Anti-collision control method, device and equipment for material conveying equipment, medium and product

Abstract

The embodiment of the invention provides an anti-collision control method, device and equipment for material conveying equipment, a medium and a product, and the method comprises the steps that in the process that the material conveying equipment runs along a conveying guide rail, the external switch state of a key point position when the material conveying equipment moves to the key point position of the conveying guide rail is monitored; and if the external switch state of the key point is abnormal, controlling the material conveying equipment to execute corresponding operation based on an internal control instruction corresponding to the key point after the predetermined operation time of the key point is delayed by a set time threshold value. According to the method, a set of internal control signals based on time is set as backup control logic of an external switch, so that when any one of external detection switch signals fails, normal slow speed, start and stop of the conveying equipment can be ensured based on the internal control signals; and safety accidents such as equipment collision and damage caused by out-of-control of the material conveying equipment are avoided.

Description

Technical Field

[0001] The present invention relates to the field of industrial automation control technology, and in particular to a material conveying equipment anti-collision control method, device, equipment, medium and product. Background Art

[0002] In the multi-layer press production line of the wood-based panel industry, materials are usually transported to the press by material conveying equipment. The movement state of the conveying equipment is executed by external switch signals. Once the external switch signal fails, the material conveying equipment will be out of control. Due to the heavy weight of the material conveying equipment and the large inertia of movement, it is easy to cause safety accidents such as equipment collision damage. Summary of the invention

[0003] The present invention provides a method, device, equipment, medium and product for anti-collision control of material conveying equipment, which can ensure that the conveying equipment can slow down and start and stop normally based on the internal control signal when the external detection switch signal fails, thereby avoiding safety accidents such as equipment collision damage caused by loss of control of the material conveying equipment.

[0004] In a first aspect, an embodiment of the present invention provides a material conveying equipment anti-collision control method, comprising:

[0005] During the movement of the material conveying equipment along the conveying guide rail, monitoring the external switch state of the key point when the material conveying equipment moves to the key point of the conveying guide rail;

[0006] If the external switch state of the key point is abnormal, after the predetermined operation time of the key point is delayed by a set time threshold, the material conveying equipment is controlled to perform corresponding operations based on the internal control instructions corresponding to the key point.

[0007] In a second aspect, an embodiment of the present invention provides an anti-collision control device for material conveying equipment, comprising:

[0008] A state detection module, used for monitoring the external switch state of the key point when the material conveying equipment moves to the key point of the conveying guide rail during the operation of the material conveying equipment along the conveying guide rail;

[0009] The equipment control module is used to control the material conveying equipment to perform corresponding operations based on the internal control instructions corresponding to the key point after the predetermined operation time of the key point is delayed by a set time threshold if the external switch state of the key point is abnormal.

[0010] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0011] at least one processor; and

[0012] a memory communicatively connected to the at least one processor; wherein,

[0013] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the anti-collision control method for material conveying equipment as described in any embodiment of the present invention.

[0014] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the anti-collision control method for material conveying equipment as described in any embodiment of the present invention when executed.

[0015] In a fifth aspect, an embodiment of the present invention provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the anti-collision control method for material conveying equipment as described in any embodiment of the present invention.

[0016] The embodiment of the present invention provides a method, device, equipment, medium and product for anti-collision control of material conveying equipment. The method includes: first, during the operation of the material conveying equipment along the conveying guide rail, monitoring the external switch state of the key point when the material conveying equipment moves to the key point of the conveying guide rail; then, if the external switch state of the key point is abnormal, after the operation time of the key point is delayed by a predetermined time threshold, based on the internal control instructions corresponding to the key point, controlling the material conveying equipment to perform corresponding operations. The above technical scheme sets a set of time-based internal control signals as the backup control logic of the external switch. When any of the external detection switch signals fails, the conveying equipment can be guaranteed to slow down, start and stop normally based on the internal control signal, thereby avoiding safety accidents such as loss of control of the material conveying equipment and equipment collision damage.

[0017] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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 creative work.

[0019] Figure 1 A schematic flow chart of a method for preventing collisions of material conveying equipment provided in the first embodiment of the present invention;

[0020] Figure 2 An example diagram of a material conveying device conveying materials in a material conveying device anti-collision control method provided in Embodiment 1 of the present invention;

[0021] Figure 3 A schematic flow chart of another material conveying equipment anti-collision control method provided in Embodiment 2 of the present invention;

[0022] Figure 4 A schematic diagram of the structure of an anti-collision control device for material conveying equipment provided in Embodiment 3 of the present invention;

[0023] Figure 5 A schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "original", "target", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] Embodiment 1

[0027] Figure 1 The flowchart of a material conveying equipment anti-collision control method provided in the first embodiment of the present invention is a schematic diagram. The method can be applied to the case of anti-collision control of material conveying equipment. The method can be executed by a material conveying equipment anti-collision control device. The device can be implemented in the form of hardware and / or software and can be configured in an electronic device. Figure 1 As shown, the material conveying equipment anti-collision control method provided in the first embodiment may specifically include the following steps:

[0028] S101. When the material conveying equipment is running along the conveying guide rail, the external switch status of the key point is monitored when the material conveying equipment moves to the key point of the conveying guide rail.

[0029] Among them, the material conveying equipment can be specifically understood as equipment for material conveying. The conveying rail can be specifically understood as the rail between the material conveying equipment from the starting point to the end point. Place the material on the material conveying equipment, and transport the material to another device through the material conveying equipment. For example, in a multi-layer press production line for artificial boards, the loader can be understood as material conveying equipment, and the press can be understood as another device. During the operation of the loader delivering materials to the press, for example, a travel switch is used, and the collision of the moving parts of the production machinery is used to cause its contacts to move to connect or disconnect the control circuit, so as to achieve the purpose of control. If the travel switch is damaged, in order to prevent the loader from getting out of control and crashing into the press to cause damage to the equipment, the material conveying equipment anti-collision method provided in this embodiment can be used to prevent the loader from getting out of control and crashing into the press to cause damage to the equipment.

[0030] For example, Figure 2 This is an example diagram of a material conveying device conveying materials in a material conveying device anti-collision control method provided in Embodiment 1 of the present invention, such as Figure 2 As shown, the material conveying device 20 conveys materials to another device 10 along the conveying rail. The conveying rail includes a left stop point A, a left slow point B, a right slow point C, and a right stop point D. When the material conveying device 20 moves to the left from point D to point A, when it hits the detection point B, the material conveying device 20 runs slowly, and when it hits point A, the material conveying device 20 stops. When the material conveying device 20 moves to the right from point A to point D, when it hits the detection point C, the material conveying device 20 runs slowly, and when it hits point D, the material conveying device 20 stops. When the slow detection switch at the left slow point B is damaged or the detection signal is incorrect, the material conveying device 20 cannot slow down or stop, and will collide with the device 10 due to inertia, causing damage to the material conveying device 20 and the device 10. Similarly, when the stop detection switch at the left stop point A is damaged or the detection signal is incorrect, the material conveying equipment 20 cannot stop, and will collide with the equipment 10 due to continuous movement, causing damage to the material conveying equipment 20 and the equipment 10.

[0031] In this embodiment, the key point can be specifically understood as a point on the conveying track where deceleration or stopping is required. Preferably, the key points include: a left stop point, a left slow point, a right slow point, and a right stop point. Among them, the left stop point refers to a point where the material conveying equipment needs to stop in the process of conveying materials to the left, the left slow point refers to a point where the material conveying equipment needs to slow down in the process of conveying materials to the left, the right slow point refers to a point where the material conveying equipment needs to slow down in the process of returning to the right to pick up materials, and the right stop point refers to a point where the material conveying equipment needs to stop when returning to the right to pick up materials.

[0032] In this embodiment, when the material conveying equipment is running along the conveying rail, the external switch state of the key point of the conveying rail will be monitored. If the external switch state of the key point of the material conveying equipment is normal when the material conveying equipment moves to the key point of the conveying rail during the operation of the material conveying equipment along the conveying rail, the operation of the material conveying equipment is still controlled based on the detection signal of the external switch. Exemplarily, when the external switch detects that the material conveying equipment runs to the key point, it triggers the programmable logic controller (PLC) control cabinet to send a control instruction to the material conveying equipment to control the material conveying equipment to slow down or stop.

[0033] Continuing with the above description, during the operation of the material conveying equipment along the conveying rail, if the external switch status of the key point is abnormal when the material conveying equipment is monitored to move to the key point of the conveying rail, it is necessary to use the internal control information set based on the running time as a redundant backup control method to control the operation of the material conveying equipment.

[0034] S102: If the external switch state of the key point is abnormal, after the operation time of the predetermined key point is delayed by a set time threshold, the material conveying equipment is controlled to perform corresponding operations based on the internal control instructions corresponding to the key point.

[0035] Considering that the material conveying equipment performs repeated displacement movements in the same direction, from the user's perspective facing the conveying rail, the direction in which the material conveying equipment conveys materials from the material taking place to another device is recorded as moving to the left, and the direction in which the material conveying equipment returns from another device to the material taking place is recorded as moving to the right. The trajectory of the material conveying equipment moving to the left and the trajectory of the material conveying equipment moving to the right are fixed, and the range is also fixed. Each time it moves to the left or right, the position at which the material conveying equipment accelerates, decelerates, and stops, as well as the speed at which it accelerates and decelerates, are consistent. Therefore, the key points that need to be decelerated or stopped can be determined. For these key points, the running time of the material conveying equipment to reach these key points can be determined, and the corresponding internal logic control can be set according to these running times to control the normal operation of the material conveying equipment. This is equivalent to a spare set of internal logic control switch signals, and this signal uses the running time instruction to control the material conveying equipment, thus getting rid of the external switch instruction conditions.

[0036] In accordance with the above description, this embodiment backs up a set of signal switches, which are different from the external detection switches. According to the normal working state of the material conveying equipment, a set of signal switches is designed as backup switches to implement a redundant control method. Figure 2 Since the trajectory is fixed and the movement of the material conveying equipment is also fixed, the time to reach any point is also fixed. When the material conveying equipment conveys materials, when to slow down and when to stop, when to slow down and when to stop when returning can be predetermined, that is, how much time it takes to decelerate at point B, how much time it takes to stop at point A, how much time it takes to decelerate at point C, and how much time it takes to stop at point D. Based on these running times, control instructions to the four points A, B, C, and D are set respectively. For example, if the moment at the left slow point and the running time between the left slow point and the left stop point are known, the time to reach the left stop point can be determined, and the device stop control instruction is sent through the PLC based on this time.

[0037] It should be noted that a set time threshold is provided in the present embodiment. When the external switch state of the key point is detected to be abnormal, the internal control signal based on the running time can be executed after the predetermined running time of the key point is delayed by the set time threshold. Setting the delayed set time threshold is equivalent to giving priority to the actual external detection signal, and the internal slow deceleration signal is delayed, so as to ensure that the external detection signal is operated under normal circumstances. Once the external detection signal has a problem, the internal control signal can be used to control the movement of the material conveying equipment. The specific value of the set time threshold can be set according to the actual situation. If the accuracy is high, the time of the set time threshold can be set relatively small. If the accuracy is low, the time of the set time threshold can be set relatively large. For example, the movement time from point D to point B is 10 seconds. If there is no material conveying equipment at point B and it is not running slowly, then the internal control signal will be used for deceleration control after another 0.5 seconds.

[0038] It is understandable that each key point has a different operating time. Each key point has its own operating time and also has internal control instructions for controlling how the material conveying equipment operates. In this embodiment, the external switch status of each key point is monitored. When the external switch status of any key point is detected to be abnormal, the material conveying equipment is controlled to perform corresponding operations based on the internal control instructions corresponding to the key point after the operating time of the predetermined key point is delayed by a set time threshold. It should be noted that this technical solution can be used in any scenario where repeated displacement actions are performed in the same direction.

[0039] The above technical solution sets up a set of time-based internal control signals as the backup control logic of the external switch. When any of the external detection switch signals fails, the internal control signal can be used to ensure that the conveying equipment can slow down and start and stop normally, thereby avoiding safety accidents such as equipment collision damage caused by loss of control of the material conveying equipment.

[0040] As an optional embodiment of the embodiment of the present invention, based on the above embodiment, the steps of determining the running time of each key point can be optimized, including:

[0041] a1) According to the trajectory of the material conveying equipment moving from the right stop point to the left stop point and the speed of the material conveying equipment, determine the running time from the right stop point to the left slow point and the running time from the right stop point to the left stop point.

[0042] In this embodiment, the trajectory of the material conveying device moving from the right stop point to the left stop point and the speed of the material conveying device under normal conditions are obtained. When the trajectory and speed are known, the running time from the right stop point to the left slow point and the running time from the right stop point to the left stop point can be calculated. In addition, the running time from the right stop point to the left slow point and the running time from the right stop point to the left stop point in the historical time period can be counted by data statistics as the running time of the subsequent key points.

[0043] b1) According to the trajectory of the material conveying equipment moving from the left stop point to the right stop point and the speed of the material conveying equipment, determine the running time from the left stop point to the right slow point and the running time from the left stop point to the right stop point.

[0044] In this embodiment, the trajectory of the material conveying device moving from the left stop point to the right stop point and the speed of the material conveying device under normal conditions are obtained. When the trajectory and speed are known, the running time from the left stop point to the right slow point and the running time from the left stop point to the right stop point can be calculated. In addition, the running time from the left stop point to the right slow point and the running time from the left stop point to the right stop point in the historical time period can be counted by data statistics as the running time of the subsequent key points.

[0045] The above technical solution specifies the steps for determining the operating time of each key point, and provides basic data for the subsequent setting of internal control signals based on the operating time as a backup for external detection switch control.

[0046] Embodiment 2

[0047] Figure 3 A flow chart of another anti-collision control method for material conveying equipment provided in Example 2 of the present invention. This embodiment is a further optimization of the above embodiment. In this embodiment, "monitoring the external switch state of the key point when the material conveying equipment moves to the key point of the conveying guide rail" is further limited and optimized, and "after the predetermined operating time of the key point is delayed by a set time threshold, based on the internal control instructions corresponding to the key point, controlling the material conveying equipment to perform corresponding operations" is further limited and optimized.

[0048] like Figure 3 As shown, this embodiment 2 provides a material conveying equipment anti-collision control method, which specifically includes the following steps:

[0049] S201. Determine the state of the external switch at the key point by collecting an image of the external switch through an image acquisition device; or determine the state of the external switch at the key point according to the running speed of the material conveying equipment after the predetermined running time of the key point.

[0050] In this embodiment, the image acquisition device can capture images of external switches, and based on the images of the external switches, it can be determined whether the external switches at key points are damaged. For example, assuming that the material conveying equipment will flash the light after touching the switch at point B, and the default state of the switch at point B is green, it will become a flashing state when the material conveying equipment passes by. Therefore, based on whether the light is green or flashing in the captured image, it can be determined whether the switch is normal. Alternatively, based on the image detection that the appearance of the external switch is damaged, it can also be determined that the external switch is damaged.

[0051] In addition, the running speed of the material conveying equipment can also be monitored. After the running time of the predetermined key point, if the material conveying equipment should slow down at the key point, but it still runs at the original speed, it is determined that the external switch state of the key point is abnormal. If the material conveying equipment should stop at the key point, but it is still running, it is determined that the external switch state of the key point is abnormal.

[0052] S202. When the material conveying equipment moves to the left, if the external switch state of the left slow point is abnormal, after the operation time of the left slow point is delayed by a set time threshold, the material conveying equipment is controlled to run slowly based on the slow operation instruction corresponding to the left slow point.

[0053] In this embodiment, when the material conveying device moves to the left, the external switch states at the left slow point and the left stop point are monitored. The left slow point corresponds to a slow running instruction. If the external switch state of the left slow point is abnormal, the material conveying device is controlled to run slowly based on the slow running instruction corresponding to the left slow point after the running time of the left slow point is delayed and the time threshold is set.

[0054] S203. When the material conveying equipment moves to the left, if the external switch state of the left stop point is abnormal, after the operation time of the left stop point is delayed by a set time threshold, the material conveying equipment is controlled to stop running based on the stop running instruction corresponding to the left stop point.

[0055] In this embodiment, the left stop point corresponds to a stop operation instruction. If the external switch state of the left stop point is abnormal, the material conveying equipment is controlled to stop running based on the stop operation instruction corresponding to the left stop point after the set time threshold is delayed according to the running time of the left stop point.

[0056] S204. When the material conveying equipment moves to the right, if the external switch state of the right slow point is abnormal, after the running time of the right slow point is delayed by the set time threshold, the material conveying equipment is controlled to run slowly based on the slow running instruction corresponding to the right slow point.

[0057] In this embodiment, when the material conveying device moves to the right, the external switch states at the right slow point and the right stop point are monitored. The right slow point corresponds to a slow running instruction. If the external switch state of the right slow point is abnormal, the material conveying device is controlled to run slowly based on the slow running instruction corresponding to the right slow point after the running time of the right slow point is delayed and the time threshold is set.

[0058] S205. When the material conveying equipment moves to the right, if the external switch state of the right stop point is abnormal, after the operation time of the right stop point is delayed by the set time threshold, the material conveying equipment is controlled to stop running based on the stop running instruction corresponding to the right stop point.

[0059] In this embodiment, the right stop point corresponds to a stop operation instruction. If the external switch state of the right stop point is abnormal, the material conveying equipment is controlled to stop running based on the stop operation instruction corresponding to the right stop point after the set time threshold is delayed according to the running time of the right stop point.

[0060] The above technical solution specifies the steps of monitoring the external switch status of the key points when the material conveying equipment moves to the key points of the conveying rail, and the steps of controlling the material conveying equipment to perform corresponding operations based on the internal control instructions corresponding to the key points. On the original equipment, there is no need to increase any economic cost, and an additional protection measure can be added to prevent equipment damage or casualties caused by malfunction of the equipment. At the same time, once the external switch signal fails, the PLC internal control logic will be automatically switched to execute. By adding this type of protection program, it prevents the installation from getting out of control and crashing into the press, causing equipment damage.

[0061] Embodiment 3

[0062] Figure 4 The structure diagram of a material conveying equipment anti-collision control device provided in the third embodiment of the present invention is applicable to the case where the material conveying equipment is subjected to anti-collision control. The material conveying equipment anti-collision control device can be configured in an electronic device, such as Figure 4 As shown, the device includes: a state detection module 31 and a device control module 32; wherein,

[0063] The state detection module 31 is used to monitor the external switch state of the key point when the material conveying equipment moves to the key point of the conveying guide rail during the operation of the material conveying equipment along the conveying guide rail;

[0064] The equipment control module 32 is used to control the material conveying equipment to perform corresponding operations based on the internal control instructions corresponding to the key points after the operation time of the predetermined key points is delayed by a set time threshold if the external switch state of the key points is abnormal.

[0065] The above technical solution sets up a set of time-based internal control signals as the backup control logic of the external switch. When any of the external detection switch signals fails, the internal control signal can be used to ensure that the conveying equipment can slow down and start and stop normally, thereby avoiding safety accidents such as equipment collision damage caused by loss of control of the material conveying equipment.

[0066] Optionally, the state detection module 31 is specifically configured to:

[0067] Based on the image acquisition device capturing an image of the external switch, determining the state of the external switch at the key point; or

[0068] After the predetermined operation time of the key points, the external switch status of the key points is determined according to the operation speed of the material conveying equipment.

[0069] Optionally, the key points include: a left stop point, a left slow speed point, a right slow speed point and a right stop point.

[0070] The device also includes a time determination module, which is used to:

[0071] According to the trajectory of the material conveying equipment moving from the right stop point to the left stop point and the speed of the material conveying equipment, the running time of moving from the right stop point to the left slow speed point and the running time of moving from the right stop point to the left stop point are determined;

[0072] According to the trajectory of the material conveying equipment moving from the left stop point to the right stop point and the speed of the material conveying equipment, the running time from the left stop point to the right slow point and the running time from the left stop point to the right stop point are determined.

[0073] Optionally, the device control module 32 is specifically configured to:

[0074] When the material conveying equipment moves to the left, if the external switch state of the left slow point is abnormal, after the running time of the left slow point is delayed by the set time threshold, the material conveying equipment is controlled to run slowly based on the slow running instruction corresponding to the left slow point;

[0075] When the material conveying equipment moves to the left, if the external switch state of the left stop point is abnormal, after the operation time of the left stop point is delayed by the set time threshold, the material conveying equipment is controlled to stop running based on the stop running instruction corresponding to the left stop point.

[0076] Optionally, the device control module 32 is specifically configured to:

[0077] When the material conveying equipment moves to the right, if the external switch state of the right slow point is abnormal, after the running time of the right slow point is delayed by the set time threshold, the material conveying equipment is controlled to run slowly based on the slow running instruction corresponding to the right slow point;

[0078] When the material conveying equipment moves to the right, if the external switch state of the right stop point is abnormal, after the operation time of the right stop point is delayed by the set time threshold, the material conveying equipment is controlled to stop running based on the stop running instruction corresponding to the right stop point.

[0079] The material conveying equipment anti-collision control device provided in the embodiment of the present invention can execute the material conveying equipment anti-collision control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0080] Embodiment 4

[0081] Figure 5 A schematic diagram of the structure of an electronic device provided for Embodiment 4 of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0082] like Figure 5As shown, the electronic device 40 includes at least one processor 41, and a memory connected to the at least one processor 41, such as a read-only memory (ROM) 42, a random access memory (RAM) 43, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 41 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 42 or the computer program loaded from the storage unit 48 to the random access memory (RAM) 43. In the RAM 43, various programs and data required for the operation of the electronic device 40 can also be stored. The processor 41, the ROM 42, and the RAM 43 are connected to each other through a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0083] A number of components in the electronic device 40 are connected to the I / O interface 45, including: an input unit 46, such as a keyboard, a mouse, etc.; an output unit 47, such as various types of displays, speakers, etc.; a storage unit 48, such as a disk, an optical disk, etc.; and a communication unit 49, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 49 allows the electronic device 40 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0084] The processor 41 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 41 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 41 executes the various methods and processes described above, such as a material conveying equipment anti-collision control method.

[0085] In some embodiments, the material conveying equipment anti-collision control method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 48. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 40 via the ROM 42 and / or the communication unit 49. When the computer program is loaded into the RAM 43 and executed by the processor 41, one or more steps of the material conveying equipment anti-collision control method described above can be performed. Alternatively, in other embodiments, the processor 41 can be configured to execute the material conveying equipment anti-collision control method in any other appropriate manner (e.g., by means of firmware).

[0086] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0087] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0088] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0089] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0090] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0091] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0092] An embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements the material conveying equipment anti-collision control method provided by any embodiment of the present invention.

[0093] In the process of implementation, the computer program product can be written in one or more programming languages ​​or a combination thereof to perform the computer program code for the operation of the present disclosure, including but not limited to object-oriented programming languages, such as Java, Smalltalk, C++, PLC, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0094] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0095] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A material conveying equipment anti-collision control method, characterized in that: include: During the movement of the material conveying equipment along the conveying guide rail, monitoring the external switch state of the key point when the material conveying equipment moves to the key point of the conveying guide rail; If the external switch state of the key point is abnormal, after the predetermined operation time of the key point is delayed by a set time threshold, the material conveying equipment is controlled to perform corresponding operations based on the internal control instructions corresponding to the key point.

2. The method according to claim 1, characterized in that The monitoring of the external switch state of the key point when the material conveying equipment moves to the key point of the conveying guide rail includes: Determining the state of the external switch at the key point based on the image of the external switch acquired by the image acquisition device; or After the predetermined operation time of the key point, the external switch state of the key point is determined according to the operation speed of the material conveying equipment.

3. The method according to claim 1, characterized in that The key points include: a left stop point, a left slow speed point, a right slow speed point and a right stop point.

4. The method according to claim 3, characterized in that The step of determining the running time of each of the key points comprises: According to the trajectory of the material conveying equipment moving from the right stop point to the left stop point and the speed of the material conveying equipment, determine the running time of moving from the right stop point to the left slow point and the running time of moving from the right stop point to the left stop point; According to the trajectory of the material conveying equipment moving from the left stop point to the right stop point and the speed of the material conveying equipment, the running time from the left stop point to the right slow point and the running time from the left stop point to the right stop point are determined.

5. The method according to claim 3, characterized in that: After the predetermined operation time of the key point is delayed by a set time threshold, the material conveying equipment is controlled to perform a corresponding operation based on the internal control instruction corresponding to the key point, including: When the material conveying equipment moves to the left, if the external switch state of the left slow point is abnormal, after the operation time of the left slow point is delayed by a set time threshold, the material conveying equipment is controlled to run slowly based on the slow operation instruction corresponding to the left slow point; When the material conveying equipment moves to the left, if the external switch state of the left stop point is abnormal, after the operation time of the left stop point is delayed by a set time threshold, the material conveying equipment is controlled to stop running based on the stop operation instruction corresponding to the left stop point.

6. The method according to claim 3, characterized in that After the predetermined operation time of the key point is delayed by a set time threshold, the material conveying equipment is controlled to perform a corresponding operation based on the internal control instruction corresponding to the key point, including: When the material conveying equipment moves to the right, if the external switch state of the right slow point is abnormal, after the running time of the right slow point is delayed by a set time threshold, the material conveying equipment is controlled to run slowly based on the slow running instruction corresponding to the right slow point; When the material conveying equipment moves to the right, if the external switch state of the right stop point is abnormal, after the operation time of the right stop point is delayed by a set time threshold, the material conveying equipment is controlled to stop running based on the stop operation instruction corresponding to the right stop point.

7. A material conveying equipment anti-collision control device, characterized in that: include: A state detection module, used for monitoring the external switch state of the key point when the material conveying equipment moves to the key point of the conveying guide rail during the operation of the material conveying equipment along the conveying guide rail; The equipment control module is used to control the material conveying equipment to perform corresponding operations based on the internal control instructions corresponding to the key point after the predetermined operation time of the key point is delayed by a set time threshold if the external switch state of the key point is abnormal.

8. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the material conveying equipment anti-collision control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the material conveying equipment anti-collision control method according to any one of claims 1 to 6 when executed.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the computer program implements the material conveying equipment anti-collision control method according to any one of claims 1 to 6.

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