Method and device for preventing mechanical interference, electronic equipment and storage medium

Abstract

The invention provides a mechanical interference prevention method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the equipment information and the current position of current equipment when the interference alarm information of the current equipment is received; determining target interference configuration information of the current equipment according to the equipment information of the current equipment; determining a safety inching direction and a target inching position of the current equipment according to the target interference configuration information and the current position; the current equipment is controlled to jog to the target jog position according to the safe jog direction, that is, the current equipment is controlled to recover to the safe jog direction from the error jog direction during interference alarm in time, and the current equipment is controlled to jog to the target jog position according to the safe direction; the problem of collision damage caused by collision between the current equipment and other equipment is avoided, it is guaranteed that the current equipment does not generate secondary equipment damage any more, and the loss cost caused by mechanical interference is reduced.

Description

Technical Field

[0001] The present invention relates to the field of laser processing technology, and in particular to a method, device, electronic equipment and storage medium for preventing mechanical interference. Background Art

[0002] During the operation of the laser tube cutting equipment, there is a situation where the travels of multiple mechanisms of the laser tube cutting equipment overlap in space. If the customized process timing is wrong, the operator's manual operation is not standardized, or other abnormal situations occur, the laser tube cutting equipment is very likely to have mechanical interference, resulting in impact damage to the laser tube cutting equipment, resulting in direct economic losses; damage to the laser tube cutting equipment will lead to equipment shutdown and equipment maintenance, resulting in indirect economic losses.

[0003] In response to the above-mentioned mechanical interference problem, at present, the interlocking conditions such as the axis coordinates and input / output status of the laser tube cutting equipment are mainly configured for interlocking. When the interlocking conditions are not met, an interference alarm is issued to avoid mechanical interference, that is, mechanical interference is avoided by interlocking. However, after the interference alarm, the axis of the laser tube cutting equipment can still be jogged in the positive and negative directions. If the jogging direction is wrong, it will cause impact damage. Therefore, how to ensure that the jogging direction of the axis of the laser tube cutting equipment is correct after the interference alarm to avoid impact damage is a technical problem that urgently needs to be solved. Summary of the invention

[0004] The present invention provides a method, device, electronic device and storage medium for preventing mechanical interference, which can solve the problem of collision damage caused by the wrong jog direction of the axis of the laser tube cutting equipment after the interference alarm.

[0005] According to a first aspect of the present invention, there is provided a method for preventing mechanical interference, the method comprising:

[0006] Upon receiving interference alarm information of the current device, obtaining device information and current position of the current device;

[0007] Determining target interference configuration information of the current device according to the device information of the current device;

[0008] Determining a safe jog direction and a target jog position of the current device according to the target interference configuration information and the current position;

[0009] Control the current device to jog to the target jog position in the safe jog direction.

[0010] According to a second aspect of the present invention, there is provided a device for preventing mechanical interference, the device comprising:

[0011] A first acquisition module is used to acquire device information and current position of the jog device when receiving an interference alarm;

[0012] A first determination module, configured to determine target interference configuration information of the jog device according to device information of the jog device;

[0013] A second determination module, configured to determine a safe jog direction and a target jog position of the current device according to the target interference configuration information and the current position;

[0014] The device control module is used to control the current device to jog to the target jog position in the safe jog direction.

[0015] According to a third aspect of the present invention, there is provided an electronic device, comprising a processor and a memory.

[0016] The memory is used to store codes and related data;

[0017] The processor is used to execute the code in the memory to implement the method for preventing mechanical interference as described in any one of the embodiments of the present invention.

[0018] According to a fourth aspect of the present invention, there is provided a storage medium having a computer program stored thereon, which, when executed by a processor, implements a method for preventing mechanical interference as described in any one of the embodiments of the present invention.

[0019] In an embodiment of the present invention, upon receiving the interference alarm information of the current device, the device information and the current position of the current device are obtained; the target interference configuration information of the current device is determined according to the device information of the current device; the safe jog direction and the target jog position of the current device are determined according to the target interference configuration information and the current position; and the current device is controlled to jog to the target jog position according to the safe jog direction. That is, upon receiving the interference alarm information of the current device, the target interference configuration information of the current device is determined according to the device information of the current device, the safe jog direction and the target jog position of the current device are determined according to the target interference configuration information and the current position, and the current device is promptly controlled to recover from the wrong jog direction during the interference alarm to the safe jog direction, and the current device is controlled to jog to the target jog position according to the safe direction, thereby avoiding the problem of collision damage caused by the current device colliding with other devices, ensuring that the current device no longer causes secondary device damage, and reducing the loss cost caused by mechanical interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. 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 creative work.

[0021] Figure 1 is a flow chart of a method for preventing mechanical interference provided by an embodiment of the present invention;

[0022] Figure 2 is another flow chart of the method for preventing mechanical interference provided by an embodiment of the present invention;

[0023] Figure 3 is another flow chart of the method for preventing mechanical interference provided by an embodiment of the present invention;

[0024] Figure 4 is a structural schematic diagram of a device for preventing mechanical interference provided by an embodiment of the present invention;

[0025] Figure 5 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0027] The terms "including" and "having" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0028] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0029] Figure 11 is a flow chart of a method for preventing mechanical interference provided by an embodiment of the present invention. The method can be performed by a device for preventing mechanical interference, and the device can be implemented in software and / or hardware. In a specific embodiment, the device can be integrated into an electronic device, such as a computer, a server, etc. The following embodiments will be described by taking the device integrated into an electronic device as an example. Figure 1 , the method may specifically include the following steps:

[0030] Step 101, upon receiving interference alarm information of the current device, obtaining device information and current position of the current device.

[0031] The current device may be a laser tube cutting device. The interference alarm information may be understood as information for interlock alarm when the laser tube cutting device does not meet the interlock condition. The device information may be understood as a collection of various data and information on the device characteristics, attributes and status of the current device. The current position may be understood as the position of the current device when the interference alarm information of the current device is received.

[0032] Step 102: Determine target interference configuration information of the current device according to device information of the current device.

[0033] Among them, the interference configuration information can be understood as configuration information for avoiding mechanical interference of the laser cutting equipment. The interference configuration information may include, but is not limited to, one or more information of the limit information of the laser cutting equipment, the cylinder status (open / closed), the axis status (idle / busy), the sensor input status, etc. In other embodiments, the interference configuration information may also include equipment information associated with the mechanical interference of the laser cutting equipment. The limit information can be understood as the position limitation information of the laser cutting equipment. For example, in order to avoid mechanical interference of the laser cutting equipment, the interference configuration information of the laser cutting equipment is set to include the limit information [A, B]; wherein A and B respectively represent the coordinate values ​​corresponding to different positions of the laser cutting equipment; the limit information [A, B] indicates that the laser cutting equipment needs to move within the position interval formed by position A and position B to ensure that the laser cutting equipment does not mechanically interfere. The target interference configuration information can be understood as the configuration information that the current device will not mechanically interfere according to the initial interference configuration information of the current device. The target interference configuration information may include the limit information of the laser cutting device.

[0034] In an optional embodiment, during the laser processing, if mechanical interference occurs when the current device processes the part according to the processing parameters, the corresponding initial interference configuration information is stored in the preset information; if mechanical interference does not occur when the current device processes the part according to the processing parameters, the corresponding original limit information is stored in the preset information. The preset information can be queried according to the device information to obtain the first search result. When the first search result is a successful search, the initial interference configuration information of the current device is obtained from the preset information according to the device information, and the target interference configuration information is determined according to the initial interference configuration information. In this way, when the safe jog direction and target jog position of the current device are determined according to the target interference configuration information and the current position, the safe jog direction and target jog position are determined based on the initial interference configuration information of the current device, thereby improving the reliability and safety of the safe jog direction and target jog position. In the process of controlling the current device to jog to the target jog position according to the safe jog direction, the impact damage problem caused by controlling the current device to jog to the position interval where mechanical interference occurs when the current device is not in the position interval in the initial interference configuration information is avoided. When the first search result is a search failure, the original limit information of the current device is obtained from the preset information according to the device information, and the original limit information is determined as the target interference configuration information, so that when the safe jogging direction and target jogging position of the current device are determined according to the target interference configuration information and the current position, the safe jogging direction and target jogging position can be determined based on the original limit information of the current device, thereby improving the reliability and safety of the safe jogging direction and target jogging position, and in the process of controlling the current device to jog to the target jogging position in the safe jogging direction, the problem of impact damage that is easily caused by controlling the current device to jog in the wrong jogging direction to the position interval where mechanical interference occurs when the current device is not in the position interval in the original limit information is avoided.

[0035] Among them, the preset information can be understood as pre-configured working configuration information to prevent mechanical interference of the current device, and the preset information can include the initial interference configuration information and original limit information of the current device. The initial interference configuration information can be understood as the mechanical interference configuration information of the current device obtained from the preset information according to the device information; the initial interference configuration information can include at least one safety interval. The safety interval can be understood as the working position interval where mechanical interference will not occur in the current device. The original limit information can be understood as the position information of the current device when processing parts according to the processing parameters.

[0036] Specifically, there may be multiple initial interference configuration information, each of which includes at least one safety interval. Determining the target interference configuration information according to the initial interference configuration information may include: determining an interval intersection between two adjacent safety intervals, determining the interval intersection as the target interference configuration information, so as to determine a safer working position in the adjacent safety interval where the current device will not cause mechanical interference. One interval intersection is one safety interval.

[0037] For example, the device information of the current device may include device identification 1. The preset information may include initial interference configuration information S1 including device 1 in the preset information; S1 includes two safety intervals D1 and D2. D1 is [100, 150], and D2 is [130, 150]. When the preset information is queried according to the device information 1 and the relevant information of the device information 1 is included in the preset information, the first search result may be a successful search. When the first search result is a successful search, the initial interference configuration information (S1) of the current device is obtained from the preset information according to the device information 1, and the interval intersection between the two adjacent safety intervals is determined to be [130, 150]; the interval intersection [130, 150] is determined as the target interference configuration information.

[0038] Step 103, determining the safe jog direction and target jog position of the current device according to the target interference configuration information and the current position.

[0039] Among them, the safe jog direction can be understood as the jog direction in which the current device will not have mechanical interference after the interlock alarm; the safe jog direction can include positive and negative directions. Taking the current position as the origin, the right direction of the origin is the positive direction, and the left direction of the origin is the negative direction. The target jog position can be understood as the stop position of the current device in the safe jog direction.

[0040] In an optional implementation, the target interference configuration information includes at least one safety interval. Multiple actual distances between the current position and each safety interval can be determined; based on the multiple actual distances, a candidate safety interval closest to the current position is determined; based on the candidate safety interval and the current position, a safe jog direction and a target jog position are determined, so that the target jog position closest to the current position can be determined based on the candidate safety interval and the current position, shortening the jog distance of controlling the current device to jog in the safe jog direction. Among them, the candidate safety interval can be understood as a position interval closest to the current position determined based on multiple actual distances.

[0041] Specifically, the safety interval may include a left safety position and a right safety position. The left safety position may be understood as the left end point position of the safety interval. The right safety position may be understood as the right end point position of the safety interval. The first distance may be determined based on the current position and the left safety position; the second distance may be determined based on the current position and the right safety position; if the first distance is less than the second distance, the first distance may be determined as the actual distance; if the first distance is less than the second distance, the second distance may be determined as the actual distance; if the first distance is equal to the second distance, the first distance / second distance may be determined as the actual distance. Then the minimum distance among the multiple actual distances may be determined; the safety interval corresponding to the minimum distance may be determined as the candidate safety interval. The candidate safety interval includes the left end point position and the right end point position. Then, according to the left endpoint position, the right endpoint position and the current position, the interval offset of the current position relative to the candidate safety interval is determined; when the interval offset is negative, the safe jog direction is determined to be positive, and the left endpoint position of the candidate safety interval is determined as the target jog position; when the interval offset is positive, the safe jog direction is determined to be negative, and the right endpoint position of the candidate safety interval is determined as the target jog position, so that the direction relationship between the current position and the candidate safety interval can be determined according to the positive and negative of the interval offset, and then according to the direction relationship between the current position and the candidate safety interval, the jog direction of the current device can be quickly and accurately adjusted to the safe jog direction. Among them, the interval offset can be understood as the difference between the current position and the endpoint position of the candidate safety interval.

[0042] In a specific embodiment of the present invention, determining the first distance according to the current position and the left safety position may include: subtracting the current position from the left safety position to obtain a first difference, and determining the absolute value of the first difference as the first distance. Determining the second distance according to the current position and the right safety position may include: subtracting the current position from the right safety position to obtain a second difference, and determining the absolute value of the second difference as the second distance.

[0043] In a specific embodiment of the present invention, determining the interval offset of the current position relative to the candidate safety interval based on the left endpoint position, the right endpoint position and the current position may include: subtracting the coordinate value corresponding to the current position from the coordinate value corresponding to the left endpoint position or the coordinate value corresponding to the right endpoint position to obtain the interval offset. In this way, the interval offset can be determined quickly and accurately based on the endpoint position and the current position of the candidate safety interval, thereby improving the speed and accuracy of determining the interval offset, and thereby improving the speed and accuracy of preventing mechanical interference.

[0044] For example, the target interference configuration information includes S2. S2 includes three safety intervals: D3[180,200], D4[230,250] and D5[400,450]. The current position is 300. The left safety position of the safety interval D3[180,200] is 180, and the right safety position is 200. Subtract the current position (300) from the left safety position (180) to obtain a first difference (120), and determine the absolute value of the first difference as the first distance (120); subtract the current position (300) from the right safety position (200) to obtain a second difference (100), and determine the absolute value of the second difference as the second distance (100). If the first distance is greater than the second distance, the second distance is determined as the actual distance between the current position and the safety interval D3[180,200]. The process of determining the actual distance (50) between the current position and the safety interval D4 [230, 250] and the actual distance (100) between the current position and the safety interval D5 [400, 450] is the same as the process of determining the actual distance between the current position and the safety interval D3 [180, 200], and will not be repeated. It can be determined that the minimum distance among multiple actual distances is 50, and the safety interval D4 [230, 250] corresponding to the minimum distance (50) is determined as the candidate safety interval. Then, the coordinate value (300) corresponding to the current position and the coordinate value (230) corresponding to the left endpoint position are subtracted to obtain the interval offset (70); the interval offset is positive, the safe jog direction is determined to be negative, and the right endpoint position of the candidate safety interval is determined as the target jog position (250).

[0045] Step 104, controlling the current device to jog to a target jog position in a safe jog direction.

[0046] For example, the safe jog direction is negative, the target jog position is 250, and the current position of the current device is 300; the current device can be controlled to jog in the negative direction to the target jog position (250).

[0047] In an embodiment of the present invention, when interference alarm information of the current device is received, the target interference configuration information of the current device is determined based on the device information of the current device, and the safe jogging direction and target jogging position of the current device are determined based on the target interference configuration information and the current position. The current device is promptly controlled to recover from the erroneous jogging direction during the interference alarm to the safe jogging direction, and the current device is controlled to jog to the target jogging position in the safe direction, thereby avoiding the problem of collision damage caused by the current device colliding with other devices, ensuring that the current device no longer causes secondary device damage, and reducing the loss cost caused by mechanical interference.

[0048] The following further describes the method for preventing mechanical interference provided by the embodiment of the present invention. Figure 2 As shown, Figure 2FIG. 4 is another flow chart of a method for preventing mechanical interference provided by an embodiment of the present invention, which may specifically include the following steps:

[0049] Step 201, upon receiving interference alarm information of the current device, obtaining device information and current position of the current device.

[0050] Step 202: query preset information according to the device information to obtain a first search result.

[0051] Step 203, determine whether the first search result is a successful search; if so, execute step 204; if not, execute step 206.

[0052] Step 204: Acquire initial interference configuration information of the current device from preset information according to the device information.

[0053] Step 205: Determine target interference configuration information according to the initial interference configuration information.

[0054] After executing step 205, execute step 207.

[0055] Step 206 , obtaining original limit information of the current device from preset information according to the device information, and determining the original limit information as target interference configuration information.

[0056] Step 207: Determine multiple actual distances between the current position and each safety zone.

[0057] Step 208: Determine a candidate safety interval closest to the current position based on multiple actual distances.

[0058] Step 209, based on the left endpoint position, the right endpoint position and the current position, determine the interval offset of the current position relative to the candidate safety interval.

[0059] Step 210, determine whether the interval offset is negative; if so, execute step 211, if not, execute step 212.

[0060] Step 211, determine that the safe jog direction is positive, and determine the left end point position of the candidate safe interval as the target jog position.

[0061] After executing step 211 , execute step 213 .

[0062] Step 212, determine that the safe jog direction is negative, and determine the right end point position of the candidate safe interval as the target jog position.

[0063] Step 213, controlling the current device to jog in a safe jog direction to a target jog position.

[0064] In an embodiment of the present invention, when interference alarm information of the current device is received, the target interference configuration information of the current device can be determined according to the device information of the current device, and the safe jogging direction and target jogging position of the current device can be determined according to the target interference configuration information and the current position. The current device can be promptly controlled to recover from the erroneous jogging direction during the interference alarm to the safe jogging direction, and the current device can be controlled to jog to the target jogging position in the safe direction, thereby avoiding the problem of collision damage caused by the current device colliding with other devices, ensuring that the current device no longer causes secondary device damage, and reducing the loss cost caused by mechanical interference.

[0065] The method for preventing mechanical interference provided by the embodiment of the present invention is further described below. Figure 3 As shown, Figure 3 FIG. 4 is another flow chart of the method for preventing mechanical interference provided by an embodiment of the present invention, which may specifically include the following steps:

[0066] Step 301, obtaining device information and operation instructions of the current device.

[0067] Step 302: Search for preset information according to the device information to obtain a second search result.

[0068] Step 303: when the second search result is successful, the initial interference configuration information of the current device is obtained from the preset information according to the device information.

[0069] Step 304, based on the operation instruction and the initial interference configuration information, determine whether mechanical interference will occur when the current device is operated according to the operation instruction; if so, execute step 305; if not, execute step 306.

[0070] In an optional implementation, the operation instruction includes the operation state information of the current device and the operation position information corresponding to the operation state information, and the initial interference configuration information may include at least one initial interference state information of the current device and the interference position information corresponding to the initial interference state information. The operation state information and the interference state information may be matched to obtain a first matching result; when the first matching result is a successful match, the operation position information and the interference position information may be matched to obtain a second matching result; when the second matching result is a successful match, it is determined that mechanical interference will occur when the current device is operated according to the operation instruction, so that after the operation state information and the interference state information are successfully matched, it can be determined whether mechanical interference will occur when the current device is operated according to the operation instruction based on the matching result of the operation position information and the interference position information, that is, the accuracy of determining whether the current device will prevent mechanical interference is improved by double information matching.

[0071] The operation status information may include but is not limited to one or more information of the cylinder status (open / closed), axis status (idle / busy), sensor input status, etc. of the current device. The initial interference status information may be understood as the operation status information of the current device that will cause mechanical interference; the initial interference status information may include but is not limited to one or more information of the cylinder status (open / closed), axis status (idle / busy), sensor input status, etc. of the current device. In other embodiments, the operation status information and the initial interference status information may also include device information associated with the mechanical interference of the current device.

[0072] For example, the operation instruction of the current device 1 is X, and X includes the operation state information M1 (cylinder open, axis state idle) of the current device and the operation position information [500, 550] corresponding to the operation state information M1. The initial interference configuration information includes the initial interference state information M2 (cylinder open, axis state idle) of the current device 1 and the interference position information [500, 550] corresponding to the initial interference state information M2. The operation state information M1 and the interference state information M2 can be matched to obtain a first matching result; when the first matching result is a successful match, the operation position information [500, 550] and the interference position information [500, 550] are matched to obtain a second matching result of a successful match, and it is determined that mechanical interference will occur when the current device runs according to the operation instruction.

[0073] Step 305, prohibiting the current device from running according to the running instruction.

[0074] Step 306, controlling the current device to run according to the running instruction.

[0075] In an embodiment of the present invention, before controlling the current device to run according to the running instruction, the device information and the running instruction of the current device are obtained; the preset information is searched according to the device information to obtain a second search result; when the second search result is a search success, the initial interference configuration information of the current device is obtained from the preset information according to the device information; according to the running instruction and the initial interference configuration information, it is determined whether mechanical interference will occur when the current device runs according to the running instruction; when it is determined that mechanical interference will occur when the current device runs according to the running instruction, the current device is prohibited from running according to the running instruction, that is, the running of the running instruction of the current device that will cause mechanical interference is stopped in advance, thereby avoiding the problem of device impact damage caused by controlling the current device to run according to the motion instruction that will cause mechanical interference.

[0076] Figure 4 FIG. 1 is a schematic diagram of a structure of a device for preventing mechanical interference provided by an embodiment of the present invention. The device is suitable for executing a method for preventing mechanical interference provided by an embodiment of the present invention. Figure 4 As shown, the device may specifically include:

[0077] The first acquisition module 401 is used to acquire the device information and current position of the jog device when receiving an interference alarm;

[0078] A first determining module 402 is used to determine target interference configuration information of the jog device according to device information of the jog device;

[0079] A second determination module 403 is used to determine the safe jog direction and target jog position of the current device according to the target interference configuration information and the current position;

[0080] The device control module 404 is used to control the current device to jog to the target jog position according to the safe jog direction.

[0081] Optionally, the first determining module 402 is specifically configured to:

[0082] Querying preset information according to the device information to obtain a first search result;

[0083] When the first search result is successful, obtaining initial interference configuration information of the current device from the preset information according to the device information, wherein the preset information includes initial interference configuration information corresponding to each device information;

[0084] Determine the target interference configuration information according to the initial interference configuration information;

[0085] When the first search result is a search failure, the original limit information of the current device is obtained from the preset information according to the device information, and the original limit information is determined as the target interference configuration information. The preset information also includes the original limit information corresponding to each device information.

[0086] Optionally, there are multiple pieces of initial interference configuration information, each piece of initial interference configuration information includes at least one safety interval, and the first determination module 402 determines the target interference configuration information according to the initial interference configuration information, including:

[0087] Determine the interval intersection between two adjacent safety intervals;

[0088] The interval intersection is determined as the target interference configuration information, and one interval intersection is a safety interval.

[0089] Optionally, the target interference configuration information includes at least one safety interval, and the second determination module 403 is specifically configured to:

[0090] Determine multiple actual distances between the current position and each safety interval;

[0091] Determine, based on the multiple actual distances, a candidate safety interval closest to the current position;

[0092] The safe jog direction and the target jog position are determined according to the candidate safe interval and the current position.

[0093] Optionally, the second determining module 403 determines, according to the multiple actual distances, a candidate safety interval closest to the current position, including:

[0094] determining a minimum distance among the plurality of actual distances;

[0095] The safety interval corresponding to the minimum distance is determined as the candidate safety interval.

[0096] Optionally, the candidate safety interval includes a left endpoint position and a right endpoint position, and the second determination module 403 determines the safe jog direction and the target jog position according to the candidate safety interval and the current position, including:

[0097] Determine, according to the left endpoint position, the right endpoint position and the current position, an interval offset of the current position relative to the candidate safety interval;

[0098] When the interval offset is negative, the safe jog direction is determined to be positive, and the left end point position of the candidate safe interval is determined as the target jog position;

[0099] When the interval offset is positive, the safe jog direction is determined to be negative, and the right end point position of the candidate safe interval is determined as the target jog position.

[0100] Optionally, the second determining module 403 determines, according to the left endpoint position, the right endpoint position and the current position, an interval offset of the current position relative to the candidate safety interval, including:

[0101] The coordinate value corresponding to the current position is subtracted from the coordinate value corresponding to the left endpoint position or the coordinate value corresponding to the right endpoint position to obtain the interval offset.

[0102] Furthermore, the device also includes:

[0103] A second acquisition module is used to acquire device information and operation instructions of the current device;

[0104] A search module, used for searching the preset information according to the device information to obtain a second search result;

[0105] A third acquisition module, configured to acquire the initial interference configuration information of the current device from the preset information according to the device information when the second search result is a successful search;

[0106] A third determination module is used to determine whether mechanical interference will occur when the current device is operated according to the operation instruction and the initial interference configuration information;

[0107] The operation prohibition module is used to prohibit the current device from operating according to the operation instruction when it is determined that mechanical interference will occur when the current device operates according to the operation instruction.

[0108] Optionally, the operation instruction includes operation status information of the current device and operation position information corresponding to the operation status information, the initial interference configuration information includes at least one initial interference state information of the current device and interference position information corresponding to the initial interference state information, and the third determination module is specifically used to:

[0109] Performing information matching on the operation status information and the interference status information to obtain a first matching result;

[0110] When the first matching result is a successful match, matching the running position information with the interference position information to obtain a second matching result;

[0111] When the second matching result is a successful match, it is determined that mechanical interference will occur when the current device is operated according to the operation instruction.

[0112] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the functional modules described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0113] The device for preventing mechanical interference provided by the embodiment of the present invention can, when receiving the interference alarm information of the current device, determine the target interference configuration information of the current device according to the device information of the current device, determine the safe jogging direction and target jogging position of the current device according to the target interference configuration information and the current position, and promptly control the current device to recover from the erroneous jogging direction during the interference alarm to the safe jogging direction, and control the current device to jog to the target jogging position in the safe direction, thereby avoiding the problem of collision damage caused by the current device colliding with other devices, ensuring that the current device no longer causes secondary device damage, and reducing the loss cost caused by mechanical interference.

[0114] Figure 5 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0115] Please refer to Figure 5 , an electronic device 50 is provided, comprising:

[0116] a processor 51; and

[0117] A memory 52, used to store executable instructions of the processor;

[0118] The processor 51 is configured to execute the above-mentioned method by executing the executable instructions.

[0119] The processor 51 can communicate with the memory 52 via a bus 53 .

[0120] An embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned method is implemented.

[0121] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for preventing mechanical interference, characterized in that: The method comprises: Upon receiving interference alarm information of the current device, obtaining device information and current position of the current device; Determining target interference configuration information of the current device according to the device information of the current device; Determining a safe jog direction and a target jog position of the current device according to the target interference configuration information and the current position; Control the current device to jog to the target jog position in the safe jog direction.

2. The method according to claim 1, characterized in that The step of determining target interference configuration information of the current device according to the device information of the current device includes: Querying preset information according to the device information to obtain a first search result; When the first search result is successful, obtaining initial interference configuration information of the current device from the preset information according to the device information, wherein the preset information includes initial interference configuration information corresponding to each device information; Determine the target interference configuration information according to the initial interference configuration information; When the first search result is a search failure, the original limit information of the current device is obtained from the preset information according to the device information, and the original limit information is determined as the target interference configuration information. The preset information also includes the original limit information corresponding to each device information.

3. The method according to claim 2, characterized in that There are multiple pieces of initial interference configuration information, each piece of initial interference configuration information includes at least one safety interval, and determining the target interference configuration information according to the initial interference configuration information includes: Determine the interval intersection between two adjacent safety intervals; The interval intersection is determined as the target interference configuration information, and one interval intersection is a safety interval.

4. The method according to claim 1, characterized in that The target interference configuration information includes at least one safety interval, and determining the safe jog direction and target jog position of the current device according to the target interference configuration information and the current position includes: Determine multiple actual distances between the current position and each safety interval; Determine, based on the multiple actual distances, a candidate safety interval closest to the current position; The safe jog direction and the target jog position are determined according to the candidate safe interval and the current position.

5. The method according to claim 4, characterized in that The determining, according to the multiple actual distances, a candidate safety interval closest to the current position includes: determining a minimum distance among the plurality of actual distances; The safety interval corresponding to the minimum distance is determined as the candidate safety interval.

6. The method according to claim 4, characterized in that The candidate safety interval includes a left endpoint position and a right endpoint position, and determining the safe jog direction and the target jog position according to the candidate safety interval and the current position includes: Determine, according to the left endpoint position, the right endpoint position and the current position, an interval offset of the current position relative to the candidate safety interval; When the interval offset is negative, the safe jog direction is determined to be positive, and the left end point position of the candidate safe interval is determined as the target jog position; When the interval offset is positive, the safe jog direction is determined to be negative, and the right end point position of the candidate safe interval is determined as the target jog position.

7. The method according to claim 6, characterized in that The determining, according to the left endpoint position, the right endpoint position and the current position, an interval offset of the current position relative to the candidate safety interval includes: The coordinate value corresponding to the current position is subtracted from the coordinate value corresponding to the left endpoint position or the coordinate value corresponding to the right endpoint position to obtain the interval offset.

8. The method according to claim 2, characterized in that: Before receiving the interference alarm information of the current device, the method further includes: Obtaining device information and operation instructions of the current device; Searching for the preset information according to the device information to obtain a second search result; When the second search result is a successful search, obtaining the initial interference configuration information of the current device from the preset information according to the device information; Determining, according to the operation instruction and the initial interference configuration information, whether mechanical interference will occur when the current device is operated according to the operation instruction; When it is determined that mechanical interference will occur when the current device operates according to the operating instruction, the current device is prohibited from operating according to the operating instruction.

9. The method according to claim 8, characterized in that The operation instruction includes operation status information of the current device and operation position information corresponding to the operation status information, the initial interference configuration information includes at least one initial interference status information of the current device and interference position information corresponding to the initial interference status information, and determining whether mechanical interference will occur when the current device runs according to the operation instruction according to the operation instruction according to the operation instruction according to the initial interference configuration information includes: Performing information matching on the operation status information and the interference status information to obtain a first matching result; When the first matching result is a successful match, matching the running position information with the interference position information to obtain a second matching result; When the second matching result is a successful match, it is determined that mechanical interference will occur when the current device is operated according to the operation instruction.

10. A device for preventing mechanical interference, characterized in that: The device comprises: A first acquisition module is used to acquire device information and current position of the jog device when receiving an interference alarm; A first determination module, configured to determine target interference configuration information of the jog device according to device information of the jog device; A second determination module, configured to determine a safe jog direction and a target jog position of the current device according to the target interference configuration information and the current position; The device control module is used to control the current device to jog to the target jog position in the safe jog direction.

11. An electronic device, characterized in that: Including processor and memory, The memory is used to store codes and related data; The processor is used to execute the code in the memory to implement the method for preventing mechanical interference according to any one of claims 1 to 9.

12. A storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the method for preventing mechanical interference according to any one of claims 1 to 9 is implemented.

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