A control method, system and device for preventing collision of two co-directional movers

Abstract

The present application discloses a control method, system and device for anti-collision of dual movers in the same direction, which is used for anti-collision control of working movers moving in the same direction on a production line of dual movers in the same direction. The method of the present application includes: obtaining a first operating parameter and a second operating parameter according to a motion request; determining the motion direction of the first mover according to the current position and target position of the first mover; when the motion direction is close to the second mover, obtaining the working state of the second mover; when the working state is in a moving state, calculating the first target distance according to the target position of the second mover and the target position of the first mover; when the working state of the second mover is in a non-moving state, calculating the second target distance according to the current position of the second mover and the target position of the first mover; when the first target distance or the second target distance is less than the safety distance, determining the operation mode according to the motion request, and generating feedback logic according to the operation mode.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of mechanical control, and in particular, to a control method, system, and device for same-direction double-motor anti-collision. Background Art

[0002] "Mover" refers to a mechanical device used to move or manipulate items in the field of industrial automation. In an assembly line or automated equipment, a mover is a component responsible for loading (placing raw materials to the processing location) or unloading (removing processed items from the processing location). In an automated control system, the movement and operation of the mover is usually controlled by a control system such as a PLC (Programmable Logic Controller).

[0003] In the prior art, the factory's automated assembly line usually uses linear motor movers for loading and unloading operations. However, in actual situations, in order to improve production efficiency, the number of loading movers and unloading movers will be increased in some simple work scenarios. Due to changes in product volume or shape, there is still a need for human intervention to operate the movers for loading / unloading for small batches or special-shaped products. In a working environment where there are multiple loading movers in a linear motor, the loading movers may collide due to algorithm conflicts in the target workstations obtained by different loading movers or human operational errors, thereby causing the production line to stagnate. Summary of the invention

[0004] In order to solve the above technical problems, the present application provides a control method, system and device for anti-collision of two movers in the same direction, which are used to perform anti-collision control on two movers moving in the same direction on a production line of two movers in the same direction.

[0005] The technical solution provided in this application is described below:

[0006] In a first aspect, the present application provides a control method for preventing collisions of two movers in the same direction, comprising:

[0007] Acquire a motion request, where the motion request is a motion request for controlling the first mover and the second mover;

[0008] Acquire a first operating parameter of the first mover and a second operating parameter of the second mover according to the motion request, wherein the first operating parameter and the second operating parameter include parameters of a current position, a motion state, and a target position of the corresponding mover;

[0009] determining a moving direction of the first mover according to a current position of the first mover and a target position of the first mover;

[0010] When the movement direction of the first mover is close to the second mover, obtaining the working state of the second mover according to the second operating parameter;

[0011] When the working state of the second mover is in a moving state, calculating a first target distance according to a target position of the second mover and a target position of the first mover;

[0012] When the first target distance is less than the safety distance, determining an operation mode according to the motion request, and generating feedback logic according to the operation mode, so that the first mover is at the safety distance with the second mover when reaching the target position, the operation mode including an automatic mode and a manual mode;

[0013] When the working state of the second mover is in a non-moving state, calculating a second target distance according to the current position of the second mover and the target position of the first mover;

[0014] When the second target distance is less than the safety distance, the operation mode is determined according to the motion request, and feedback logic is generated according to the operation mode, so that the first mover is at the safety distance with the second mover when reaching the target position.

[0015] Optionally, generating feedback logic according to the operation mode includes:

[0016] When the operation mode is the automatic mode, pausing the motion state of the first mover and activating a timer;

[0017] Calculating a safe position of the second mover according to a target position and a safe distance of the first mover;

[0018] Circularly acquiring the current target position of the second mover, and determining whether the current target position is greater than the safety position;

[0019] If yes, the motion state of the first mover is restored;

[0020] If not, a reminder is generated when the timer expires.

[0021] Optionally, generating feedback logic according to the operation mode includes:

[0022] When the operation mode is the manual mode, the motion state of the first mover is stopped, and an abnormal alarm is activated, so that an operator adjusts the operation parameters of the first mover according to the abnormal alarm.

[0023] Optionally, determining the movement direction of the first mover according to the current position of the first mover and the target position of the first mover includes:

[0024] When the target position of the first mover is smaller than the current position of the first mover, the movement direction of the first mover is to move toward the starting end of the working track;

[0025] When the target position of the first mover is greater than the current position of the first mover, the movement direction of the first mover is to move toward the end of the working track.

[0026] Optionally, after determining the movement direction of the first mover according to the current position of the first mover and the target position of the first mover, the method further includes:

[0027] Acquiring the relative position of the first mover and the second mover;

[0028] When the relative position of the first mover and the second mover is that the first mover is close to the starting end of the working track and the movement direction is that the first mover moves toward the starting end of the working track, the movement direction is determined to be that the first mover moves away from the second mover;

[0029] When the relative position of the first mover and the second mover is that the first mover is close to the end of the working track and the movement direction is that the first mover moves toward the end of the working track, the movement direction is determined to be that the first mover moves away from the second mover.

[0030] Optionally, when the relative position of the first mover and the second mover is that the first mover is close to the end of the working track and the movement direction is that the first mover moves toward the end of the working track, after determining that the movement direction is that the first mover moves away from the second mover, the method further includes:

[0031] When the moving direction is that the first mover moves away from the second mover, it is determined that the first mover and the second mover are in a safe state.

[0032] Optionally, after obtaining the motion request, the method further includes:

[0033] A coordinate rule is obtained, where the coordinate rule is used to quantify operating parameters of the first mover and the second mover on a motion track.

[0034] The second aspect of the present application provides a control system for co-directional double-motor anti-collision, comprising:

[0035] A first acquisition unit, used for acquiring a motion request, wherein the motion request is a motion request for controlling the first mover and the second mover;

[0036] A second acquisition unit, configured to acquire a first operating parameter of the first mover and a second operating parameter of the second mover according to the motion request, wherein the first operating parameter and the second operating parameter include parameters including a current position, a motion state, and a target position of the corresponding mover;

[0037] a first determining unit, configured to determine a moving direction of the first mover according to a current position of the first mover and a target position of the first mover;

[0038] a third acquisition unit, configured to acquire a working state of the second mover according to the second operating parameter when the moving direction of the first mover is close to the second mover;

[0039] a first calculation unit, configured to calculate a first target distance according to a target position of the second mover and a target position of the first mover when the working state of the second mover is in a moving state;

[0040] a second determining unit, configured to determine an operation mode according to the motion request when the first target distance is less than a safety distance, and generate feedback logic according to the operation mode so that the first mover is at the safety distance with the second mover when the first mover reaches a target position, the operation mode comprising an automatic mode and a manual mode;

[0041] a second calculation unit, configured to calculate a second target distance according to a current position of the second mover and a target position of the first mover when the working state of the second mover is in a non-moving state;

[0042] The third determination unit is used to determine the operation mode according to the motion request when the second target distance is less than the safety distance, and generate feedback logic according to the operation mode so that the first mover is at the safety distance with the second mover when reaching the target position.

[0043] Optionally, the second determining unit and the third determining unit are further configured to:

[0044] When the operation mode is the automatic mode, pausing the motion state of the first mover and activating a timer;

[0045] Calculating a safe position of the second mover according to a target position and a safe distance of the first mover;

[0046] Circularly acquiring the current target position of the second mover, and determining whether the current target position is greater than the safety position;

[0047] If yes, the motion state of the first mover is restored;

[0048] If not, a prompt is generated when the timer is completed. If not, an abnormal alarm is executed when the abnormal alarm is completed.

[0049] Optionally, the second determining unit and the third determining unit are further configured to:

[0050] When the operation mode is the manual mode, the motion state of the first mover is stopped, and an abnormal alarm is activated, so that an operator adjusts the operation parameters of the first mover according to the abnormal alarm.

[0051] Optionally, the first determining unit is further configured to:

[0052] When the target position of the first mover is smaller than the current position of the first mover, the movement direction of the first mover is to move toward the starting end of the working track;

[0053] When the target position of the first mover is greater than the current position of the first mover, the movement direction of the first mover is to move toward the end of the working track.

[0054] Optionally, the system further includes:

[0055] A third acquisition unit, used to acquire the relative position of the first mover and the second mover;

[0056] A first direction determining unit, configured to determine that the moving direction is that the first mover moves away from the second mover when the relative position of the first mover and the second mover is that the first mover is close to the starting end of the working track and the moving direction is that the first mover moves toward the starting end of the working track;

[0057] The second direction determining unit is used to determine that the moving direction is that the first mover is away from the second mover when the relative position of the first mover and the second mover is that the first mover is close to the end of the working track and the moving direction is that the first mover moves toward the end of the working track.

[0058] Optionally, the system further includes:

[0059] A safety state determining unit is used to determine that the first mover and the second mover are in a safety state when the moving direction is that the first mover moves away from the second mover.

[0060] Optionally, the system further includes:

[0061] The fourth acquisition unit is used to acquire a coordinate rule, where the coordinate rule is used to quantify the operation parameters of the first mover and the second mover on the motion track.

[0062] A third aspect of the present application provides a control device for preventing collisions of two movers in the same direction, the device comprising:

[0063] Processor, memory, input-output unit, and bus;

[0064] The processor is connected to the memory, the input and output unit, and the bus;

[0065] The memory stores a program, and the processor calls the program to execute the first aspect and any optional method in the first aspect.

[0066] A fourth aspect of the present application provides a computer-readable storage medium, on which a program is stored. When the program is executed on a computer, the program executes the first aspect and any optional method in the first aspect.

[0067] It can be seen from the above technical solutions that this application has the following advantages:

[0068] The present application sets the control mode and actual position of two movers on the working track, determines the operating parameters of the first mover and the second mover through motion requests, and performs anti-collision calculation on the first mover and the second mover in the working state according to the operating parameters. When the calculated result is that the first mover and the second mover will collide, the working state of the mover is controlled according to the anti-collision logic to avoid collision between the two movers running in the same direction during the working process. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the technical solution in the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0070] Figure 1 A schematic flow chart of an embodiment of a control method for preventing collisions of two movers in the same direction in the present application;

[0071] Figure 2 This is a flow chart of another embodiment of the control method for the same-direction double-motor anti-collision in the present application;

[0072] Figure 3a This is a flow chart of an embodiment of the first stage of the automatic mode in the control method for the same-direction double-motor anti-collision in the present application;

[0073] Figure 3b This is a flow chart of an embodiment of the second stage of the automatic mode in the control method for the same-direction double-motor anti-collision in the present application;

[0074] Figure 4 This is a flow chart of an embodiment of a manual mode in the control method for anti-collision of double movers in the same direction in the present application;

[0075] Figure 5 This is a schematic diagram of the structure of an embodiment of a control system for same-direction double-motor anti-collision in the present application;

[0076] Figure 6 This is a schematic structural diagram of another embodiment of a control system for same-direction double-motor anti-collision in the present application;

[0077] Figure 7 This is a schematic structural diagram of an embodiment of a control device for preventing collisions between two movers in the same direction in the present application;

[0078] Figure 8 This is a schematic diagram of the position of an embodiment of a usage scenario of the control method for anti-collision of dual movers in the same direction in the present application. DETAILED DESCRIPTION

[0079] It should be noted that the control method for the same-direction double-motor anti-collision provided in this application can be applied to a terminal, a system, or a server. For example, the terminal can be a smart phone or a computer, a tablet computer, a smart TV, a smart watch, a portable computer terminal, or a fixed terminal such as a desktop computer. The purpose is to be able to interact with the working mover data and automatically control the working mover. For the convenience of explanation, this application uses the terminal as the execution subject for example.

[0080] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0081] See also Figure 1 The present application first provides an embodiment of a control method for preventing collisions between two co-directional movers, the embodiment comprising:

[0082] S101, obtaining a motion request, where the motion request is a motion request for controlling a first mover and a second mover;

[0083] The motion request is a control instruction sent by the terminal to the first mover and the second mover (hereinafter collectively referred to as the working mover). The terminal obtains or generates the motion request through a specific production task, and controls the working mover through the motion request so that the working mover performs a specific motion. The motion request is usually issued by the operator through the user interface, or automatically generated by the automation control system according to a preset program. The motion request includes commands such as start, stop, accelerate, decelerate, and move to a specific position.

[0084] The working mover is a mechanical component used to perform loading or unloading actions in the automation equipment. The mechanical component includes but is not limited to: a mechanical arm and a material tray, etc. It is a mechanical device that is set on a working track such as a linear motor or a linear conveyor belt mode in the automation production line and completes the loading or unloading action. The following describes this embodiment with a linear motor as the working track. Specifically, the terminal controls the first mover and the second mover through a motion request to move the product from the feeding position to the position of processing, assembly or the next production link.

[0085] The operation mode refers to the way in which the terminal controls the working mover when the working mover performs a task. In this application, the operation mode includes at least an automatic mode and a manual mode. In actual situations, the operation mode also includes a teaching mode and a safety mode.

[0086] The operating parameters are specific parameters used by the terminal to control the working mover to work. In the present application, the number of operating parameters is related to the number of working movers, so that the terminal can accurately control the working mover according to the operating parameters of the corresponding working mover.

[0087] S102, acquiring a first operating parameter of the first mover and a second operating parameter of the second mover according to the motion request, wherein the first operating parameter and the second operating parameter include parameters including a current position, a motion state, and a target position of the corresponding mover;

[0088] In this embodiment, the first operating parameter and the second operating parameter correspond to the operating parameters of the first mover and the second mover respectively. The data contained in the operating parameters include but are not limited to: the current position, motion state and target position of the working mover corresponding to the operating parameters. It should be noted that the target position is only generated when there is a motion demand for the working mover.

[0089] In the present application, the motion request includes a motion generated according to the relative position of the motion unit, the motion units are the first mover and the second mover. In actual practice, the motion unit is arranged on a linear motor and moves with the linear motor as the moving axis. Therefore, the relative position of the first mover and the second mover is fixed, that is, if the first mover is located on the starting side of the second mover close to the working track during assembly, the first mover cannot be moved to the end side of the second mover close to the working track in subsequent work.

[0090] Specifically, the first mover and the second mover are both independent and collaborative, that is, when the terminal processes a motion request, because there are two working movers, the terminal will simultaneously obtain the operating parameters of the two working movers, wherein the trigger condition for the terminal to calculate the safety of the working mover is that the working mover has a motion demand, that is, when the working mover has a motion demand, the terminal will calculate the motion safety of the working mover, and the terminal can perform motion safety calculations on the two working movers simultaneously.

[0091] It should be noted that the working mover can be a loading mover or a unloading mover. In actual situations, the starting and ending points are determined according to the working track, so the coordinate systems of the parameters actually obtained by the loading and unloading movers are the same.

[0092] S103, determining a moving direction of the first mover according to a current position of the first mover and a target position of the first mover;

[0093] Specifically, because the relative positions of the first mover and the second mover on the working track are fixed, in general, the position of the loading mover is set at the starting end of the working track, and the position of the unloading mover is set at the end of the working track. A coordinate system is established by gradually increasing the coordinate values ​​from the starting end to the end end. The coordinate system makes the corresponding information of the current position and target position of the first mover and the second mover obtained by the terminal a quantifiable numerical parameter, thereby enabling the terminal to determine the movement direction of the first mover and the second mover through the current position and the target position.

[0094] S104, when the movement direction of the first mover is close to the second mover, obtaining the working state of the second mover according to the second operating parameter;

[0095] The purpose of this application is to prevent two working movers from colliding with each other in a working environment, but its actual calculation requires occupying the terminal computing power. In order to avoid invalid occupation, after determining the movement direction of the first mover, the terminal will give priority to judging whether the movement direction of the first mover is close to the second mover or away from the second mover. That is, after the terminal calculates the movement direction of the first mover, the terminal will determine the safety state of the movement direction of the first mover based on the movement direction and the relative position of the first mover and the second mover.

[0096] After the terminal determines that the movement direction of the first mover is close to the second mover, the terminal will execute the corresponding calculation logic according to the working state of the second mover. When the second mover is in a moving state, the terminal executes step S105; when the second mover is in a non-moving state, the terminal executes step S107.

[0097] S105, when the working state of the second mover is in a moving state, calculating a first target distance according to a target position of the second mover and a target position of the first mover;

[0098] The second mover is in motion, which means that the operating parameters of the second mover include the target position. The working state of the second mover is in motion, so that the current instruction executed by the second mover is to move to the target position. At this time, the terminal will calculate the distance according to the target position of the first mover and the target position of the second mover, and obtain the position distance when the first mover and the second mover complete this moving action. This position distance is the first target distance.

[0099] In actual usage scenarios, after receiving a motion request, the terminal will start the working actuator corresponding to the operating parameters contained in the motion request. In actual situations, motion requests are generally included in production tasks. As the production progresses, the motion request will use the working rhythm of the working actuator as a cycle, and generate corresponding motion parameters according to different work purposes, so that the terminal can determine the number of working actuators participating in this work based on the motion request. When receiving a production task, the terminal will parse the motion request and activate the working actuators contained in the motion request, so that these working actuators remain powered on during the production task to improve the efficiency of calling the working actuators.

[0100] In an actual production line, the second mover is in motion, which indicates that the current instruction for the second mover is to move to the target position. At this time, the terminal will simultaneously calculate whether a collision will occur when the second mover moves to the target position. Therefore, the terminal will use the target position of the second mover and the target position of the first mover to calculate the target distance in the aforementioned manner, so as to compare the target distance with the safety distance to obtain the result of whether a collision will occur in the process of the second mover moving to the target position. Because the first mover is in a motion state waiting to move to the target position in the aforementioned description, the target position data is also included in the first operating parameter corresponding to the first mover.

[0101] In the above case, the values ​​of the first target distance calculated by the first mover and the second mover are the same, and the main difference is that the calculation subject is the first mover and / or the second mover. When the first target distance is greater than the safety distance, it means that the working mover as the calculation subject will not collide when moving to the target position, and the terminal will control the working mover to perform the moving task so that the working mover under the terminal control state reaches the target position; when the first target distance is less than the safety distance, step S106 is executed.

[0102] S106, when the first target distance is less than the safety distance, determining an operation mode according to the motion request, and generating feedback logic according to the operation mode, so that the first mover is at a safety distance from the second mover when reaching the target position, the operation mode including an automatic mode and a manual mode;

[0103] The safety distance is calculated based on the physical occupancy of the working track under the actual state of the working mover. The physical occupancy refers to the impact of the working mover itself on the movable distance of the working track when it is set on the working track.

[0104] When the target distance calculated by the first mover is less than the safety distance, the terminal will believe that the first mover will collide with the second mover during the execution of the task of moving the first mover to the target position. Therefore, the terminal will warn of the collision according to the operation mode or control the first mover or the second mover to avoid it according to the priority, so that when the first mover moves to the target position, it is within a safe distance from the second mover, ensuring that the two working movers will not collide during this movement.

[0105] S107, when the working state of the second mover is in a non-moving state, calculating a second target distance according to the current position of the second mover and the target position of the first mover;

[0106] The second mover is in a non-moving state, which means that the second mover will stay at the current position until the current task is completed or a work task to move to another workstation is received. That is, the current position of the second mover will not change and there is no movement trend. Therefore, there is no target position in the second motion parameter. Therefore, the current position of the second mover is used to calculate the second target distance.

[0107] According to the above description, the second target distance is the distance between the target position of the first mover and the current position of the second mover. After determining the second target distance, the terminal will use the second target distance to compare with the safety distance, and determine whether the first mover will collide with the second mover in this moving task based on the comparison result. If the second target distance is greater than the safety distance, it means that a collision will occur, and the terminal controls the first mover to perform the moving task and move the first mover to the target position. If the second target distance is less than the safety distance, it means that a collision will occur, and step S108 is executed.

[0108] S108. When the second target distance is less than the safety distance, determine the operation mode according to the motion request, and generate feedback logic according to the operation mode, so that the first mover is at a safety distance from the second mover when reaching the target position.

[0109] Similar to step S106, if the result obtained at the terminal is that the second target distance is less than the safety distance, a corresponding feedback logic will be generated according to the operation mode.

[0110] Specifically, the operation modes include automatic mode and manual mode. In automatic mode, the terminal will fully control the working mover. In contrast, the manual mode is a control mode in which an operator or staff intervenes to generate the operating parameters of the loading mover.

[0111] In addition to the automatic mode and manual mode, the modes frequently used by the working mover in actual use also include the teaching mode and the safety mode. The teaching mode enables the working mover to learn the operator's operating actions and record the motion path, thereby simplifying the working mover action learning mode that simplifies the generation process of manual mode operating instructions; the safety mode is a locking mode that ensures the safety of maintenance personnel and equipment during maintenance.

[0112] In the present application, when the first mover and the second mover exist simultaneously on the production line through the control mode and actual position of the working mover, the operating parameters of the first mover and the second mover are determined through a motion request, and anti-collision calculation is performed during the operation of the first mover and the second mover according to the current position, target position and motion state corresponding to the working mover obtained in the operating parameters. The result of the calculation is the distance between the first mover and the second mover when they stop after performing this action. When the calculated result of the target distance between the working movers is less than the safety distance, the anti-collision logic corresponding to the control mode is determined to avoid collision between the two loading movers running in the same direction during the operation.

[0113] See also Figure 2 , the present application embodiment provides another embodiment of a control method for preventing collision of two movers in the same direction, the embodiment comprising:

[0114] S201, obtaining a motion request, where the motion request is a motion request for controlling a first mover and a second mover;

[0115] Step S201 in this embodiment is similar to step S101 in the aforementioned embodiment, and will not be described in detail here.

[0116] S202, obtaining a coordinate rule, where the coordinate rule is used to quantify the operation parameters of the first mover and the second mover on the motion track;

[0117] The coordinate rule is established based on the working track. In general, the coordinate rule is directly determined by obtaining the moving range of the working mover on the working track, with the starting end of the working track as the minimum value of the coordinate rule and the end of the working track as the maximum value of the coordinate rule, thereby establishing a coordinate system. The coordinate rule corresponding to the coordinate system contains data including the actual moving range of the working mover on the working track and the workstation coordinate data set in the working track.

[0118] In the present application, the working mover includes a first mover and a second mover. In actual situations, the first mover and the second mover must satisfy the premise of moving in the same direction, and on the working track, the relative positions of the working movers cannot be exchanged. Therefore, the minimum value of the coordinate rule is generally the initial standby position of the working mover farthest from the end of the working track, and the maximum value is the maximum distance from the standby position to the end of the moving track of the working mover farthest from the starting end of the working track.

[0119] The interval formed by the maximum and minimum coordinates obtained by the above method is the coordinate rule. The coordinate points within the coordinate rule are compliant coordinates. In the coordinate rule, special coordinates are set according to the working position of the working mover. These coordinates are used to determine the working position of the working mover.

[0120] Specific reference Figure 8 , Figure 8 It describes the standby state and station setting state of the first mover and the second mover on the working track. According to the above description, when the terminal obtains the current operating parameters of the first mover, the current position obtained is the minimum value of the coordinate rule, that is, the beginning of the working track, corresponding to the minimum value of the coordinate rule. The end of the working track is the other end outside the beginning of the working track, but because of the station setting or the physical volume of the working mover itself, the working mover cannot move to the maximum value of the working track in the mathematical sense under the actual working state. Therefore, the maximum value of the coordinate rule can be obtained by slowly moving the second mover to the end to the extreme position and then obtaining the motion parameters of the second mover, and then determining the maximum value of the coordinate rule by the current position of the second mover. After determining the maximum and minimum values, the terminal can calculate the actual range of distance that the working mover can move on the working track, and obtain the specific value of the current position or target position in the motion parameter under the coordinate rule.

[0121] S203, acquiring a first operating parameter of the first mover and a second operating parameter of the second mover according to the motion request, wherein the first operating parameter and the second operating parameter include parameters including a current position, a motion state, and a target position of the corresponding mover;

[0122] Step S203 in this embodiment is similar to step S102 in the above embodiment, and will not be described in detail here.

[0123] S204, when the target position of the first mover is smaller than the current position of the first mover, the movement direction of the first mover is to move toward the starting end of the working track;

[0124] S205 , when the target position of the first mover is greater than the current position of the first mover, the movement direction of the first mover is to move toward the end of the working track.

[0125] According to the description of step S202, in step S204 and step S205, because the coordinate rule determines the maximum and minimum values ​​of the coordinate range, the target position and current position of the first mover can obtain corresponding values ​​according to the coordinate rule. According to the aforementioned setting, the initial position of the working mover in the direction of the starting end of the working track is the minimum value, and the maximum value of the movable limit position of the working mover in the direction of the end of the working track is known. When the target position is greater than the current position, the first mover moves to the end of the working track, and when the target position is less than the current position, the first mover moves to the beginning of the working track.

[0126] S206, obtaining the relative position of the first mover and the second mover;

[0127] The relative positions of the first mover and the second mover on the working track cannot be changed by moving, and when they are in the standby position at the same time, they can only move in the same direction, that is, when the working mover is at the beginning of the working track from the initial standby position, it can only move toward the end of the working track. The relative positions of the first mover and the second mover are fixed during assembly on the production line, so the terminal can directly obtain their relative positions based on the equipment number.

[0128] S207, when the relative position of the first mover and the second mover is that the first mover is close to the starting end of the working track and the moving direction is that the first mover moves toward the starting end of the working track, determining that the moving direction is that the first mover moves away from the second mover;

[0129] The first mover is located on the side of the starting end of the working track, which means that the maximum coordinate value that the first mover can reach in the coordinate rule is the coordinate at the end of the working track minus the volume constant of the second mover minus the safety distance. In the coordinate rule, the coordinate value decreases when the working mover moves toward the starting end, and the second mover must be on the side of the end of the working track. When the first mover moves toward the starting end of the working track, it will definitely move away from the second mover.

[0130] S208, when the relative position of the first mover and the second mover is that the first mover is close to the end of the working track and the moving direction is that the first mover moves toward the end of the working track, determining that the moving direction is that the first mover moves away from the second mover;

[0131] When the first mover is located at one side of the end of the working track, it means that the first mover can reach the maximum value of the coordinate rule in the coordinate rule. When the first mover is located at the end of the second mover, the coordinate value of the first mover increases when it moves toward the end of the working track, and the coordinate of the first mover must be greater than the coordinate of the second mover. Therefore, the first mover will definitely move away from the second mover when it moves toward the end of the working track.

[0132] S209, when the moving direction is that the first mover is away from the second mover, determining that the first mover and the second mover are in a safe state;

[0133] When the terminal determines that the current moving state of the first mover is away from the second mover, the terminal will determine that the moving task of the first mover is safe movement, and will no longer consume computing power for collision calculation, thereby achieving the purpose of reducing computing power requirements.

[0134] S210, when the movement direction of the first mover is close to the second mover, obtaining the working state of the second mover according to the second operating parameter;

[0135] S211, when the working state of the second mover is in a moving state, calculating a first target distance according to a target position of the second mover and a target position of the first mover;

[0136] S212, when the first target distance is less than the safety distance, determining an operation mode according to the motion request, and generating feedback logic according to the operation mode, so that the first mover is at a safety distance from the second mover when reaching the target position, the operation mode including an automatic mode and a manual mode;

[0137] S213, when the working state of the second mover is in a non-moving state, calculating a second target distance according to the current position of the second mover and the target position of the first mover;

[0138] S214. When the second target distance is less than the safety distance, determine the operation mode according to the motion request, and generate feedback logic according to the operation mode, so that the first mover is at a safety distance from the second mover when reaching the target position.

[0139] Steps S210 to S214 in this embodiment are similar to steps S104 to S108 in the aforementioned embodiment, and will not be described in detail here.

[0140] The embodiment of the present application mainly allows the terminal to obtain the relative position of the motion unit and the specific coordinates on the linear motor according to specific numerical values ​​by means of vectorized linear motor coordinates, so that the data obtained by the terminal when obtaining the current position and target position of the motion unit are specific numerical data within the coordinate rules of the vectorized linear motor, so as to reduce the difficulty of data acquisition and improve the computing efficiency of the terminal.

[0141] According to the description of the above steps S106, S108, S212, and S214, the working state of the motion unit includes at least an automatic mode and a manual mode. Figure 3a and Figure 3b The present application provides an embodiment of a method for generating feedback at a terminal in an automatic mode in a control method for preventing collisions between two moving parts in the same direction. The embodiment includes:

[0142] S301, obtaining a motion request, where the motion request is a motion request for controlling a first mover and a second mover;

[0143] S302, acquiring a first operating parameter of the first mover and a second operating parameter of the second mover according to the motion request, wherein the first operating parameter and the second operating parameter include parameters including a current position, a motion state, and a target position of the corresponding mover;

[0144] S303, determining a moving direction of the first mover according to a current position of the first mover and a target position of the first mover;

[0145] S304, when the movement direction of the first mover is close to the second mover, obtaining the working state of the second mover according to the second operating parameter;

[0146] S305, when the working state of the second mover is in a moving state, calculating a first target distance according to a target position of the second mover and a target position of the first mover;

[0147] S306, when the first target distance is less than the safety distance, determining the operation mode according to the motion request;

[0148] Steps S301 to S306 in this embodiment are similar to steps S101 to S106 in the aforementioned embodiment, and will not be described in detail here.

[0149] Specifically, the motion state of the second mover in S304 includes a working state and a non-working state. When the second mover is in the motion state, step S305 is executed, and when the second mover is in the non-motion state, step S312 is executed.

[0150] S307, when the operation mode is the automatic mode, pausing the motion state of the first mover and activating the timer;

[0151] Specifically, in actual situations, the automatic mode can be fully automatically controlled by the terminal. When the target distance calculated by the terminal is less than the safety distance, the terminal will confirm that the motion request executed by the first mover this time will cause a collision with the second mover. At this time, the terminal will control the first mover to suspend its working state and wait for the working state of the second mover to change.

[0152] According to actual conditions, the production equipment will set a basic working rhythm. The working rhythm refers to the maximum execution time of an action when the equipment is performing a working action. The timing duration of the timer is set according to the working rhythm. It should be noted that the timing duration of the timer needs to be greater than the working rhythm, that is, within the timing duration of the timer, the equipment will produce at least one change in working state. When the working state of the equipment changes, a new target position will be generated in the operating parameters. Because the working mover is a mover running in the same direction, under automatic control, the terminal will assign tasks to the working mover according to the relative position, so that the target position generated by the working mover in the actual working state must be a position that can be reached by moving based on the current position of the working mover.

[0153] For example, the minimum value of the coordinate rule is 0 and the maximum value is 10; the first mover is close to the beginning of the working track, and the second mover is close to the end of the working track; the current position coordinate of the first mover is 3, and the target position coordinate is 6; the current position coordinate of the second mover is 7; and the safety distance is 1. In this case, when the target position of the first mover is 6, it will cause the first mover and the second mover to collide. At this time, the terminal controls the first mover to pause to avoid collision. Because the target position of the first mover is 6, after the second mover completes the current work, the safety distance from the first mover is only 8, 9, and 10. Therefore, the second mover will be assigned by the terminal to work tasks at the three coordinates of 8, 9, or 10, so that the first mover can move safely to coordinate 6 and continue to execute the paused task.

[0154] S308, calculating the safe position of the second mover according to the target position and the safe distance of the first mover;

[0155] The safety position of the second mover will make the second mover move in the same direction as the first mover to move away from the target position of the first mover. Therefore, the calculation method of the safety position of the second mover changes according to the relative position of the second mover and the first mover.

[0156] When the first mover is located at the beginning of the working track relative to the second mover, the safety position of the second mover is the target position of the first mover plus the safety distance, so that the second mover moves toward the end of the working track.

[0157] When the first mover is located at the end of the working track relative to the second mover, the safety position of the second mover is the target position of the first mover minus the safety distance, so that the second mover moves toward the beginning of the working track.

[0158] S309, cyclically obtaining the current target position of the second mover, and determining whether the current target position is greater than the safety position;

[0159] Specifically, due to the setting of the working rhythm, the operating parameters of the second mover change multiple times in a short period of time. Therefore, after the terminal determines that the first mover and the second mover will collide, the working state of the first mover will be suspended and the timer will be activated, waiting for the second mover to perform the next work task. When the second mover performs the next work task, it will obtain new operating parameters. Therefore, the terminal can determine the working state of the second mover according to the change of the target position in the operating parameters of the second mover, and determine through the target position of the second mover whether the first mover will cause a collision if it continues to perform the work task at this time.

[0160] Specifically, when the positional relationship between the first mover and the second mover is that the first mover is at the beginning of the working track, the maximum value that the first mover can reach on the working track is the maximum value of the coordinate rule minus the safety distance between the first mover and the second mover, and the same applies to the second mover.

[0161] When the positional relationship between the first mover and the second mover is that the first mover is at the end of the working track, the minimum value that the first mover can reach on the working track is the most regular minimum value plus the safety distance between the first mover and the second mover, and the same applies to the second mover.

[0162] After the above calculation, the terminal can obtain the safe positions of the first mover and the second mover on the working track. When the target position of the second mover is greater than the safe distance from the target position of the first mover, step S310 is executed, otherwise, step S311 is executed.

[0163] S310: If yes, restore the motion state of the first mover;

[0164] When the terminal determines that the target position of the second mover is a safe position, the terminal will restore the motion state of the first mover after the second mover moves to the target position, so that the first mover will not collide with the second mover during the movement according to the motion parameters.

[0165] S311, if not, generating a prompt when the timer is finished;

[0166] In automatic mode, when the terminal determines that the first mover will collide during this movement, it will activate the timer. As described in step S307, the setting time of the timer is greater than the working rhythm of the working mover, so that within the timing time range of the timer, the second mover will have at least one working state change. However, if the second mover is within the timing duration that should satisfy the working state change, the current target position of the second mover obtained by the terminal will still collide with the first mover, then there is an error in the working rhythm of the second mover. At the same time, it means that there is still no contact after at least one working state change of the second mover. Therefore, the terminal will generate a prompt to allow the operator to intervene to resolve the collision state between the first mover and the second mover.

[0167] S312, when the working state of the second mover is in a non-moving state, calculating a second target distance according to the current position of the second mover and the target position of the first mover;

[0168] S313, when the second target distance is less than the safety distance, determining the operation mode according to the motion request;

[0169] Steps S312 to S313 in this embodiment are similar to steps S107 to S108 in the aforementioned embodiment, and will not be described in detail here.

[0170] S314, when the operation mode is the automatic mode, pausing the motion state of the first mover and activating the timer;

[0171] S315, calculating the safe position of the second mover according to the target position and the safe distance of the first mover;

[0172] S316, cyclically obtaining the current target position of the second mover, and determining whether the current target position is greater than the safety position;

[0173] S317: If yes, restore the motion state of the first mover;

[0174] S318. If not, generate a prompt when the timer is finished.

[0175] Steps S314 to S318 in this embodiment are similar to steps S307 to S311 in the aforementioned embodiment, and will not be described in detail here.

[0176] In the embodiment of the present application, the control mode of the terminal for the motion unit is automatic mode. In the automatic mode, the operating parameters of the motion unit are generated by the terminal according to the motion request. Therefore, the terminal can actively modify the operating parameters of the motion unit. After the terminal determines that the first mover and the second mover will collide, the terminal will obtain the corresponding position data according to the working state of the second mover to modify the motion parameters of the first mover, so that the first mover will not collide with the second mover when performing this moving task.

[0177] According to the description of the above steps S106, S108, S212, and S214, the working state of the motion unit includes at least automatic mode and manual mode. The feedback logic generated by the terminal in the manual mode can be found in Figure 4 , the present application embodiment provides another embodiment of a control method for preventing collision of two movers in the same direction, the embodiment comprising:

[0178] S401, obtaining a motion request, where the motion request is a motion request for controlling a first mover and a second mover;

[0179] S402, acquiring a first operating parameter of the first mover and a second operating parameter of the second mover according to the motion request, wherein the first operating parameter and the second operating parameter include parameters including a current position, a motion state, and a target position of the corresponding mover;

[0180] S403, determining a moving direction of the first mover according to a current position of the first mover and a target position of the first mover;

[0181] S404, when the movement direction of the first mover is close to the second mover, obtaining the working state of the second mover according to the second operating parameter;

[0182] S405, when the working state of the second mover is in a moving state, calculating a first target distance according to a target position of the second mover and a target position of the first mover;

[0183] S406, when the first target distance is less than the safety distance, determining the operation mode according to the motion request;

[0184] Steps S401 to S406 in this embodiment are similar to steps S101 to S106 in the aforementioned embodiment, and will not be described in detail here.

[0185] When the working state of the second mover in S404 is the moving state, step S405 is executed, and when the working state of the second mover in S404 is the non-moving state, step S408 is executed.

[0186] S407: When the operation mode is the manual mode, the movement state of the first mover is stopped, and an abnormal alarm is activated, so that the operator adjusts the operation parameters of the first mover according to the abnormal alarm.

[0187] In manual mode, the operating parameters of the working mover on the motion track are generated by the control instructions input by the operator. In order to reduce computing power, when there is an operator, the terminal will only determine whether the operating parameters provided by the operator will cause the working mover to collide during movement. The operating parameters provided by the operator cannot be modified. Therefore, the terminal cannot actively avoid collisions caused by the working mover during movement in manual mode.

[0188] After the terminal determines in manual mode that the working mover will cause a collision, the terminal directly activates an abnormal alarm to prompt the operator to adjust the operating parameters of the currently controlled working mover to avoid collision of the working mover in the working state.

[0189] S408, when the working state of the second mover is in a non-moving state, calculating a second target distance according to the current position of the second mover and the target position of the first mover;

[0190] S409, when the second target distance is less than the safety distance, determining the operation mode according to the motion request;

[0191] Steps S408 to S409 in this embodiment are similar to steps S107 to S108 in the aforementioned embodiment, and will not be described in detail here.

[0192] S410: When the operation mode is the manual mode, the movement state of the first mover is stopped, and an abnormal alarm is activated, so that the operator adjusts the operation parameters of the first mover according to the abnormal alarm.

[0193] Step S410 in this embodiment is similar to step S407 in the above embodiment, and will not be described in detail here.

[0194] In the present application, the operation mode of the terminal for the working mover is manual mode, and the displacement action of the working mover is set in real time by the staff according to actual production needs. Therefore, after the terminal calculates that the first target distance or the second target distance is less than the safety distance, the terminal will directly stop the corresponding working mover from running according to the operating parameters and issue an abnormal alarm, so as to remind the staff through the abnormal alarm that the control of the working mover will cause a collision, so that the staff can modify the operating parameters of the working mover according to the abnormal alarm, so as to avoid the collision between the first mover and the second mover.

[0195] The control method for preventing collisions between two moving parts in the same direction has been described in detail above. The control system and device for preventing collisions between two moving parts in the same direction will be described in detail below.

[0196] See also Figure 5 The present application provides an embodiment of a control system for co-directional double-actuator collision avoidance, the embodiment comprising:

[0197] A first acquisition unit 501 is used to acquire a motion request, where the motion request is a motion request for controlling the first mover and the second mover;

[0198] A second acquisition unit 502 is used to acquire a first operating parameter of the first mover and a second operating parameter of the second mover according to the motion request, wherein the first operating parameter and the second operating parameter include parameters such as a current position, a motion state, and a target position of the corresponding mover;

[0199] A first determining unit 503, configured to determine a moving direction of the first mover according to a current position of the first mover and a target position of the first mover;

[0200] A third acquisition unit 504 is used to acquire the working state of the second mover according to the second operating parameter when the movement direction of the first mover is close to the second mover;

[0201] A first calculation unit 505, a first calculation unit, configured to calculate a first target distance according to a target position of the second mover and a target position of the first mover when the working state of the second mover is in a moving state;

[0202] A second determination unit 506 is used to determine an operation mode according to the motion request when the first target distance is less than the safety distance, and generate feedback logic according to the operation mode so that the first mover is at a safety distance with the second mover when reaching the target position, and the operation mode includes an automatic mode and a manual mode;

[0203] A second calculation unit 507, configured to calculate a second target distance according to a current position of the second mover and a target position of the first mover when the working state of the second mover is in a non-moving state;

[0204] The third determination unit 508 is used to determine the operation mode according to the motion request when the second target distance is less than the safety distance, and generate feedback logic according to the operation mode so that the first mover is at a safety distance with the second mover when reaching the target position.

[0205] In this embodiment, the functions of each unit are the same as those described above. Figure 1 The steps in the illustrated embodiments correspond to each other and will not be described again here.

[0206] See also Figure 6 , the present application embodiment provides another embodiment of a control system for same-direction double-actuator collision avoidance, the embodiment comprising:

[0207] A first acquisition unit 601 is used to acquire a motion request, where the motion request is a motion request for controlling the first mover and the second mover;

[0208] The fourth acquisition unit 602 is used to acquire a coordinate rule, where the coordinate rule is used to quantify the operation parameters of the first mover and the second mover on the motion track.

[0209] A second acquisition unit 603 is used to acquire a first operating parameter of the first mover and a second operating parameter of the second mover according to the motion request, wherein the first operating parameter and the second operating parameter include parameters such as a current position, a motion state and a target position of the corresponding mover;

[0210] A first determining unit 604, configured to determine a moving direction of the first mover according to a current position of the first mover and a target position of the first mover;

[0211] A third acquisition unit 605 is used to acquire the relative position of the first mover and the second mover;

[0212] A first direction determining unit 606 is used to determine that the moving direction is that the first mover is away from the second mover when the relative position of the first mover and the second mover is that the first mover is close to the starting end of the working track and the moving direction is that the first mover moves toward the starting end of the working track;

[0213] The second direction determining unit 607 is used to determine that the moving direction is that the first mover is away from the second mover when the relative position of the first mover and the second mover is that the first mover is close to the end of the working track and the moving direction is that the first mover moves toward the end of the working track.

[0214] The safety state determining unit 608 is used to determine that the first mover and the second mover are in a safety state when the moving direction is that the first mover moves away from the second mover.

[0215] A third acquisition unit 609 is used to acquire the working state of the second mover according to the second operating parameter when the movement direction of the first mover is close to the second mover;

[0216] A first calculation unit 610, configured to calculate a first target distance according to a target position of the second mover and a target position of the first mover when the working state of the second mover is in a moving state;

[0217] A second determination unit 611 is used to determine an operation mode according to the motion request when the first target distance is less than the safety distance, and generate feedback logic according to the operation mode so that the first mover is at a safety distance with the second mover when reaching the target position, and the operation mode includes an automatic mode and a manual mode;

[0218] A second calculation unit 612 is used to calculate a second target distance according to a current position of the second mover and a target position of the first mover when the working state of the second mover is in a non-moving state;

[0219] The third determination unit 613 is used to determine the operation mode according to the motion request when the second target distance is less than the safety distance, and generate feedback logic according to the operation mode so that the first mover is at a safety distance with the second mover when reaching the target position.

[0220] In the embodiment of the present application, the second determining unit 611 and the third determining unit 613 are further configured to:

[0221] When the operation mode is the automatic mode, the motion state of the first mover is paused and the timer is activated;

[0222] Calculate the safety position of the second mover according to the target position and the safety distance of the first mover;

[0223] Circularly obtain the current target position of the second mover and determine whether the current target position is greater than the safety position;

[0224] If so, the motion state of the first mover is restored;

[0225] If not, a reminder is generated when the timer expires.

[0226] In the embodiment of the present application, the second determining unit 611 and the third determining unit 613 are further configured to:

[0227] When the operation mode is the manual mode, the motion state of the first mover is stopped, and an abnormal alarm is activated, so that the operator adjusts the operation parameters of the first mover according to the abnormal alarm.

[0228] In the embodiment of the present application, the first determining unit 604 is further configured to:

[0229] When the target position of the first mover is smaller than the current position of the first mover, the movement direction of the first mover is to move toward the starting end of the working track;

[0230] When the target position of the first mover is greater than the current position of the first mover, the movement direction of the first mover is to move toward the end of the working track.

[0231] In this embodiment, the functions of each unit are the same as those described above. Figures 2 to 4 The steps in the illustrated embodiments correspond to each other and will not be described again here.

[0232] See also Figure 7 The present application provides an embodiment of a control device for preventing collisions between two movers in the same direction, including:

[0233] Processor 701, memory 702, input and output unit 703, bus 704;

[0234] The processor 701 is connected to the memory 702, the input and output unit 703 and the bus 704;

[0235] Processor 701 specifically executes Figures 1 to 4 The operations corresponding to the steps in the method are not described in detail here.

[0236] The present application also relates to a computer-readable storage medium on which a program is stored, wherein when the program is run on a computer, the computer is caused to execute any of the above methods.

[0237] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0238] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0239] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0240] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0241] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, read-only memory), random access memory (RAM, random access memory), disk or optical disk, etc. Various media that can store program codes.

Claims

1. A control method for preventing collision of two movers in the same direction, characterized in that: The method comprises: Acquire a motion request, where the motion request is a motion request for controlling the first mover and the second mover; Acquire a first operating parameter of the first mover and a second operating parameter of the second mover according to the motion request, wherein the first operating parameter and the second operating parameter include parameters of a current position, a motion state, and a target position of the corresponding mover; determining a moving direction of the first mover according to a current position of the first mover and a target position of the first mover; When the movement direction of the first mover is close to the second mover, obtaining the working state of the second mover according to the second operating parameter; When the working state of the second mover is in a moving state, calculating a first target distance according to a target position of the second mover and a target position of the first mover; When the first target distance is less than the safety distance, determining an operation mode according to the motion request, and generating feedback logic according to the operation mode, so that the first mover is at the safety distance with the second mover when reaching the target position, the operation mode including an automatic mode and a manual mode; When the working state of the second mover is in a non-moving state, calculating a second target distance according to the current position of the second mover and the target position of the first mover; When the second target distance is less than the safety distance, determining the operation mode according to the motion request, and generating feedback logic according to the operation mode, so that the first mover is at the safety distance with the second mover when reaching the target position; Generating feedback logic according to the operation mode includes: When the operation mode is the automatic mode, pausing the motion state of the first mover and activating a timer; Calculating a safe position of the second mover according to a target position and a safe distance of the first mover; Circularly acquiring the current target position of the second mover, and determining whether the current target position is greater than the safety position; If yes, the motion state of the first mover is restored; If not, generating a prompt when the timer is completed; When the operation mode is the manual mode, the motion state of the first mover is stopped, and an abnormal alarm is activated, so that an operator adjusts the operation parameters of the first mover according to the abnormal alarm.

2. The control method according to claim 1, characterized in that: Determining the movement direction of the first mover according to the current position of the first mover and the target position of the first mover comprises: When the target position of the first mover is smaller than the current position of the first mover, the movement direction of the first mover is to move toward the starting end of the working track; When the target position of the first mover is greater than the current position of the first mover, the movement direction of the first mover is to move toward the end of the working track.

3. The control method according to claim 2, characterized in that: After determining the movement direction of the first mover according to the current position of the first mover and the target position of the first mover, the method further includes: Acquiring the relative position of the first mover and the second mover; When the relative position of the first mover and the second mover is that the first mover is close to the starting end of the working track and the movement direction is that the first mover moves toward the starting end of the working track, the movement direction is determined to be that the first mover moves away from the second mover; When the relative position of the first mover and the second mover is that the first mover is close to the end of the working track and the movement direction is that the first mover moves toward the end of the working track, the movement direction is determined to be that the first mover moves away from the second mover.

4. The control method according to claim 3, characterized in that: When the relative position of the first mover and the second mover is that the first mover is close to the end of the working track and the movement direction is that the first mover moves toward the end of the working track, after determining that the movement direction is that the first mover moves away from the second mover, the method further includes: When the moving direction is that the first mover moves away from the second mover, it is determined that the first mover and the second mover are in a safe state.

5. The control method according to any one of claims 1 to 4, characterized in that: After obtaining the motion request, the method further includes: A coordinate rule is obtained, where the coordinate rule is used to quantify operating parameters of the first mover and the second mover on a motion track.

6. A control system for double-actuator collision avoidance in the same direction, characterized in that: The system comprises: A first acquisition unit, used for acquiring a motion request, wherein the motion request is a motion request for controlling the first mover and the second mover; A second acquisition unit, configured to acquire a first operating parameter of the first mover and a second operating parameter of the second mover according to the motion request, wherein the first operating parameter and the second operating parameter include parameters including a current position, a motion state, and a target position of the corresponding mover; a first determining unit, configured to determine a moving direction of the first mover according to a current position of the first mover and a target position of the first mover; a third acquisition unit, configured to acquire a working state of the second mover according to the second operating parameter when the moving direction of the first mover is close to the second mover; a first calculation unit, configured to calculate a first target distance according to a target position of the second mover and a target position of the first mover when the working state of the second mover is in a moving state; a second determining unit, configured to determine an operation mode according to the motion request when the first target distance is less than a safety distance, and generate feedback logic according to the operation mode so that the first mover is at the safety distance with the second mover when the first mover reaches a target position, the operation mode comprising an automatic mode and a manual mode; a second calculation unit, configured to calculate a second target distance according to a current position of the second mover and a target position of the first mover when the working state of the second mover is in a non-moving state; a third determining unit, configured to determine the operation mode according to the motion request when the second target distance is less than the safety distance, and generate feedback logic according to the operation mode so that the first mover is at the safety distance with the second mover when the first mover reaches the target position; The second determining unit and the third determining unit are further configured to: When the operation mode is the automatic mode, pausing the motion state of the first mover and activating a timer; Calculating a safe position of the second mover according to a target position and a safe distance of the first mover; Circularly acquiring the current target position of the second mover, and determining whether the current target position is greater than the safety position; If yes, the motion state of the first mover is restored; If not, generating a prompt when the timer is completed; or When the operation mode is the manual mode, the motion state of the first mover is stopped, and an abnormal alarm is activated, so that an operator adjusts the operation parameters of the first mover according to the abnormal alarm.

7. A control device for preventing collision of two movers in the same direction, characterized in that: The device comprises: Processor, memory, input-output unit, and bus; The processor is connected to the memory, the input and output unit, and the bus; The memory stores a program, and the processor calls the program to execute the method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a program stored thereon, wherein the program, when executed on a computer, performs the method according to any one of claims 1 to 5.

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