the working state of at least one of the two trusses is adjusted so that the two trusses can operate simultaneously without collision, improving the operation efficiency of the multi-truss system.

Description

Technical Field

[0001] This application relates to the field of intelligent control, and specifically relates to a collision avoidance control method for a common-rail multi-truss system and a common-rail multi-truss system. Background Art

[0002] In the heavy equipment manufacturing industry, for the stacking and transfer of goods in the storage yard, operations such as goods handling are required, and the handling equipment is required to have a high working frequency, production efficiency, and economy.

[0003] At present, the handling equipment in use usually grabs goods with parts of a truss manipulator, and uses the truss manipulator to grab parts from the conveyor line and place them at the designated stack position. Usually, in order to improve the grabbing efficiency, two trusses are arranged in one direction. However, when multiple trusses operate simultaneously, it is usually necessary to consider whether the multiple trusses will interfere and collide. Therefore, it is impossible to simultaneously meet the operating efficiency of multiple trusses and the non-interference and non-collision of multiple trusses. Summary of the Invention

[0004] In view of this, this application provides a collision avoidance control method for a common-rail multi-truss system and a common-rail multi-truss system, which solves or improves the technical problem in the prior art that it is impossible to simultaneously meet the operating efficiency of multiple trusses and the non-interference and non-collision of multiple trusses when grabbing and obtaining based on a truss manipulator.

[0005] According to one aspect of this application, this application provides a collision avoidance control method for a common-rail multi-truss system, which is applicable to a common-rail multi-truss. The common-rail multi-truss includes: two parallel guiding brackets and multiple mutually parallel trusses, and the multiple trusses can move along the length direction of the two guiding brackets; characterized in that the collision avoidance control method includes: determining the motion modes of two adjacent trusses among the multiple trusses according to the current working states of the two adjacent trusses, the motion modes including a separation mode, an approach mode, and a stationary mode, the current working states including target position information, current motion speed, and current position information on the guiding bracket, the approach mode being a motion mode of moving towards a reference object, and the separation mode being a motion mode of moving away from the reference object; determining whether the two trusses will interfere and collide according to the motion modes of the two trusses and the current working states; when the two trusses interfere and collide, regulating the working state of at least one of the two trusses according to the current working states of the two trusses.

[0006] In a possible implementation, a position sensor is provided on the truss, and the position sensor is used to detect the position information of the truss on the guiding bracket; wherein, determining the motion modes of two adjacent trusses among a plurality of the trusses includes: determining the current distance between the truss and the reference object according to the current position information of the truss on the guiding bracket at the current moment; determining the reference distance between the truss and the reference object according to the reference position information of the truss on the guiding bracket at the previous moment, wherein the time duration between the previous moment and the current moment is equal to the detection period of the position sensor; when the current distance is less than the reference distance, determining that the motion mode of the truss is the approaching mode; when the current distance is greater than the reference distance, determining that the motion mode of the truss is the departing mode; and when the current distance is equal to the reference distance, determining that the motion mode of the truss is the stationary mode.

[0007] In a possible implementation, determining the motion modes of two adjacent trusses among a plurality of the trusses includes: constructing a plane coordinate system with the center point in the length direction of the guiding bracket as the origin, the Y-axis of the plane coordinate system being parallel to the length of the guiding bracket, the X-axis of the plane coordinate system being parallel to the length of the truss, and the center point being the reference object; when the current motion speed of the truss is equal to 0, determining that the motion mode of the truss is the stationary mode; when the current motion speed of the truss is greater than 0, obtaining the current coordinate information of the truss on the guiding bracket and the target coordinate information of the truss; when both the target coordinate information and the current coordinate information of the truss are on the positive Y-axis or the negative Y-axis, and the absolute value of the target coordinate information of the truss is greater than the absolute value of the current coordinate information, determining that the motion mode of the truss is the departing mode; when both the target coordinate information and the current coordinate information of the truss are on the positive Y-axis or the negative Y-axis, and the absolute value of the target coordinate information of the truss is less than the absolute value of the current coordinate information, determining that the motion mode of the truss is the approaching mode; when the target coordinate information and the current coordinate information of the truss are respectively on the positive Y-axis and the negative Y-axis, determining that the motion mode of the truss is the approaching mode.

[0008] In a possible implementation, the two trusses are respectively a first truss and a second truss;

[0009] Among them, determining whether the two trusses will interfere and collide according to the motion modes and current working states of the two trusses includes: when the motion mode of the first truss is the approaching mode, the motion mode of the second truss is the stationary mode, and the target coordinate information of the first truss is greater than the current coordinate information of the second truss, it is determined that the first truss and the second truss will interfere and collide; or when the motion mode of the first truss is the approaching mode, the motion mode of the second truss is the stationary mode, and the target coordinate information of the first truss is less than the current coordinate information of the second truss, and the absolute value of the difference between the target coordinate information of the first truss and the current coordinate information of the second truss is less than the preset safety distance, it is determined that the first truss and the second truss will interfere and collide; among them, when the two trusses interfere and collide, regulating the working states of at least one of the two trusses according to the current working states of the two trusses includes: regulating the second truss to move to the regulated coordinate information, and the absolute value of the difference between the regulated coordinate information and the target coordinate information of the first truss is greater than or equal to the preset safety distance; and regulating the first truss to continue to move in the current working state.

[0010] In a possible implementation manner, determining whether the two trusses will interfere and collide according to the motion modes and current working states of the two trusses further includes: when the motion mode of the first truss is the approaching mode, the motion mode of the second truss is the stationary mode, and the target coordinate information of the first truss is less than the current coordinate information of the second truss, and the absolute value of the difference between the target coordinate information of the first truss and the current coordinate information of the second truss is greater than or equal to the preset safety distance, it is determined that the first truss and the second truss will not interfere and collide.

[0011] In a possible implementation manner, the two trusses are respectively a first truss and a second truss;

[0012] Among them, determining whether the two trusses will interfere and collide according to the motion modes and current working states of the two trusses includes: when the motion mode of the first truss is the approaching mode and the second truss is the departing mode, and the target coordinate information of the first truss is less than the target coordinate information of the second truss, and the absolute value of the difference between the target coordinate information of the first truss and the target coordinate information of the second truss is less than the preset safety distance, it is determined that the first truss and the second truss will interfere and collide; or when the motion mode of the first truss is the approaching mode and the second truss is the departing mode, and the target coordinate information of the first truss is greater than the target coordinate information of the second truss, it is determined that the first truss and the second truss will interfere and collide; among them, when the two trusses interfere and collide, regulating the working states of at least one of the two trusses according to the current working states of the two trusses includes: regulating the first truss to move to the regulated coordinate information, the regulated coordinate information is less than the target coordinate information of the second truss, and the absolute value of the difference between the regulated coordinate information and the target coordinate information of the second truss is greater than or equal to the preset safety distance; when the first truss moves to the regulated coordinate information, regulating the motion speed of the first truss to 0; regulating the second truss to continue moving to the target coordinate information of the second truss; when the second truss continues to move to the target coordinate information of the second truss, regulating the motion speed of the second truss to 0; and regulating the first truss to continue moving.

[0013] In a possible implementation manner, when the motion mode of the first truss is the approaching mode and the second truss is the departing mode, and the target coordinate information of the first truss is less than the target coordinate information of the second truss, and the absolute value of the difference between the target coordinate information of the first truss and the target coordinate information of the second truss is greater than or equal to the preset safety distance, it is determined that the first truss and the second truss will not interfere and collide.

[0014] In a possible implementation manner, the two trusses are respectively a first truss and a second truss;

[0015] Among them, determining whether the two trusses will interfere and collide according to the motion modes and current working states of the two trusses includes: when the motion mode of the first truss is the approaching mode, and the motion mode of the second truss is the approaching mode, and the absolute value of the difference between the target coordinate information of the first truss and the target coordinate information of the second truss is less than the preset safety distance, it is determined that the first truss and the second truss will interfere and collide; among them, when the two trusses interfere and collide, adjusting the working states of at least one of the two trusses according to the current working states of the two trusses includes: determining the absolute value of the first moving distance according to the current coordinate information and the target coordinate information of the first truss; determining the absolute value of the second moving distance according to the current coordinate information and the target coordinate information of the second truss; when the absolute value of the first moving distance is less than the absolute value of the second moving distance, adjusting the first truss to continue moving in the approaching motion mode to the target coordinate information of the first truss; adjusting the second truss to continue moving to the adjusted coordinate information and then stop, and the absolute value of the difference between the adjusted coordinate information of the second truss and the target coordinate information of the first truss is greater than or equal to the preset safety distance; when the first truss continues to move in the approaching motion mode to the target coordinate information of the first truss, adjusting the moving speed of the first truss to 0, and adjusting the second truss to move from the adjusted coordinate information to the target coordinate information of the second truss.

[0016] In a possible implementation manner, determining whether the two trusses will interfere and collide according to the motion modes and current working states of the two trusses further includes: when the motion mode of the first truss is the approaching mode, and the motion mode of the second truss is the approaching mode, and the absolute value of the difference between the target coordinate information of the first truss and the target coordinate information of the second truss is greater than or equal to the preset safety distance, it is determined that the first truss and the second truss will not interfere and collide.

[0017] As the second aspect of the present application, the present application further provides a common rail multi-truss system, including:

[0018] Common-rail multi-truss, the common-rail multi-truss comprising: two guiding brackets arranged in parallel; a plurality of trusses parallel to each other, the angle between the guiding bracket and the truss being greater than 0; and a motion assembly, through which the truss can move along the length directions of the two guiding brackets; a position sensor for detecting the position information of the truss on the guiding bracket; a speed sensor for detecting the moving speed of the truss on the guiding bracket; a motion controller for controlling the working state of the truss on the guiding bracket; and an avoidance control device for the common-rail multi-truss system; wherein the avoidance control device for the common-rail multi-truss system is communicatively connected to the position sensor, the speed sensor and the motion controller respectively, and the avoidance control device for the common-rail multi-truss system is configured to execute the avoidance control method for the common-rail multi-truss system as described above.

[0019] The avoidance control method for the common-rail multi-truss system provided by this application determines the motion mode in real time according to the current working states of two adjacent trusses during the operation of the multi-truss, and determines whether the two trusses will interfere and collide according to the motion mode and the current working states. When the two trusses will not interfere and collide, the current motion state is maintained to continue working. When the two trusses will interfere and collide, the working state of at least one of the two trusses is adjusted so that the two trusses can work simultaneously without collision, improving the operation efficiency of the multi-truss system. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] By describing the embodiments of the present application in more detail in conjunction with the drawings, the above and other objects, features and advantages of the present application will become more obvious. The drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation to the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0021] Figure 1 Shown is a schematic structural diagram of a common-rail multi-truss provided by an embodiment of the present application;

[0022] Figure 2 Shown is a schematic flow diagram of an avoidance control method for a common-rail multi-truss provided by an embodiment of the present application;

[0023] Figure 3 Shown are the manifestation forms of the approaching mode and the departing mode of two trusses when the fixed rod in the middle position is used as a reference in an embodiment of the present application;

[0024] Figure 4The figure shows the manifestation forms of the approaching mode and the departing mode of two trusses when the fixed rod at the left end position is used as a reference in an embodiment of the present application;

[0025] Figure 5 The figure shows the manifestation forms of the approaching mode and the departing mode of two trusses when the fixed rod at the right end position is used as a reference in an embodiment of the present application;

[0026] Figure 6 The figure shows a schematic flowchart of a collision avoidance control method for a common rail multi-truss provided in another embodiment of the present application;

[0027] Figure 7 The figure shows a schematic flowchart of a collision avoidance control method for a common rail multi-truss provided in another embodiment of the present application;

[0028] Figure 8 The figure shows a plane coordinate system constructed with the midpoint of the fixed rod as the origin in an embodiment of the present application and the motion modes of two trusses in different working states;

[0029] Figure 9 The figure shows a plane coordinate system constructed with the midpoint of the fixed rod as the origin in another embodiment of the present application and the motion modes of two trusses in different working states;

[0030] Figure 10 The figure shows a plane coordinate system constructed with the midpoint of the fixed rod as the origin in an embodiment of the present application and the motion modes of two trusses in different working states;

[0031] Figure 11 The figure shows a schematic flowchart of a collision avoidance control method for a common rail multi-truss provided in another embodiment of the present application;

[0032] Figure 12 Shown is Figure 11 The control mode of the common rail multi-truss corresponding to the control method shown;

[0033] Figure 13 Shown is Figure 11 The control mode of the common rail multi-truss corresponding to the control method shown;

[0034] Figure 14 The figure shows a schematic flowchart of a collision avoidance control method for a common rail multi-truss provided in another embodiment of the present application;

[0035] Figure 15 Shown is Figure 14 The control mode of the common rail multi-truss corresponding to the control method shown;

[0036] Figure 16 Shown is Figure 14The control mode of the common-rail multi-truss corresponding to the control method shown;

[0037] Figure 17 The flowchart of an avoidance control method for a common-rail multi-truss provided by another embodiment of the present application is shown;

[0038] Figure 18 Shown as Figure 17 The control mode of the common-rail multi-truss corresponding to the control method shown;

[0039] Figure 19 The working principle diagram of an avoidance control device for a common-rail multi-truss provided by an embodiment of the present application;

[0040] Figure 20 The working principle diagram of a common-rail multi-truss system provided by an embodiment of the present application;

[0041] Figure 21 The structural schematic diagram of an electronic device provided by an embodiment of the present application is shown.

[0042] Reference numerals:

[0043] 1 - Common-rail multi-truss; 10 - First guiding bracket; 11 - Second guiding bracket; 12 - First truss; 13 - Second truss; 14 - Reference object; 15 - Fixed rod;

[0044] 20 - Position sensor; 21 - Speed sensor;

[0045] 300 - Avoidance control device; 400 - Motion mode determination unit; 500 - Judgment unit; 700 - Regulation unit; 800 - Motion controller. Detailed implementation manners

[0046] In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. All directional indications (such as up, down, left, right, front, back, top, bottom...) in the embodiments of the present application are only used to explain the relative position relationship and motion conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0047] In addition, the mention of "embodiment" in this document means that the specific features, structures, or characteristics described in connection with the embodiment can be included in at least one embodiment of the present application. The phrase appears in various positions in the specification and does not necessarily refer to the same embodiment each time, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0048] Application Overview

[0049] Currently, the loading and unloading equipment in use usually grabs goods with parts of a truss manipulator, and uses the truss manipulator to grab parts from the conveyor line and place them at the designated stack position. Usually, in order to improve the grabbing efficiency, two trusses are arranged in one direction. However, when the two trusses operate simultaneously, the two trusses may interfere and collide. When the inventor was studying whether the two trusses might interfere and collide, a method to prevent interference and collision was found: determine whether interference and collision occur based on the task trajectories executed by the two trusses, and then if interference and collision occur, one truss executes the task first, and after the task is completed, the other truss executes the task. However, although this method can prevent interference and collision, although the two trusses interfere and collide, they do not collide throughout the entire execution process. The two trusses can completely have a space to execute tasks together. Therefore, if one truss is allowed to execute the task first just because the task trajectories overlap, and after the task is completed, the other truss starts to execute the task, although interference and collision can be prevented, the operating efficiency does not reach a high level.

[0050] Therefore, the avoidance control method of the common rail multi-truss system provided in the present application, during the operation of the multi-truss, determines the motion mode in real time according to the current working states of two adjacent trusses, and determines whether the two trusses will interfere and collide according to the motion mode and the current working states. When the two trusses will not interfere and collide, maintain the current motion state and continue to work. When interference and collision will occur, adjust the working state of at least one of the two trusses so that the two trusses can operate simultaneously without collision, improving the operating efficiency of the multi-truss system.

[0051] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present application.

[0052] Exemplary System

[0053] A common-rail multi-truss provided by an embodiment of the present application includes: two parallel guiding brackets and multiple mutually parallel trusses, and the multiple trusses can move along the length directions of the two guiding brackets.

[0054] Specifically, the number of trusses included in the common-rail multi-truss can be two or three, and the present application does not limit the number of trusses included in the common-rail multi-truss.

[0055] Specifically, Figure 1 The figure shows a structural schematic diagram of a common-rail multi-truss provided by an embodiment of the present application. As Figure 1 shown, the number of trusses in the common-rail multi-truss is two, that is, the common-rail multi-truss is a common-rail double-truss. The common-rail double-truss 1 includes: a first guiding bracket 10, a second guiding bracket 11, a first truss 12, and a second truss 13. Among them, the first guiding bracket 10 and the second guiding bracket 11 are parallel to each other. Both ends of the first truss 12 and both ends of the second truss 13 are installed on the first guiding bracket 10 and the second guiding bracket 11. The first truss 12 and the second truss 13 can both move along the length directions of the first guiding bracket 10 and the second guiding bracket 11. The first truss 12 and the second truss 13 are parallel to each other, and the first truss 12 is perpendicular to the first guiding bracket 10.

[0056] Specifically, the first truss 12 and the second truss 13 can both move along the length directions of the first guiding bracket 10 and the second guiding bracket 11 through a motion component. For example: a first guiding groove is opened on the upper end surface of the first guiding bracket 10, a second guiding groove is opened on the upper end surface of the second guiding bracket 11. The length extension direction of the first guiding groove is parallel to the length extension direction of the first guiding bracket 10, and the length extension direction of the second guiding groove is parallel to the length extension direction of the second guiding bracket 11. Wheels are provided at both ends of the first truss 12, and the two wheels at both ends are respectively located in the first guiding groove and the second guiding groove, and the two wheels slide in the first guiding groove and the second guiding groove respectively, so as to realize the movement of the first truss 12 along the first guiding bracket 10 and the second guiding bracket 11. Similarly, the implementation manner of the second truss 13 moving along the first guiding bracket 10 and the second guiding bracket 11 can be the same as the implementation manner of the first truss 12 moving along the first guiding bracket 10 and the second guiding bracket 11 described above.

[0057] When the first truss 12 and the second truss 13 are actually performing tasks, a grasping device is fixed under the first truss 12, and a grasping device is fixed under the second truss 13; after the grasping device grasps the goods, the first truss 12 moves along the first guiding bracket 10 and the second guiding bracket 11, so that the goods can be transported to the destination and then the goods are put down. However, since both the first truss 12 and the second truss 13 move on the first guiding bracket 10 and the second guiding bracket 11, an interference and collision phenomenon will occur. Therefore, the present application provides an avoidance control method for a common-rail multi-truss system.

[0058] Exemplary Method

[0059] Figure 2 The figure shows a schematic flow chart of an avoidance control method for a common-rail multi-truss provided by an embodiment of the present application. As Figure 2 shown, the avoidance control method for the common-rail multi-truss includes the following steps:

[0060] Step S10: Determine the motion modes of two adjacent trusses among multiple trusses according to the current working states of the two adjacent trusses.

[0061] Since two adjacent trusses can move along the length directions of the first guiding bracket 10 and the second guiding bracket 11, during the movement of multiple trusses, the avoidance between the entire common-rail multiple trusses can be regulated by regulating the avoidance between two adjacent trusses.

[0062] Specifically, taking Figure 1 the common-rail double truss shown as an example, step S10 is: during the process of the first truss 12 and the second truss 13 performing tasks, determine the motion mode of the first truss 12 according to the current working state of the first truss 12 in real time, and determine the motion mode of the second truss 13 according to the current working state of the second truss 13.

[0063] Specifically, the current working state includes but is not limited to: target position information, current moving speed, current position information on the first guiding bracket 10 (that is, the current specific position where the first truss 12 moves to the first guiding bracket 10). The target position information is: when the grasping device corresponding to the first truss 12 is currently performing the task of grasping goods, the target position information is the position where the goods to be grasped in the current task are located; when the grasping device corresponding to the first truss 12 is currently performing the task of transporting the grasped goods to the shelf, the target position information is the position where the shelf is located.

[0064] Specifically, the motion modes include an approaching mode, a departing mode, and a stationary mode. Among them, the stationary mode refers to being in a stationary state. For example, the first truss 12 is currently in a stationary state, and the second truss 13 is currently in a stationary state.

[0065] Specifically, taking Figure 1 the shown common-rail double truss as an example, the determination methods of the approaching mode and the departing mode can be: the approaching mode is the movement mode of gradually approaching the reference object 14, and the departing mode is the movement mode of gradually moving away from the reference object 14. When the reference object 14 is different, the specific manifestation forms of the approaching mode and the departing mode are also different. For example, Figures 3 - 5 as shown: the common-rail double truss further includes a plurality of fixing rods 15. The plurality of fixing rods 15 are fixed below the first guiding bracket and the second guiding bracket. The length extension direction of the fixing rod 15 is perpendicular to both the length extension direction of the first guiding bracket and the length extension direction of the first truss 12. Among them, when the fixing rod 15 located in the middle position is used as the reference object 14, the specific manifestation forms of the departing mode and the approaching mode of the first truss 12 and the second truss 13 are as Figure 3 shown. When the fixing rod 15 located at the left end position is used as the reference object 14, the specific manifestation forms of the departing mode and the approaching mode of the first truss 12 and the second truss 13 are as Figure 4 shown. When the fixing rod 15 located at the right end position is used as the reference object 14, the specific manifestation forms of the departing mode and the approaching mode of the first truss 12 and the second truss 13 are as Figure 5 shown.

[0066] Step S20: Determine whether the two trusses will interfere and collide according to the movement modes and the current working states of the two trusses; when it is determined that the two trusses will interfere and collide, execute Step S30; when it is determined that the two trusses will not interfere and collide, execute Step S40.

[0067] Step S30: When it is determined that the two trusses interfere and collide, adjust the working state of at least one of the two trusses according to the current working states of the two trusses.

[0068] Specifically, taking Figure 1 the shown common-rail double truss as an example, the working state can include: target position information, movement speed; when the first truss 12 and the second truss 13 will interfere and collide, adjust the working state of the first truss 12 and / or the second truss 13. For example, adjust the movement speed of the first truss 12 and / or the second truss 13 to 0 (i.e., stationary), or adjust the target position information of the first truss 12 and / or the second truss 13.

[0069] That is, when the first truss 12 and the second truss 13 will interfere and collide, adjust the working state of one of the two trusses or both trusses in real time, so that the first truss 12 and the second truss 13 will not interfere and collide, enabling both the first truss 12 and the second truss 13 to operate simultaneously without collision, and improving the operation efficiency of the double-truss system.

[0070] Step S40: Keep the two trusses working in the current working state.

[0071] That is, when it is determined that the two trusses will not interfere or collide, there is no need to adjust the motion state of any one of the trusses, and the task is continued with the original motion speed and target position information.

[0072] The avoidance control method of the common rail multi-truss system provided by this application determines the motion mode in real time according to the current working states of two adjacent trusses during the operation of multiple trusses, and determines whether the two trusses will interfere or collide according to the motion mode and the current working states. When the two trusses will not interfere or collide, keep the current motion state and continue to work. When they will interfere or collide, adjust the working state of at least one of the two trusses so that the two trusses can operate simultaneously without collision, improving the operation efficiency of the multi-truss system.

[0073] Since multiple trusses can move along the length directions of the first guiding bracket 10 and the second guiding bracket 11, during the movement of multiple trusses, the avoidance between the entire common rail multi-trusses can be adjusted by adjusting the avoidance between two adjacent trusses. The following takes Figure 1 the shown common rail double trusses as an example to introduce in detail the avoidance control method of the two trusses in the common rail double trusses. When the multi-trusses include at least 3 trusses, the avoidance control method between two adjacent trusses is the same as that of the two trusses in the common rail double trusses.

[0074] In a possible implementation manner, as Figure 6 shown, the specific determination method of the motion modes of the two trusses can be determined through the following method: that is, step S10 (determine the motion modes of the two trusses according to the current working states of the two trusses) specifically includes the following steps:

[0075] Step S101: Determine the current distance between the truss and the reference object 14 according to the current position information of the truss on the guiding bracket at the current moment;

[0076] The position information of the truss on the guiding bracket can be detected by a position sensor arranged on the truss.

[0077] Step S102: Determine the reference distance between the truss and the reference object 14 according to the reference position information of the truss on the guiding bracket at the previous moment, where the time duration between the previous moment and the current moment is equal to the detection period of the position sensor;

[0078] For example, if the detection period of the position sensor is 1 second, then the reference position information at the previous moment is the reference position information of the truss on the guiding bracket 1 second ago.

[0079] Set the time interval as the detection period of the position sensor. Since the time interval of the position sensor is often in seconds, such as 1 second, 0.5 second, etc., within a detection period, the truss will not complete an execution task, and the moving distance will not be too far. Therefore, the accuracy of motion mode judgment is increased.

[0080] Step S103: Determine whether the current distance is equal to the reference distance;

[0081] When the judgment result in step S103 is yes, that is, when the current distance is equal to the reference distance, it indicates that there is no change in the distance of the truss relative to the reference object 14, that is, the truss is stationary at this time, that is, the motion mode of the truss is the stationary mode, and execute step S104.

[0082] When the judgment result in step S103 is no, it indicates that the distance between the truss and the reference object 14 is gradually changing. Therefore, execute step S105.

[0083] Step S105: Determine whether the current distance is greater than the reference distance;

[0084] When the judgment result in step S105 is yes, that is, when the current distance is greater than the reference distance, it indicates that the truss is gradually moving away from the reference object 14, that is, the motion mode of the truss is the away mode, and execute step S106.

[0085] When the judgment result in step S105 is no, that is, when the current distance is less than the reference distance, it indicates that the truss is gradually approaching the reference object 14, that is, the motion mode of the truss is the approaching mode, and execute step S107.

[0086] Step S106: Determine that the motion mode of the truss is the away mode.

[0087] Step S107: Determine that the motion mode of the truss is the approaching mode.

[0088] In another possible implementation, as Figure 7 shown, the specific determination method of the motion modes of two trusses can also be determined by the following method: that is, step S10 (determine the motion modes of two trusses according to the current working states of the two trusses) specifically includes the following steps:

[0089] Step S11: Construct a plane coordinate system with the center point on the length direction of the guiding bracket as the origin O. As Figure 8 shown, the Y-axis of the plane coordinate system is parallel to the length of the guiding bracket, and the X-axis of the plane coordinate system is parallel to the length of the truss; the positive Y-axis is to the right end of the origin O, and the negative Y-axis is to the left end of the origin O.

[0090] The reference object 14 mentioned above is the center point O. At the same time, when a fixed rod 15 is exactly fixed below the center point, the fixed rod 15 can also be the reference object 14.

[0091] Step S12: Determine whether the current speed of the truss is 0. When the current speed of the truss is 0, it indicates that the motion mode of the truss is the stationary mode. Then execute Step S13.

[0092] Specifically, the motion speed of the truss can be detected by a speed sensor set on the truss.

[0093] Step S13: Determine that the motion mode of the truss is the stationary mode;

[0094] When the judgment in Step S12 is not 0, it indicates that the truss is in motion. Execute Step S14.

[0095] Step S14: Obtain the current coordinate information of the truss on the guiding bracket and the target coordinate information of the truss;

[0096] The current coordinate information specifically refers to the current Y-axis coordinate information of the truss on the guiding bracket.

[0097] Specifically, the current coordinate information of the truss on the guiding bracket can be determined as follows: Install a position sensor on the truss. When the truss moves on the guiding bracket, the position sensor detects the current position information of the truss on the guiding bracket in real time, and then uses the coordinate system to convert the current position information to determine the current coordinate information of the truss.

[0098] Step S15: Determine whether both the target coordinate information and the current coordinate information of the truss are on the positive Y-axis or the negative Y-axis;

[0099] When the judgment result of Step S15 is yes, that is, both the target coordinate information and the current coordinate information of the truss are on the positive Y-axis or the negative Y-axis, that is, the target coordinate information and the current coordinate information of the truss are both on the same side of the origin O. At this time, the motion mode of the truss can be judged according to the magnitudes of the target coordinate information and the current coordinate information. Then execute Steps S16 - S18.

[0100] When the judgment result of Step S15 is no, that is, the target coordinate information and the current coordinate information of the truss are respectively on the positive Y-axis and the negative Y-axis. At this time, when the truss is performing a task, the truss will gradually approach the origin O, that is, the current motion mode of the truss is the approaching mode. Then execute Step S18. However, when the truss is performing a task, after the truss approaches the origin O, it will gradually move away from the origin O. For example, Figure 9As shown, the current coordinate information of the first truss 12 is located on the negative Y-axis, and the target coordinate information is located on the positive Y-axis. At this time, for the first truss 12 to complete the task, it needs to approach the origin O. Therefore, the current motion mode of the first truss 12 is the approaching mode. However, during the process of the first truss 12 continuing to execute the task, after the first truss 12 gradually approaches the origin O and then gradually moves away from the origin O, that is, when the first truss 12 moves to the right end of the origin O, the motion mode of the first truss 12 is the departing mode, as Figure 10 shown.

[0101] Step S16: Determine whether the absolute value of the target coordinate information is greater than the absolute value of the current coordinate information;

[0102] When the judgment result of step S16 is yes, that is, the target coordinate information is farther from the origin O relative to the current coordinate information, the truss will move away from the origin O. Therefore, the motion mode of the truss is the departing mode, that is, execute step S17.

[0103] When the judgment result of step S16 is no, that is, the target coordinate information is closer to the origin O relative to the current coordinate information, the truss will approach the origin O. Therefore, the motion mode of the truss is the approaching mode, that is, execute step S18.

[0104] Step S17: Determine that the motion mode of the truss is the departing mode;

[0105] Step S18: Determine that the motion mode of the truss is the approaching mode;

[0106] For example Figure 8 shown, both the target coordinate information and the current coordinate information of the first truss 12 are located on the negative Y-axis, and the absolute value of the target coordinate information is greater than the absolute value of the current coordinate information. Therefore, the motion mode of the first truss 12 is the departing mode.

[0107] Both the target coordinate information and the current coordinate information of the second truss 13 are located on the positive Y-axis, and the absolute value of the target coordinate information is less than the absolute value of the current coordinate information. Therefore, the motion mode of the second truss 13 is the approaching mode.

[0108] It should be noted that during the process of a truss executing a task, there is not only one motion mode. The motion mode of the truss is determined by the current position, the reference object 14, and the target position, as Figure 8 and Figure 9 shown.

[0109] In a possible implementation manner, when using Figure 7After determining the motion modes of the first truss 12 and the second truss 13 by the method of determining the motion mode of the truss shown, it is judged whether there will be an interference collision between the first truss 12 and the second truss 13. And if an interference collision occurs, the following specific control methods can be adopted:

[0110] (1) As Figure 11 shown, step S20 (determining whether there will be an interference collision between two trusses based on the motion modes and current working states of the two trusses) may specifically include the following steps:

[0111] Step S201: Determine that the motion mode of the first truss 12 is the approaching mode and the motion mode of the second truss 13 is the stationary mode;

[0112] Step S202: Judge whether the target coordinate information Y4 of the first truss 12 is greater than the current coordinate information Y2 of the second truss 13;

[0113] When the judgment result of step S202 is yes, as Figure 12 shown, that is, the target coordinate information Y4 of the first truss 12 is greater than the current coordinate information Y2 of the second truss 13, which means that the destination of the first truss 12 is located at the right end of the second truss 13. Therefore, there will be an interference collision between the first truss 12 and the second truss 13, and then step S203 is executed.

[0114] When the judgment result of step S202 is no, as Figure 13 shown, that is, the target coordinate information Y4 of the first truss 12 is less than or equal to the current coordinate information Y2 of the second truss 13, and step S204 is executed.

[0115] Step S203: Determine that there will be an interference collision between the first truss 12 and the second truss 13;

[0116] Step S204: Judge whether the absolute value of the difference between the target coordinate information Y4 of the first truss 12 and the current coordinate information Y2 of the second truss 13 is less than the preset safety distance; that is, judge whether the distance l2 between the position of the target coordinate information of the first truss 12 and the position of the current coordinate information of the second truss 13 is less than the preset safety distance L.

[0117] When the judgment result of step S204 is yes, that is, the absolute value of the difference between the target coordinate information Y4 of the first truss 12 and the current coordinate information Y2 of the second truss 13 is less than the preset safety distance, that is, l2 < L, it means that although the first truss 12 will not pass through the current position of the second truss 13 during the process of moving to the destination, because the distance between the destination area of the first truss 12 and the current position of the second truss 13 is less than the preset safety distance. Therefore, due to the inertia when the first truss 12 moves, when the first truss 12 reaches the destination, it is still possible to interfere and collide with the second truss 13. Therefore, it is determined that the first truss 12 and the second truss 13 will interfere and collide, that is, step S203 is executed.

[0118] When the judgment result of step S204 is no, that is, the absolute value of the difference between the target coordinate information Y4 of the first truss 12 and the current coordinate information Y2 of the second truss 13 is greater than or equal to the preset safety distance, that is, l2 ≥ L, it means that even if there is inertia when the first truss 12 moves, when the first truss 12 reaches the destination, there is still enough distance for buffering. Therefore, the first truss 12 and the second truss 13 will not interfere and collide, that is, step S205 is executed.

[0119] Step S205: Determine that the first truss 12 and the second truss 13 will not interfere and collide.

[0120] When step S203 determines that the first truss 12 and the second truss 13 will interfere and collide, step S30 (regulating the working state of at least one of the two trusses according to the current working states of the two trusses) specifically includes the following steps:

[0121] Step S301: Regulate the second truss 13 to move to the regulated coordinate information, and the absolute value of the difference between the regulated coordinate information Y3 and the target coordinate information Y4 of the first truss 12 is greater than or equal to the preset safety distance;

[0122] That is, as Figure 12 and Figure 13 shown, the distance l1 between the regulated coordinate information and the target coordinate information is greater than or equal to the preset safety distance L.

[0123] Since the second truss 13 is in the stationary mode, therefore, the second truss 13 executes a specific avoidance method, retreating to the regulated coordinate information to give the first truss 12 enough operating space, so that the first truss 12 will not interfere and collide with the second truss 13 during the process of executing the task, and maximizing the utilization of the working state of each truss, improving the operating efficiency.

[0124] Step S302: Regulate the first truss 12 to continue moving at the current motion state, that is, the first truss 12 continues to move to the destination at the original motion speed.

[0125] (2) As Figure 14 shown, step S20 (determining whether the two trusses will interfere and collide based on the motion modes and current working states of the two trusses) may specifically include the following steps:

[0126] Step S21: Determine that the motion mode of the first truss 12 is the approaching mode, and the motion mode of the second truss 13 is the departing mode;

[0127] Step S22: Judge whether the target coordinate information Y4 of the first truss 12 is less than the target coordinate information Y5 of the second truss 13;

[0128] When the judgment result of step S22 is yes, that is, Y4 < Y5, as Figure 15 shown; execute step S23.

[0129] When the judgment result of step S22 is no, that is, Y4 ≥ Y5, as Figure 16 shown, that is, the first truss 12 will pass through the destination of the second truss 13 during the task execution. At this time, it is determined that the first truss 12 and the second truss 13 will interfere and collide, that is, execute step S24.

[0130] Step S23: Judge whether the absolute value of the difference between the target coordinate information of the first truss 12 and the target coordinate information of the second truss 13 is less than the preset safety distance;

[0131] When the judgment result in step S23 is yes, that is, |Y4 - Y5| = l3 < L, that is, when the first truss 12 and the second truss 13 execute tasks normally, since both the first truss 12 and the second truss 13 have inertia during the motion process, therefore, even when the first truss 12 and the second truss 13 reach the destination, they will still interfere and collide due to each other's inertia. Therefore, execute step S24.

[0132] When the judgment result in step S23 is no, that is, |Y4 - Y5| ≥ L, that is, when the first truss 12 and the second truss 13 execute tasks normally, even though both the first truss 12 and the second truss 13 have inertia during the motion process, when the first truss 12 and the second truss 13 reach the destination, there is enough buffer space. Therefore, the first truss 12 and the second truss 13 will not interfere and collide, and execute step S25.

[0133] Step S24: Determine that the first truss 12 and the second truss 13 will interfere and collide.

[0134] Step S25: Determine that the first truss 12 and the second truss 13 will not interfere and collide.

[0135] When it is determined in step S24 that the first truss 12 and the second truss 13 will interfere and collide, step S30 (regulating the motion state of at least one of the two trusses according to the current working states of the two trusses) specifically includes the following steps:

[0136] Step S31: Regulate the first truss 12 to move to the regulation coordinate information Y3, where the regulation coordinate information Y3 is less than the target coordinate information Y5 of the second truss 13, that is, Y3 < Y5, and the absolute value of the difference between the regulation coordinate information Y3 and the target coordinate information Y5 of the second truss 13 is greater than or equal to the preset safety distance L, that is, |Y3 - Y5| = l1 ≥ L, as Figure 15 And Figure 16 shown;

[0137] That is, when the first truss 12 and the second truss 13 will interfere and collide, first regulate the first truss 12 to move to the regulation coordinate information first.

[0138] Step S32: When the first truss 12 moves to the regulation coordinate information Y3, regulate the moving speed of the first truss 12 to 0;

[0139] Step S33: Regulate the second truss 13 to continue moving to the target coordinate information Y5 of the second truss 13;

[0140] Step S34: When the second truss 13 continues to move to the target coordinate information Y5 of the second truss 13, regulate the moving speed of the second truss 13 to 0; and

[0141] Step S35: Regulate the first truss 12 to continue moving.

[0142] (3) As Figure 17 shown, step S20 (determining whether the two trusses will interfere and collide according to the motion modes and current working states of the two trusses) specifically may include the following steps:

[0143] Step S26: Determine that the motion mode of the first truss 12 is the approaching mode, and the motion mode of the second truss 13 is the approaching mode;

[0144] That is, the moving directions of the first truss 12 and the second truss 13 are the same.

[0145] Step S27: Judge that the absolute value of the difference between the target coordinate information Y4 of the first truss 12 and the target coordinate information Y5 of the second truss 13 is less than the preset safety distance L;

[0146] As Figure 18As shown, when the judgment result of step S27 is yes, that is, |Y4 - Y5| = l3 < L, after the first truss 12 and the second truss 13 reach their respective movement destinations, due to insufficient safety distance, the first truss 12 and the second truss 13 will still interfere and collide, so step S28 is executed.

[0147] When the judgment result of step S27 is no, that is, |Y4 - Y5| = l3 ≥ L, after the first truss 12 and the second truss 13 reach their respective movement destinations, due to sufficient safety distance, the first truss 12 and the second truss 13 will not interfere and collide, so step S29 is executed.

[0148] Step S28: Determine that the first truss 12 and the second truss 13 will interfere and collide.

[0149] Step S29: Determine that the first truss 12 and the second truss 13 will not interfere and collide.

[0150] When it is determined that the first truss 12 and the second truss 13 will interfere and collide, step S30 (regulating the movement state of at least one of the two trusses according to the current working states of the two trusses) specifically includes the following steps:

[0151] Step S36: Determine the absolute value of the first movement distance L1 according to the current coordinate information Y1 of the first truss 12 and the target coordinate information Y4 of the first truss 12;

[0152] Step S37: Determine the absolute value of the second movement distance L2 according to the current coordinate information Y2 of the second truss 13 and the target coordinate information Y5 of the second truss 13;

[0153] Step S38: Judge whether the first movement distance is less than the second movement distance;

[0154] When the judgment result of step S38 is yes, that is, the first movement distance is less than the second movement distance, that is, L1 < L2, execute steps S39 - S391.

[0155] When the judgment result of step S38 is no, that is, the first movement distance is greater than or equal to the second movement distance, that is, L1 > L2, execute step S392.

[0156] Step S39: Regulate the first truss 12 to continue moving in the approaching movement mode to the target coordinate information of the first truss 12;

[0157] Step S391: Regulate the second truss 13 to continue moving to the regulated coordinate information Y3 and then stop. The absolute value of the difference between the regulated coordinate information Y3 of the second truss 13 and the target coordinate information Y4 of the first truss 12 is greater than or equal to the preset safety distance L, that is, |Y4 - Y3| = l1 ≥ L, as Figure 18as shown

[0158] After the first truss 12 reaches the destination, the first truss 12 stops, and then the second truss 13 moves to the destination according to the regulated coordinate information Y3.

[0159] Step S392: Regulate the first truss 12 to continue moving to the regulated coordinate information Y3 and then stop, and regulate the second truss 13 to continue moving to the target coordinate information of the second truss 13.

[0160] That is, determine which of the first truss 12 and the second truss 13 is closer to the destination. The truss farthest from the destination executes avoidance first, moves to the regulated coordinate information and stops first, and the truss closest to the destination moves to the destination first.

[0161] Exemplary Device

[0162] As the second aspect of the present application, the present application also provides an avoidance control device for a common rail multi-truss system, as Figure 19 shown. The avoidance control device 300 includes:

[0163] A motion mode determination unit 400, configured to determine the motion modes of two adjacent trusses among multiple trusses according to the current working states of the two trusses. The motion modes include a far-away mode, a close mode, and a stationary mode. The current working states include the current motion state and the target position information. The current motion state includes the current motion speed and the current position information on the guiding bracket. That is, the motion mode determination unit 400 is configured to execute step S10 in the above avoidance control method.

[0164] A judgment unit 500, configured to determine whether the two trusses will interfere and collide according to the motion modes of the two trusses and the current working states. That is, the judgment unit 500 is configured to execute step S20 in the above avoidance control method.

[0165] A regulation unit 700, configured to, when it is determined that the two trusses interfere and collide, regulate the motion state of at least one of the two trusses according to the current working states of the two trusses. That is, the regulation unit 700 is configured to execute step S30 in the above avoidance control method.

[0166] The avoidance control device for the common rail multi-truss system provided by the present application, during the operation of the multi-truss, determines the motion mode in real time according to the current working states of two adjacent trusses among the multi-trusses, and determines whether the two trusses will interfere and collide according to the motion mode and the current working states. When the two trusses will not interfere and collide, maintain the current motion state and continue to work. When they will interfere and collide, regulate the working state of at least one of the two trusses, so that the two trusses can operate simultaneously without collision, improving the operation efficiency of the multi-truss system.

[0167] Exemplary System

[0168] As a third aspect of the present application, the present application further provides a common-rail multi-truss system, including:

[0169] A common-rail multi-truss, which includes: two guiding brackets arranged in parallel; two pairs of mutually parallel trusses, the included angle between the guiding bracket and the truss is greater than 0; and a motion component, through which the truss can move along the length direction of the two guiding brackets;

[0170] A position sensor, which is used to detect the position information of the truss on the guiding bracket;

[0171] A speed sensor, which is used to detect the moving speed of the truss on the guiding bracket;

[0172] A motion controller, which is used to control the working state of the truss on the guiding bracket; and

[0173] The avoidance control device of the above-mentioned common-rail multi-truss system;

[0174] Wherein, the avoidance control device of the common-rail multi-truss system is respectively communicatively connected to the position sensor, the speed sensor and the motion controller, and the avoidance control device of the common-rail multi-truss system is used for the avoidance control method of the above-mentioned common-rail multi-truss system.

[0175] Specifically, the number of trusses included in the common-rail multi-truss included in the common-rail multi-truss system can be 2 or 3.

[0176] Specifically, as Figure 20 shown, the common-rail multi-truss system includes a common-rail multi-truss, that is, the common-rail multi-truss system is a common-rail double-truss system. As Figure 20 shown, the common-rail double-truss system includes:

[0177] Figure 1 The common-rail double-truss 1 shown, the common-rail double-truss includes two first guiding brackets 10 and a second guiding bracket 11 arranged in parallel; two mutually parallel first trusses 12 and a second truss 13, the included angle between the first guiding bracket 10 and the first truss 12 is greater than 0. Optionally, the included angle between the first guiding bracket 10 and the first truss 12 is 90 degrees, that is, the first guiding bracket 10 and the first truss 12 are perpendicular to each other; a motion component, through which the first truss 12 and the second truss 13 can both move along the length direction of the first guiding bracket 10;

[0178] Position sensors 20, with one position sensor 20 respectively provided on the first truss 12 and the second truss 13. The position sensors 20 are used to detect the position information of the first truss 12 and the second truss 13 on the first guiding bracket 10;

[0179] Speed sensors 21, with one speed sensor 21 respectively provided on the first truss 12 and the second truss 13. The speed sensors 21 are used to detect the moving speeds of the first truss 12 and the second truss 13 on the first guiding bracket 10;

[0180] A motion controller 800, which is used to control the working states of the first truss 12 and the second truss 13 on the first guiding bracket 10; and

[0181] The avoidance control device 300 of the common rail multi-truss system described above;

[0182] Among them, the avoidance control device 300 of the common rail multi-truss system is communicatively connected to the position sensors 20, the speed sensors 21, and the motion controller 800 respectively.

[0183] Exemplary Electronic Device

[0184] Next, refer to Figure 21 to describe the electronic device according to an embodiment of the present application. Figure 21 The following shows a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0185] As Figure 21 shown, the electronic device 600 includes one or more processors 601 and a memory 602.

[0186] The processor 601 can be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or information execution capabilities, and can control other components in the electronic device 600 to perform desired functions.

[0187] The memory 601 can include one or more computer program products, and the computer program products can include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory can include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory can include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program information can be stored on the computer-readable storage media, and the processor 601 can run the program information to implement the avoidance control method of the common rail multi-truss system of various embodiments of the present application described above or other desired functions.

[0188] In one example, the electronic device 600 may further include: an input device 603 and an output device 604, and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0189] The input device 603 may include, for example, a keyboard, a mouse, and so on.

[0190] The output device 604 may output various information to the outside. The output device 604 may include, for example, a display, a communication network, and remote output devices connected thereto, and so on.

[0191] Of course, for simplicity, Figure 21 only some of the components related to the present application in the electronic device 600 are shown, and components such as a bus, an input / output interface, and so on are omitted. In addition, according to specific application scenarios, the electronic device 600 may further include any other appropriate components.

[0192] In addition to the above methods and devices, embodiments of the present application may also be a computer program product, which includes computer program information, and when the computer program information is run by a processor, the processor is caused to execute the steps in the avoidance control method of the common rail multi-truss system according to various embodiments of the present application described in this specification.

[0193] The computer program product may be written in any combination of one or more programming languages for programming code to perform the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, executed as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0194] Furthermore, embodiments of the present application may also be a computer-readable storage medium, on which computer program information is stored, and when the computer program information is run by a processor, the processor is caused to execute the steps in the avoidance control method of the common rail multi-truss system according to various embodiments of the present application described in this specification.

[0195] The computer-readable storage medium may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0196] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are only examples and not limitations. It cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present application. In addition, the above-disclosed specific details are only for illustrative and easy-to-understand purposes and are not limitations. The above details do not limit the present application to necessarily adopt the above specific details for implementation.

[0197] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present application are only illustrative examples and do not intend to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open-ended words, meaning "including but not limited to", and can be used interchangeably with each other. The word "or" and "and" used herein refer to the word "and / or" and can be used interchangeably with each other, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to" and can be used interchangeably with each other.

[0198] It should also be noted that in the devices, equipment, and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present application.

[0199] The above description of the disclosed aspects enables any person skilled in the art to make or use the present application. Various modifications to these aspects are very obvious to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the broadest scope consistent with the principles and novel features invented herein.

[0200] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent substitutions, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A avoidance control method for a common-rail multi-truss system, applicable to a common-rail multi-truss, the common-rail multi-truss comprising: Two parallel guide brackets and multiple mutually parallel trusses, and the multiple trusses can move along the length direction of the two guide brackets; characterized in that the avoidance control method includes: Determine the movement modes of two adjacent trusses among the multiple trusses according to the current working states of the two adjacent trusses. The movement modes include a separation mode, an approach mode, and a stationary mode. The current working states include target position information, current movement speed, and current position information on the guide bracket. The approach mode is a movement mode of moving towards a reference object, and the separation mode is a movement mode of moving away from the reference object; Determine whether the two trusses will interfere and collide according to the movement modes and current working states of the two trusses; When the two trusses interfere and collide, adjust the working state of at least one of the two trusses according to the current working states of the two trusses; The step of determining the movement modes of two adjacent trusses among the multiple trusses according to the current working states of the two adjacent trusses includes: Construct a plane coordinate system with the center point in the length direction of the guide bracket as the origin. The Y-axis of the plane coordinate system is parallel to the length of the guide bracket, and the X-axis of the plane coordinate system is parallel to the length of the truss. The center point is the reference object; When the current movement speed of the truss is equal to 0, determine that the movement mode of the truss is the stationary mode; When the current movement speed of the truss is greater than 0, obtain the current coordinate information of the truss on the guide bracket and the target coordinate information of the truss; When both the target coordinate information and the current coordinate information of the truss are on the positive Y-axis or the negative Y-axis, and the absolute value of the target coordinate information of the truss is greater than the absolute value of the current coordinate information, determine that the movement mode of the truss is the separation mode; When both the target coordinate information and the current coordinate information of the truss are on the positive Y-axis or the negative Y-axis, and the absolute value of the target coordinate information of the truss is less than the absolute value of the current coordinate information, determine that the movement mode of the truss is the approach mode; When the target coordinate information and the current coordinate information of the truss are on the positive Y-axis and the negative Y-axis respectively, determine that the movement mode of the truss is the approach mode; The two trusses are respectively a first truss and a second truss; Among them, the step of determining whether the two trusses will interfere and collide according to the movement modes and current working states of the two trusses includes: When the movement mode of the first truss is the approach mode, and the movement mode of the second truss is the approach mode, and the absolute value of the difference between the target coordinate information of the first truss and the target coordinate information of the second truss is less than a preset safety distance, determine that the first truss and the second truss will interfere and collide; Among them, when the two trusses interfere and collide, the step of adjusting the working state of at least one of the two trusses according to the current working states of the two trusses includes: Determine the absolute value of the first movement distance based on the current coordinate information and the target coordinate information of the first truss; Determine the absolute value of the second movement distance based on the current coordinate information and the target coordinate information of the second truss; When the absolute value of the first movement distance is less than the absolute value of the second movement distance, control the first truss to continue moving in the approaching motion mode until it reaches the target coordinate information of the first truss; Control the second truss to continue moving to the controlled coordinate information and then stop, where the absolute value of the difference between the controlled coordinate information of the second truss and the target coordinate information of the first truss is greater than or equal to the preset safety distance; When the first truss continues to move in the approaching motion mode until it reaches the target coordinate information of the first truss, control the movement speed of the first truss to be 0, and control the second truss to move from the controlled coordinate information to the target coordinate information of the second truss.

2. The avoidance control method of the common rail multi-truss system according to claim 1, characterized in that Wherein, Determine whether the two trusses will interfere and collide according to the motion modes and current working states of the two trusses, including: When the motion mode of the first truss is the approaching mode, the motion mode of the second truss is the stationary mode, and the target coordinate information of the first truss is greater than the current coordinate information of the second truss, determine that the first truss and the second truss will interfere and collide; or When the motion mode of the first truss is the approaching mode, the motion mode of the second truss is the stationary mode, and the target coordinate information of the first truss is less than the current coordinate information of the second truss, and the absolute value of the difference between the target coordinate information of the first truss and the current coordinate information of the second truss is less than the preset safety distance, determine that the first truss and the second truss will interfere and collide; Wherein, when the two trusses interfere and collide, control the working state of at least one of the two trusses according to the current working states of the two trusses, including: Control the second truss to move to the controlled coordinate information, where the absolute value of the difference between the controlled coordinate information and the target coordinate information of the first truss is greater than or equal to the preset safety distance; and Control the first truss to continue moving in the current working state.

3. The avoidance control method of the common rail multi-truss system according to claim 2, characterized in that Determine whether the two trusses will interfere and collide according to the motion modes and current working states of the two trusses, and also include: When the motion mode of the first truss is the approaching mode, the motion mode of the second truss is the stationary mode, and the target coordinate information of the first truss is less than the current coordinate information of the second truss, and the absolute value of the difference between the target coordinate information of the first truss and the current coordinate information of the second truss is greater than or equal to the preset safety distance, determine that the first truss and the second truss will not interfere and collide.

4. The avoidance control method of the common rail multi-truss system according to claim 1, characterized in that, Wherein, Determine whether the two trusses will interfere and collide according to the motion modes and current working states of the two trusses, including: When the motion mode of the first truss is the approaching mode and the second truss is the departing mode, and the target coordinate information of the first truss is less than that of the second truss, and the absolute value of the difference between the target coordinate information of the first truss and that of the second truss is less than the preset safety distance, it is determined that the first truss and the second truss will have an interference collision; or When the motion mode of the first truss is the approaching mode and the second truss is the departing mode, and the target coordinate information of the first truss is greater than that of the second truss, it is determined that the first truss and the second truss will have an interference collision; Wherein, when an interference collision occurs between the two trusses, the working state of at least one of the two trusses is regulated according to the current working states of the two trusses, including: Regulating the first truss to move to the regulated coordinate information, where the regulated coordinate information is less than the target coordinate information of the second truss, and the absolute value of the difference between the regulated coordinate information and the target coordinate information of the second truss is greater than or equal to the preset safety distance; When the first truss moves to the regulated coordinate information, regulating the moving speed of the first truss to 0; Regulating the second truss to continue moving to the target coordinate information of the second truss; When the second truss continues to move to the target coordinate information of the second truss, regulating the moving speed of the second truss to 0; and Regulating the first truss to continue moving.

5. The avoidance control method for a common-rail multi-truss system according to claim 4, wherein When the motion mode of the first truss is the approaching mode and the second truss is the departing mode, and the target coordinate information of the first truss is less than that of the second truss, and the absolute value of the difference between the target coordinate information of the first truss and that of the second truss is greater than or equal to the preset safety distance, it is determined that the first truss and the second truss will not have an interference collision.

6. The avoidance control method for a common-rail multi-truss system according to claim 1, wherein Determining whether an interference collision will occur between the two trusses according to the motion modes and current working states of the two trusses further includes: When the motion mode of the first truss is the approaching mode and the motion mode of the second truss is the approaching mode, and the absolute value of the difference between the target coordinate information of the first truss and that of the second truss is greater than or equal to the preset safety distance, it is determined that the first truss and the second truss will not have an interference collision.

7. A common rail multi-truss system, characterized in that, including: A common-rail multi-truss, the common-rail multi-truss includes: two parallel guiding brackets; multiple mutually parallel trusses, the angle between the guiding bracket and the truss is greater than 0; and a motion component, through the motion component, the truss can move along the length direction of the two guiding brackets; A position sensor, the position sensor is used to detect the position information of the truss on the guiding bracket; A speed sensor, the speed sensor is used to detect the moving speed of the truss on the guiding bracket; A motion controller for controlling the working state of the truss on the guiding bracket; and An avoidance control device for a common-rail multi-truss system; Wherein, the avoidance control device of the common-rail multi-truss system is respectively communicatively connected to the position sensor, the speed sensor and the motion controller, and the avoidance control device of the common-rail multi-truss system is configured to execute the avoidance control method of the common-rail multi-truss system according to any one of claims 1-6.

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