Gantry side thrust avoidance control method and dual-axis gantry system

Abstract

The present invention relates to the field of transportation operation technology, specifically disclosing a gantry side thrust avoidance control method and a dual-axis gantry system. The dual-axis gantry system includes a crossbeam, and a first lifting mechanism and a second lifting mechanism that move along the crossbeam. The method comprises: acquiring position information of the first lifting mechanism and the second lifting mechanism in real time; determining whether the two lifting mechanisms meet preset avoidance conditions based on the position information of the two lifting mechanisms; and if so, executing a preset avoidance instruction to prevent the two lifting mechanisms from colliding with each other. The gantry side thrust avoidance control method and dual-axis gantry system provided by the present invention can effectively reduce the risk of collision when the two lifting mechanisms work together, thereby improving the safety and reliability of equipment operation.

Description

Technical Field

[0001] The present invention relates to the technical field of transportation operations, and in particular to a gantry side thrust avoidance control method and a dual-axis gantry system. Background Art

[0002] In the field of automated motion control, gantry systems, as an important piece of mechanical equipment, are widely used in CNC machine tools, automated production lines, and other precision machining applications. With increasing production efficiency requirements and equipment complexity, collisions during the dual-axis linkage of gantry systems are becoming increasingly prominent.

[0003] Dual-axis gantry systems typically feature two lifting mechanisms that move along the beam. These mechanisms typically have overlapping operating ranges, creating a risk of collision as they move along the beam. Traditional gantry system control methods often rely on operator experience and familiarity with the equipment to avoid collisions. This reliance on manual control makes collisions prone to accidents due to operator error or inaccurate judgment.

[0004] Therefore, the present invention is dedicated to proposing a gantry side thrust avoidance control method for reducing the collision risk when two lifting mechanisms work together.

[0005] The above information is presented as background information only to assist with an understanding of the present disclosure and is not a determination or admission that any of the above may be applicable as prior art with respect to the present disclosure. Summary of the Invention

[0006] The present invention provides a gantry side thrust avoidance control method and a dual-axis gantry system, which can effectively reduce the collision risk when two lifting mechanisms work together, thereby improving the safety and reliability of equipment operation.

[0007] To achieve the above objectives, in one aspect, the present invention provides a gantry side thrust avoidance control method applicable to a dual-axis gantry system, wherein the dual-axis gantry system includes a crossbeam, and a first lifting mechanism and a second lifting mechanism moving along the crossbeam, the method comprising:

[0008] Acquire position information of the first lifting mechanism and the second lifting mechanism in real time;

[0009] It is determined whether the two lifting mechanisms meet a preset avoidance condition based on the position information of the two lifting mechanisms; if so, a preset avoidance instruction is executed to avoid collision between the two lifting mechanisms.

[0010] Optionally, before determining whether the two lifting mechanisms meet a preset avoidance condition based on the position information of the two lifting mechanisms, the method further includes:

[0011] Constructing a coordinate axis along the length direction of the beam;

[0012] Obtaining a first proximal limit coordinate P1J and a first distal limit coordinate P1Y corresponding to the physical travel interval of the first lifting mechanism;

[0013] Obtain a second proximal limit coordinate P2J and a second distal limit coordinate P2Y corresponding to the physical travel interval of the second lifting mechanism;

[0014] respectively setting a first avoidance distance ∆L1 corresponding to the first lifting mechanism and a second avoidance distance ∆L2 corresponding to the second lifting mechanism;

[0015] Specify the safe operating coordinate range of the first lifting mechanism as [first proximal limit coordinate P1J, first distal limit coordinate P1Y - first avoidance distance ∆L1], and the safe operating coordinate range of the second lifting mechanism as [second proximal limit coordinate P2J + second avoidance distance ∆L2, second distal limit coordinate P2Y];

[0016] in:

[0017] The coordinate axis is directed from the first lifting mechanism to the second lifting mechanism;

[0018] The first proximal limit coordinate P1J<the first distal limit coordinate P1Y<the second proximal limit coordinate P2J<the second distal limit coordinate P2Y.

[0019] Optionally, judging whether the two lifting mechanisms meet a preset avoidance condition based on the position information of the two lifting mechanisms; and if so, executing a preset avoidance instruction to avoid collision between the two lifting mechanisms, including:

[0020] If all the first avoidance conditions are met at the same time, the second lifting mechanism executes the first avoidance instruction;

[0021] If all the second avoidance conditions are met at the same time, the first lifting mechanism executes the second avoidance instruction.

[0022] Optionally, each of the first avoidance conditions includes:

[0023] Condition 1-1: The first lifting mechanism moves toward the second lifting mechanism, and the current coordinate P1 of the first lifting mechanism ≥ (first far-end limit coordinate P1Y - first avoidance distance ∆L1), and the side push avoidance function is enabled;

[0024] Condition 1-2: The current coordinate P2 of the second lifting mechanism is less than (the second proximal limit coordinate P2J + the second avoidance distance ∆L2).

[0025] Optionally, each of the first avoidance conditions further includes:

[0026] Condition 1-3: The second lifting mechanism has been activated;

[0027] Condition 1-4: Coordinate positioning has been completed.

[0028] Optionally, the executing of the first avoidance instruction by the second lifting mechanism includes:

[0029] The second lifting mechanism is controlled to move forward at a preset speed until at least one of the first avoidance conditions cannot be met.

[0030] Optionally, each of the second avoidance conditions includes:

[0031] Condition 2-1: The second lifting mechanism moves toward the first lifting mechanism, and the current coordinate P2 of the second lifting mechanism is less than (the second proximal limit coordinate P2J + the second avoidance distance ∆L2), and the side push avoidance function is enabled;

[0032] Condition 2-2: The current coordinate P1 of the first lifting mechanism ≥ (the first far-end limit coordinate P1Y - the first avoidance distance ∆L1).

[0033] Optionally, each of the second avoidance conditions further includes:

[0034] Condition 2-3: The first lifting mechanism has been activated;

[0035] Condition 2-4: Coordinate positioning has been completed.

[0036] Optionally, the executing of the second avoidance instruction by the first lifting mechanism includes:

[0037] The first lifting mechanism is controlled to move in the reverse direction at a preset speed until at least one of the second avoidance conditions cannot be met.

[0038] In another aspect, a dual-axis gantry system is provided for executing any of the aforementioned gantry side thrust avoidance control methods, comprising:

[0039] A position information acquisition module, configured to acquire position information of both the first lifting mechanism and the second lifting mechanism in real time;

[0040] The avoidance judgment execution module is used to judge whether the two lifting mechanisms meet the preset avoidance conditions according to the position information of the two lifting mechanisms; if so, execute the preset avoidance instructions to avoid the two lifting mechanisms from colliding with each other

[0041] Compared with the prior art, the present invention has the following beneficial effects: providing a gantry side push avoidance control method and a dual-axis gantry system, in which two lifting mechanisms perform lifting and transporting operations along the crossbeam. During the movement of the two lifting mechanisms along the crossbeam, the position information of the two lifting mechanisms is obtained in real time, and it is determined whether the two lifting mechanisms meet the preset avoidance conditions; if so, the preset avoidance instructions are executed to avoid collision between the two lifting mechanisms.

[0042] Therefore, the gantry side thrust avoidance control method and the dual-axis gantry system provided by the present invention can effectively reduce the collision risk when the two lifting mechanisms work together, thereby improving the safety and reliability of equipment operation.

[0043] The present invention has other features and advantages that will be apparent from or will be described in detail in the accompanying drawings and the following detailed description incorporated herein, which together serve to explain certain principles of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0045] Figure 1 is a flow chart of a gantry side thrust avoidance control method provided in Example 1 of the present invention;

[0046] Figure 2 is a flow chart of a gantry side thrust avoidance control method provided in Example 2 of the present invention;

[0047] Figure 3 This is a structural block diagram of the dual-axis gantry system provided in Example 3 of the present invention. DETAILED DESCRIPTION

[0048] In order to explain in detail the possible application scenarios, technical principles, specific solutions that can be implemented, and the purpose and effects of this application, the following is a detailed description of the specific embodiments listed in conjunction with the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of this application and are therefore only examples and are not intended to limit the scope of protection of this application.

[0049] References to "embodiments" herein mean that the specific features, structures, or characteristics described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the word "embodiment" in various places in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or relevance to other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the various technical features mentioned in the embodiments can be combined in any manner to form a corresponding implementable technical solution.

[0050] Unless otherwise defined, the technical terms used herein have the same meanings as those generally understood by those skilled in the art to which this application belongs; the use of relevant terms herein is only for describing specific embodiments and is not intended to limit this application.

[0051] In the description of this application, the term "and / or" is used to describe a logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and both A and B exist. In addition, the character " / " in this document generally indicates that the objects before and after are in a logical "or" relationship.

[0052] In this application, terms such as "first" and "second" are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual quantity, priority or sequence relationship between these entities or operations.

[0053] Without further limitations, in this application, the words "include", "comprise", "have" or other similar expressions used in the sentences are intended to cover non-exclusive inclusion. These expressions do not exclude the presence of additional elements in the process, method or product including the elements, so that the process, method or product including a series of elements may include not only those defined elements, but also other elements not explicitly listed, or elements inherent to such process, method or product.

[0054] Consistent with the understanding in the Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceed" are understood to exclude the number itself; expressions such as "above," "below," and "within" are understood to include the number itself. Furthermore, in the description of the embodiments of this application, "multiple" means more than two (including two), and similar expressions related to "multiple" are also understood in this manner, such as "multiple groups," "multiple times," etc., unless otherwise specifically defined.

[0055] In the description of the embodiments of the present application, the space-related expressions used, such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "vertical", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or position relationship based on the orientation or position relationship shown in the specific embodiments or drawings, and are only for the convenience of describing the specific embodiments of the present application or facilitating the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, it should not be understood as a limitation on the embodiments of the present application.

[0056] Unless otherwise expressly specified or limited, in the description of the embodiments of the present application, the terms "installed", "connected", "connected", "fixed", "set", etc. used should be understood in a broad sense. For example, the "connection" can be a fixed connection, a detachable connection, or an integrated setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art of the present application, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0057] Example 1

[0058] Please refer to the attached Figure 1 , which is a flow chart of a gantry side push avoidance control method provided by an embodiment of the present invention. This method is applicable to scenarios where heavy objects are moved and transferred. The method is performed by a dual-axis gantry system, which can be implemented by software and / or hardware. The method specifically includes the following steps:

[0059] S101: Acquire position information of the first lifting mechanism and the second lifting mechanism in real time;

[0060] S102: Determine whether the two lifting mechanisms meet a preset avoidance condition based on the position information of the two lifting mechanisms; if so, execute a preset avoidance instruction to avoid collision between the two lifting mechanisms.

[0061] The gantry side thrust avoidance control method provided in this embodiment is that two lifting mechanisms perform lifting and transporting operations along the crossbeam. During the movement of the two lifting mechanisms along the crossbeam, the position information of the two lifting mechanisms is obtained in real time, and it is determined whether the two lifting mechanisms meet the preset avoidance conditions; if so, the preset avoidance instructions are executed to avoid collision between the two lifting mechanisms.

[0062] Therefore, the gantry side thrust avoidance control method provided by the present invention can effectively reduce the collision risk when the two lifting mechanisms work together, thereby improving the safety and reliability of equipment operation.

[0063] Example 2

[0064] See also Figure 2 This embodiment provides a gantry side thrust avoidance control method, which constructs a coordinate axis based on Example 1 and realizes position judgment and avoidance control through the coordinate axis.

[0065] The gantry side thrust avoidance control method provided in this embodiment includes the following steps:

[0066] S201: Constructing a coordinate axis along the length direction of the beam; wherein the coordinate axis points from the first lifting mechanism to the second lifting mechanism;

[0067] S202: Obtaining a first proximal limit coordinate P1J and a first distal limit coordinate P1Y corresponding to the physical travel interval of the first lifting mechanism;

[0068] Obtain a second proximal limit coordinate P2J and a second distal limit coordinate P2Y corresponding to the physical travel interval of the second lifting mechanism;

[0069] S203: setting a first avoidance distance ∆L1 corresponding to the first lifting mechanism and a second avoidance distance ∆L2 corresponding to the second lifting mechanism;

[0070] S204: Specifying the safe operation coordinate range of the first lifting mechanism as [first proximal limit coordinate P1J, first distal limit coordinate P1Y-first avoidance distance ∆L1], and the safe operation coordinate range of the second lifting mechanism as [second proximal limit coordinate P2J+second avoidance distance ∆L2, second distal limit coordinate P2Y];

[0071] It should be noted that each lifting mechanism is limited by its physical structure when it leaves the factory and can only move within the physical travel range. In this embodiment:

[0072] The first proximal limit coordinate P1J refers to the coordinate when the first lifting mechanism moves in the opposite direction along the coordinate axis to the limit position;

[0073] The first distal limit coordinate P1Y refers to the coordinate when the first lifting mechanism moves to the limit position along the coordinate axis in the positive direction without considering the second lifting mechanism;

[0074] The second proximal limit coordinate P2J refers to the coordinate of the second lifting mechanism when it moves in the opposite direction along the coordinate axis to the limit position without considering the first lifting mechanism;

[0075] The second far-end limit coordinate P2Y refers to the coordinate when the second lifting mechanism moves to the limit position along the positive direction of the coordinate axis;

[0076] Specifically: the first proximal limit coordinate P1J<the first distal limit coordinate P1Y<the second proximal limit coordinate P2J<the second distal limit coordinate P2Y;

[0077] S205: Acquire the position information of the first lifting mechanism and the second lifting mechanism in real time; specifically, acquire the current coordinates P1 of the first lifting mechanism and the current coordinates P2 of the second lifting mechanism in real time;

[0078] S206: Determine whether the two lifting mechanisms meet a preset avoidance condition based on the position information of the two lifting mechanisms; if so, execute a preset avoidance instruction to avoid collision between the two lifting mechanisms.

[0079] Generally, a suitable first avoidance distance ∆L1 and second avoidance distance ∆L2 can be set so that the safe operation coordinate intervals between the two lifting mechanisms do not intersect at all. In this case, a collision between the two lifting mechanisms can be completely avoided.

[0080] However, such a setting can easily lead to an operational blind zone between the two lifting mechanisms (i.e., a spatial area where neither lifting mechanism can perform handling operations). To avoid the existence of an operational blind zone, the safe operating coordinate ranges of the two lifting mechanisms must at least partially overlap. In this case, there is a certain risk of collision. To avoid this collision risk, this embodiment adopts the following measures:

[0081] If all the first avoidance conditions are met at the same time, the second lifting mechanism executes the first avoidance instruction;

[0082] If all the second avoidance conditions are met at the same time, the first lifting mechanism executes the second avoidance instruction.

[0083] In this embodiment, each of the first avoidance conditions includes:

[0084] Condition 1-1: The first lifting mechanism moves toward the second lifting mechanism, and the current coordinate P1 of the first lifting mechanism ≥ (first far-end limit coordinate P1Y - first avoidance distance ∆L1), and the side push avoidance function is enabled;

[0085] Condition 1-2: The current coordinate P2 of the second lifting mechanism is less than (the second proximal limit coordinate P2J + the second avoidance distance ∆L2);

[0086] Condition 1-3: The second lifting mechanism has been activated;

[0087] Condition 1-4: Coordinate positioning has been completed.

[0088] When conditions 1-1 to 1-4 are met simultaneously, it indicates that the dual-axis gantry system has performed coordinate positioning, achieved origin correction of the coordinate axes, and the second lifting mechanism is available for use. However, if the first lifting mechanism still exceeds its own safe operating coordinate range, the first lifting mechanism may have lost control or is performing unconventional handling operations. In this case, the second lifting mechanism needs to be controlled to avoid the problem.

[0089] Accordingly, the avoidance measure at this time is to control the second lifting mechanism to move forward at a preset speed until at least one of the first avoidance conditions cannot be met, and then the avoidance action of the second lifting mechanism can be stopped.

[0090] For example, when the current coordinate P2 of the second lifting mechanism is greater than (the first far-end limit coordinate P1Y-the first avoidance distance ∆L1), it means that the second lifting mechanism has returned to a safe position and conditions 1-2 are not met. At this time, the avoidance of the second lifting mechanism can be stopped; or, when the second lifting mechanism suddenly cannot be used due to an abnormality and conditions 1-3 are not met, the avoidance of the second lifting mechanism should also be stopped.

[0091] In this embodiment, each of the second avoidance conditions includes:

[0092] Condition 2-1: The second lifting mechanism moves toward the first lifting mechanism, and the current coordinate P2 of the second lifting mechanism is less than (the second proximal limit coordinate P2J + the second avoidance distance ∆L2), and the side push avoidance function is enabled;

[0093] Condition 2-2: The current coordinate of the first lifting mechanism P1 ≥ (the first far-end limit coordinate P1Y - the first avoidance distance ∆L1);

[0094] Condition 2-3: The first lifting mechanism has been activated;

[0095] Condition 2-4: Coordinate positioning has been completed.

[0096] When conditions 2-1 to 2-4 are met simultaneously, it indicates that the dual-axis gantry system has performed coordinate positioning, achieved origin correction of the coordinate axes, and the first lifting mechanism is usable. At this time, if the second lifting mechanism still exceeds its own safe operating coordinate range, the second lifting mechanism may have lost control or is performing unconventional handling operations. In this case, it is necessary to control the first lifting mechanism to avoid it.

[0097] Accordingly, the avoidance measure in this case is to control the first lifting mechanism to move in the reverse direction at a preset speed until at least one of the second avoidance conditions is no longer met, at which point the first lifting mechanism's avoidance action is stopped. For example, the first lifting mechanism may be controlled to move in the reverse direction at a preset speed until the first lifting mechanism's current coordinate P1 is less than the second proximal limit coordinate P2J.

[0098] S207: Real-time monitoring of the position information of the lifting mechanism that needs to be avoided, and determining whether the lifting mechanism that needs to be avoided has left the safety limit of another avoidance mechanism. If so, normal control is restored.

[0099] The system returns to normal control mode, and the two axes can continue to move in conjunction or independently according to the preset program or operating instructions.

[0100] The gantry side thrust avoidance control method provided in this embodiment, based on the first embodiment, adds the steps of constructing a coordinate axis and realizing position determination and avoidance control through the coordinate axis. Compared with the first embodiment, it also has the following advantages:

[0101] ① A reasonable avoidance distance (∆L1 and ∆L2) can be set for each lifting mechanism so that the two lifting mechanisms have non-overlapping safe operating coordinate ranges, ensuring that a sufficient distance is maintained between the two lifting mechanisms, thereby reducing the possibility of collision. Alternatively, even if the safe operating coordinate ranges of the two lifting mechanisms overlap, the existence of a collision risk can be determined in advance, and measures can be taken if necessary, thereby significantly reducing the collision risk.

[0102] ② The avoidance logic is based on coordinates and preset parameters. Due to the clear and systematic avoidance conditions, the two lifting mechanisms can work more closely together without collision. This helps improve the consistency and efficiency of the work process, thereby improving the automation level of the entire system.

[0103] On the basis of Example 1, for the features not explained in this example, the explanation in Example 1 shall be adopted and no further details will be given here.

[0104] Example 3

[0105] This embodiment provides a dual-axis gantry system that can execute the method provided by any embodiment of the present invention and has corresponding functional modules and beneficial effects for executing the method.

[0106] On the basis of the above embodiments, features not explained in this embodiment are explained in other embodiments and will not be described again in detail.

[0107] See also Figure 3In addition to a conventional crossbeam and two lifting mechanisms (referred to as a "first lifting mechanism" and a "second lifting mechanism") that move on the crossbeam, the dual-axis gantry system provided in this embodiment also includes:

[0108] Position information acquisition module 1, for acquiring position information of the first lifting mechanism and the second lifting mechanism in real time;

[0109] The avoidance judgment execution module 2 is used to judge whether the two lifting mechanisms meet the preset avoidance conditions according to the position information of the two lifting mechanisms; if so, execute the preset avoidance instructions to avoid the two lifting mechanisms from colliding with each other.

[0110] Optionally, before determining whether the two lifting mechanisms meet a preset avoidance condition based on the position information of the two lifting mechanisms, the method further includes:

[0111] Constructing a coordinate axis along the length direction of the beam;

[0112] Obtaining a first proximal limit coordinate P1J and a first distal limit coordinate P1Y corresponding to the physical travel interval of the first lifting mechanism;

[0113] Obtain a second proximal limit coordinate P2J and a second distal limit coordinate P2Y corresponding to the physical travel interval of the second lifting mechanism;

[0114] respectively setting a first avoidance distance ∆L1 corresponding to the first lifting mechanism and a second avoidance distance ∆L2 corresponding to the second lifting mechanism;

[0115] Specify the safe operating coordinate range of the first lifting mechanism as [first proximal limit coordinate P1J, first distal limit coordinate P1Y - first avoidance distance ∆L1], and the safe operating coordinate range of the second lifting mechanism as [second proximal limit coordinate P2J + second avoidance distance ∆L2, second distal limit coordinate P2Y];

[0116] in:

[0117] The coordinate axis is directed from the first lifting mechanism to the second lifting mechanism;

[0118] The first proximal limit coordinate P1J<the first distal limit coordinate P1Y<the second proximal limit coordinate P2J<the second distal limit coordinate P2Y.

[0119] Optionally, judging whether the two lifting mechanisms meet a preset avoidance condition based on the position information of the two lifting mechanisms; and if so, executing a preset avoidance instruction to avoid collision between the two lifting mechanisms, including:

[0120] If all the first avoidance conditions are met at the same time, the second lifting mechanism executes the first avoidance instruction;

[0121] If all the second avoidance conditions are met at the same time, the first lifting mechanism executes the second avoidance instruction.

[0122] Optionally, each of the first avoidance conditions includes:

[0123] Condition 1-1: The first lifting mechanism moves toward the second lifting mechanism, and the current coordinate P1 of the first lifting mechanism ≥ (first far-end limit coordinate P1Y - first avoidance distance ∆L1), and the side push avoidance function is enabled;

[0124] Condition 1-2: The current coordinate P2 of the second lifting mechanism is less than (the second proximal limit coordinate P2J + the second avoidance distance ∆L2).

[0125] Optionally, each of the first avoidance conditions further includes:

[0126] Condition 1-3: The second lifting mechanism has been activated;

[0127] Condition 1-4: Coordinate positioning has been completed.

[0128] Optionally, the executing of the first avoidance instruction by the second lifting mechanism includes:

[0129] The second lifting mechanism is controlled to move forward at a preset speed until at least one of the first avoidance conditions cannot be met.

[0130] Optionally, each of the second avoidance conditions includes:

[0131] Condition 2-1: The second lifting mechanism moves toward the first lifting mechanism, and the current coordinate P2 of the second lifting mechanism is less than (the second proximal limit coordinate P2J + the second avoidance distance ∆L2), and the side push avoidance function is enabled;

[0132] Condition 2-2: The current coordinate P1 of the first lifting mechanism ≥ (the first far-end limit coordinate P1Y - the first avoidance distance ∆L1).

[0133] Optionally, each of the second avoidance conditions further includes:

[0134] Condition 2-3: The first lifting mechanism has been activated;

[0135] Condition 2-4: Coordinate positioning has been completed.

[0136] Optionally, the executing of the second avoidance instruction by the first lifting mechanism includes:

[0137] The first lifting mechanism is controlled to move in the reverse direction at a preset speed until at least one of the second avoidance conditions cannot be met.

[0138] Finally, it should be noted that although the above embodiments have been described in the specification and drawings of this application, this does not limit the scope of patent protection of this application. All technical solutions generated by replacing or modifying equivalent structures or equivalent processes based on the essential concepts of this application using the contents recorded in the specification and drawings of this application, as well as directly or indirectly implementing the technical solutions of the above embodiments in other related technical fields, are included in the scope of patent protection of this application.

Claims

1. A gantry side thrust avoidance control method, applicable to a dual-axis gantry system, wherein the dual-axis gantry system comprises a crossbeam, and a first lifting mechanism and a second lifting mechanism moving along the crossbeam, characterized in that: The method comprises: Acquire position information of the first lifting mechanism and the second lifting mechanism in real time; determining whether the two lifting mechanisms meet a preset avoidance condition based on the position information of the two lifting mechanisms; and if so, executing a preset avoidance instruction to prevent the two lifting mechanisms from colliding with each other; Before judging whether the two lifting mechanisms meet the preset avoidance conditions based on the position information of the two lifting mechanisms, the method further includes: Constructing a coordinate axis along the length direction of the beam; Obtaining a first proximal limit coordinate P1J and a first distal limit coordinate P1Y corresponding to the physical travel interval of the first lifting mechanism; Obtain a second proximal limit coordinate P2J and a second distal limit coordinate P2Y corresponding to the physical travel interval of the second lifting mechanism; respectively setting a first avoidance distance ΔL1 corresponding to the first lifting mechanism and a second avoidance distance ΔL2 corresponding to the second lifting mechanism; Specify the safe operation coordinate range of the first lifting mechanism as [first proximal limit coordinate P1J, first distal limit coordinate P1Y-first avoidance distance ΔL1], and the safe operation coordinate range of the second lifting mechanism as [second proximal limit coordinate P2J+second avoidance distance ΔL2, second distal limit coordinate P2Y]; in: The coordinate axis is directed from the first lifting mechanism to the second lifting mechanism; The first proximal limit coordinate P1J<the first distal limit coordinate P1Y<the second proximal limit coordinate P2J<the second distal limit coordinate P2Y; The method of determining whether the two lifting mechanisms meet a preset avoidance condition based on the position information of the two lifting mechanisms; and if so, executing a preset avoidance instruction to avoid collision between the two lifting mechanisms, including: If all the first avoidance conditions are met at the same time, the second lifting mechanism executes the first avoidance instruction; If all the second avoidance conditions are met at the same time, the first lifting mechanism executes the second avoidance instruction; Each of the first avoidance conditions includes: Condition 1-1: The first lifting mechanism moves toward the second lifting mechanism, and the current coordinate P1 of the first lifting mechanism ≥ (first far-end limit coordinate P1Y - first avoidance distance ΔL1), and the side thrust avoidance function is enabled; Condition 1-2: The current coordinate P2 of the second lifting mechanism < (the second proximal limit coordinate P2J + the second avoidance distance ΔL2); Each of the first avoidance conditions further includes: Condition 1-3: The second lifting mechanism has been activated; Conditions 1-4: Coordinate positioning has been completed; The second lifting mechanism executing the first avoidance instruction includes: controlling the second lifting mechanism to move forward at a preset speed until at least one of the first avoidance conditions cannot be met; Each of the second avoidance conditions includes: Condition 2-1: The second lifting mechanism moves toward the first lifting mechanism, and the current coordinate P2 of the second lifting mechanism is less than (the second proximal limit coordinate P2J + the second avoidance distance ΔL2), and the side thrust avoidance function is enabled; Condition 2-2: The current coordinate P1 of the first lifting mechanism ≥ (the first far-end limit coordinate P1Y - the first avoidance distance ΔL1); Each of the second avoidance conditions further includes: Condition 2-3: The first lifting mechanism has been activated; Condition 2-4: Coordinate positioning has been completed; The first lifting mechanism executing the second avoidance instruction includes: The first lifting mechanism is controlled to move in the reverse direction at a preset speed until at least one of the second avoidance conditions cannot be met.

2. A dual-axis gantry system for executing the gantry side thrust avoidance control method according to claim 1, characterized in that: include: A position information acquisition module, configured to acquire position information of both the first lifting mechanism and the second lifting mechanism in real time; The avoidance judgment execution module is used to judge whether the two lifting mechanisms meet the preset avoidance conditions according to the position information of the two lifting mechanisms; if so, execute the preset avoidance instructions to avoid the two lifting mechanisms from colliding with each other.

Images