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

Abstract

The application provides a mechanical interference prevention method and device, electronic equipment and a storage medium. The method comprises the following steps: when receiving interference alarm information of a current device, obtaining device information and a 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 point movement direction and a target point movement position of the current device according to the target interference configuration information and the current position; and controlling the current device to move to the target point movement position according to the safe point movement direction, that is, controlling the current device to recover from an error point movement direction at the time of interference alarm to the safe point movement direction in a timely manner, and controlling the current device to move to the target point movement position according to the safe direction, thereby avoiding the problem that the current device collides with other devices to cause damage, ensuring that the current device no longer causes secondary device damage, and reducing the loss cost caused by mechanical interference.

Description

Technical Field

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

[0002] During the operation of laser tube cutting equipment, the strokes of multiple mechanisms may overlap spatially. If the customized process timing is incorrect, the operator's manual operation is not standardized, or other abnormal situations occur, the laser tube cutting equipment is prone to mechanical interference, leading to impact damage and direct economic losses. Damage to the laser tube cutting equipment will result in equipment downtime and equipment repair, causing indirect economic losses.

[0003] To address the aforementioned mechanical interference problem, current methods primarily rely on interlocking conditions such as the axis coordinates and input / output states of the laser tube cutting equipment. An interference alarm is triggered when these conditions are not met to prevent mechanical interference. However, even after an interference alarm, the laser tube cutting equipment's axis can still be jogged in both positive and negative directions. Incorrect jogging direction can lead to impact damage. Therefore, ensuring the correct jogging direction of the laser tube cutting equipment's axis after an interference alarm to avoid impact damage is a pressing technical problem that needs to be solved. Summary of the Invention

[0004] This invention provides a method, device, electronic device, and storage medium for preventing mechanical interference, which can solve the problem of impact damage caused by incorrect jogging direction of the axis of the laser tube cutting equipment after an interference alarm.

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

[0006] Upon receiving an interference alarm message from the current device, obtain the device information and current location of the current device;

[0007] Based on the device information of the current device, determine the target interference configuration information of the current device;

[0008] Based on the target interference configuration information and the current position, the safe jogging direction and target jogging position of the current device are determined;

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

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

[0011] The first acquisition module is used to acquire the device information and current position of the jogging device when an interference alarm is received;

[0012] The first determining module is used to determine the target interference configuration information of the jogging device based on the device information of the jogging device;

[0013] The second determining module is used to determine the safe jogging direction and target jogging position of the current device based on the target interference configuration information and the current position;

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

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

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

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

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

[0019] In this embodiment of the invention, upon receiving an interference alarm message from the current device, the device information and current position of the current device are acquired; based on the device information, the target interference configuration information of the current device is determined; based on the target interference configuration information and the current position, the safe jogging direction and target jogging position of the current device are determined; and the current device is controlled to jog to the target jogging position according to the safe jogging direction. That is, upon receiving an interference alarm message from the current device, the target interference configuration information of the current device is determined based on the device information, 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. This allows for timely control of the current device to recover from the erroneous jogging direction at the time of the interference alarm to the safe jogging direction, and to jog to the target jogging position according to the safe direction. This avoids collisions between the current device and other devices, preventing damage caused by impacts, ensuring that the current device does not suffer secondary equipment damage, and reducing the cost of losses due to mechanical interference. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic flowchart of a method for preventing mechanical interference provided in an embodiment of the present invention;

[0022] Figure 2 This is another schematic flowchart of the method for preventing mechanical interference provided in an embodiment of the present invention;

[0023] Figure 3 This is another schematic flowchart of the method for preventing mechanical interference provided in the embodiments of the present invention;

[0024] Figure 4 This is a schematic diagram of a mechanical interference prevention device provided in an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] The terms “comprising” and “having”, and any variations thereof, in the specification, claims, and accompanying drawings of this invention are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or apparatus that includes 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 such process, method, product, or apparatus.

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

[0029] Figure 1This is a flowchart illustrating a method for preventing mechanical interference provided in an embodiment of the present invention. This method can be executed by a device for preventing mechanical interference, which can be implemented using software and / or hardware. In a specific embodiment, the device can be integrated into an electronic device, such as a computer or server. The following embodiments will illustrate this using the integration of the device into an electronic device as an example. Figure 1 The method may specifically include the following steps:

[0030] Step 101: Upon receiving the interference alarm information of the current device, obtain the device information and current location of the current device.

[0031] Here, "current device" can refer to a laser tube cutting device. "Interference alarm information" can be understood as an interlock alarm triggered when the laser tube cutting device fails to meet interlock conditions. "Equipment information" can be understood as a collection of data and information regarding the current device's characteristics, attributes, and status. "Current position" can be understood as the current location of the device when the interference alarm information is received.

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

[0033] Interference configuration information can be understood as configuration information to prevent mechanical interference in the laser cutting equipment. This interference configuration information may include, but is not limited to, one or more of the following: limit information of the laser cutting equipment, cylinder status (open / closed), axis status (idle / busy), and sensor input status. In other embodiments, the interference configuration information may also include equipment information related to the possibility of mechanical interference in the laser cutting equipment. Limit information can be understood as positional limitation information of the laser cutting equipment. For example, to avoid mechanical interference in the laser cutting equipment, the interference configuration information of the laser cutting equipment may include limit information [A, B]; where A and B represent the coordinate values ​​corresponding to different positions of the laser cutting equipment; limit information [A, B] indicates that the laser cutting equipment must move within the position interval formed by positions A and B to ensure that mechanical interference does not occur. Target interference configuration information can be understood as configuration information determined based on the initial interference configuration information of the current equipment to prevent mechanical interference. Target interference configuration information may include the limit information of the laser cutting equipment.

[0034] In one optional implementation, during laser processing, if mechanical interference occurs when the current device processes the part according to the processing parameters, 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, corresponding original limit information is stored in the preset information. The preset information can be queried based on the device information to obtain a first search result. When the first search result indicates a successful search, the initial interference configuration information of the current device is obtained from the preset information based on the device information. The target interference configuration information is then determined based on the initial interference configuration information. This improves the reliability and safety of the safe jogging direction and target jogging position when determining the safe jogging direction and target jogging position of the current device according to the target interference configuration information and the current position. Furthermore, it avoids the impact damage problem caused by controlling the current device to jog in the wrong direction to the position range where mechanical interference occurs when the current device is not within the position range specified in 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 based on the device information, and the original limit information is determined as the target interference configuration information. In this way, when determining the safe jogging direction and target jogging position of the current device based on the target interference configuration information and the current position, the original limit information of the current device can be used as the basis to determine the safe jogging direction and target jogging position, thereby improving the reliability and safety of the safe jogging direction and target jogging position. In the process of controlling the current device to jog to the target jogging position in the safe jogging direction, the collision damage problem that is prone to occur when the current device is not in the position range of the original limit information and is controlled to jog to the position range where mechanical interference occurs is avoided.

[0035] The preset information can be understood as pre-configured working configuration information to prevent mechanical interference from occurring on the current equipment. The preset information may include the initial interference configuration information and the original limit information of the current equipment. The initial interference configuration information can be understood as the mechanical interference configuration information of the current equipment obtained from the preset information based on the equipment information; the initial interference configuration information may include at least one safe range. The safe range can be understood as the working position range within which the current equipment will not experience mechanical interference. The original limit information can be understood as the position information of the current equipment when processing parts according to the processing parameters.

[0036] Specifically, there can be multiple initial interference configuration information sets, each including at least one safe interval. Determining the target interference configuration information based on the initial interference configuration information can include: determining the intersection of two adjacent safe intervals, and using this intersection as the target interference configuration information to identify a safer working position within the adjacent safe intervals where mechanical interference will not occur. Here, one intersection constitutes one safe interval.

[0037] For example, the device information of the current device may include device identifier 1. The preset information may include initial interference configuration information S1 for device 1; S1 includes two safety intervals D1 and D2. D1 is [100, 150], and D2 is [130, 150]. When the preset information is queried based on device information 1, and the preset information includes relevant information about device information 1, the first search result is considered successful. When the first search result is successful, the initial interference configuration information (S1) of the current device is obtained from the preset information based on device information 1, and the intersection of two adjacent safety intervals is determined to be [130, 150]; the intersection of intervals [130, 150] is determined as the target interference configuration information.

[0038] Step 103: Determine the safe jogging direction and target jogging position of the current device based on the target interference configuration information and the current position.

[0039] The safe jogging direction can be understood as the jogging direction in which the current device will not experience mechanical interference after an interlock alarm. The safe jogging direction can be positive or negative. With the current position as the origin, the direction to the right of the origin is positive, and the direction to the left of the origin is negative. The target jogging position can be understood as the stopping position of the current device when jogging in the safe jogging direction.

[0040] In one 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, the candidate safety interval closest to the current position is determined; based on the candidate safety interval and the current position, the safe jogging direction and the target jogging position are determined. This allows the target jogging position closest to the current position to be determined based on the candidate safety interval and the current position, shortening the jogging distance required to control the current device to jog in the safe jogging direction. The candidate safety interval can be understood as the position interval closest to the current position determined based on multiple actual distances.

[0041] Specifically, the safe interval can include a left safe position and a right safe position. The left safe position can be understood as the left endpoint of the safe interval. The right safe position can be understood as the right endpoint of the safe interval. A first distance can be determined based on the current position and the left safe position; a second distance can be determined based on the current position and the right safe position. If the first distance is less than the second distance, the first distance is determined as the actual distance; if the first distance is equal to the second distance, the first distance / second distance is determined as the actual distance. Then, the minimum distance among the multiple actual distances is determined; the safe interval corresponding to the minimum distance is determined as the candidate safe interval. The candidate safe interval includes the left endpoint and the right endpoint. Based on the left and right endpoint positions and the current position, the interval offset of the current position relative to the candidate safe interval is determined. When the interval offset is negative, the safe jogging direction is determined to be positive, and the left endpoint position of the candidate safe interval is determined as the target jogging position. When the interval offset is positive, the safe jogging direction is determined to be negative, and the right endpoint position of the candidate safe interval is determined as the target jogging position. In this way, the directional relationship between the current position and the candidate safe interval can be determined based on the sign of the interval offset. Then, based on the directional relationship between the current position and the candidate safe interval, the jogging direction of the current device can be quickly and accurately adjusted to the safe jogging direction. Here, the interval offset can be understood as the difference between the current position and the endpoint position of the candidate safe interval.

[0042] In a specific embodiment of the present invention, determining a first distance based on the current position and the left safe position may include: subtracting the current position from the left safe position to obtain a first difference, and determining the absolute value of the first difference as the first distance. Determining a second distance based on the current position and the right safe position may include: subtracting the current position from the right safe 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 safe 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. This allows for the rapid and accurate determination of the interval offset based on the endpoint positions of the candidate safe interval and the current position, thereby improving the speed and accuracy of interval offset determination and thus 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. Subtracting the current position (300) from the left safety position (180) yields a first difference (120), and the absolute value of the first difference is determined as the first distance (120); subtracting the current position (300) from the right safety position (200) yields a second difference (100), and the absolute value of the second difference is determined as the second distance (100). If the first distance is greater than the second distance, then 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 safe interval D4 [230,250], and the actual distance (100) between the current position and the safe interval D5 [400,450] is the same as the process of determining the actual distance between the current position and the safe interval D3 [180,200], and will not be repeated here. The minimum distance among the multiple actual distances can be determined to be 50, so the safe interval D4 [230,250] corresponding to the minimum distance (50) is determined as the candidate safe interval. Then, the coordinate value (300) corresponding to the current position is subtracted from the coordinate value (230) corresponding to the left endpoint position to obtain the interval offset (70); since the interval offset is positive, the direction of the safe point movement is determined to be negative, and the right endpoint position of the candidate safe interval is determined as the target point movement position (250).

[0045] Step 104: Control the current device to move to the target position in the safe jogging direction.

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

[0047] In this embodiment of the invention, upon receiving interference alarm information from the current device, the target interference configuration information of the current device is determined based on the device information of the current device. Based on the target interference configuration information and the current position, the safe jogging direction and the target jogging position of the current device are determined. The current device is promptly controlled to recover from the erroneous jogging direction at the time of 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. This avoids the problem of collision damage caused by the current device colliding with other devices, ensures that the current device does not cause secondary equipment damage, and reduces the loss cost caused by mechanical interference.

[0048] The following further describes the method for preventing mechanical interference provided by the embodiments of the present invention, such as... Figure 2 As shown, Figure 2This is another flowchart illustrating the method for preventing mechanical interference provided in this embodiment of the invention, which may specifically include the following steps:

[0049] Step 201: Upon receiving the interference alarm information of the current device, obtain the device information and current location of the current device.

[0050] Step 202: Query preset information based on device information to obtain the first search result.

[0051] Step 203: Determine whether the first search result is a successful search; if yes, proceed to step 204; otherwise, proceed to step 206.

[0052] Step 204: Obtain the initial interference configuration information of the current device from the preset information based on the device information.

[0053] Step 205: Determine the target interference configuration information based on the initial interference configuration information.

[0054] After executing step 205, proceed to step 207.

[0055] Step 206: Obtain the original limit information of the current device from the preset information based on the device information, and determine the original limit information as the target interference configuration information.

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

[0057] Step 208: Determine the candidate safe zone closest to the current position based on multiple actual distances.

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

[0059] Step 210: Determine if the interval offset is negative; if yes, proceed to step 211; if no, proceed to step 212.

[0060] Step 211: Determine the safe jogging direction as positive, and determine the left endpoint of the candidate safe interval as the target jogging position.

[0061] After executing step 211, proceed to step 213.

[0062] Step 212: Determine the safe movement direction as negative, and determine the right endpoint of the candidate safe interval as the target movement position.

[0063] Step 213: Control the current device to move to the target jogging position in the safe jogging direction.

[0064] In this embodiment of the invention, upon receiving interference alarm information from the current device, the target interference configuration information of the current device can be determined based on the device information of the current device. Based on the target interference configuration information and the current position, the safe jogging direction and target jogging position of the current device can be determined. The current device can be promptly controlled to recover from the erroneous jogging direction at the time of 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. This avoids the problem of collision damage caused by the current device colliding with other devices, ensures that the current device does not cause secondary equipment damage, and reduces the loss cost caused by mechanical interference.

[0065] The method for preventing mechanical interference provided by the embodiments of the present invention will be further described below, such as... Figure 3 As shown, Figure 3 This is another schematic flowchart of the method for preventing mechanical interference provided in the embodiments of the present invention, which may specifically include the following steps:

[0066] Step 301: Obtain the device information and operating instructions of the current device.

[0067] Step 302: Find the second search result by searching the preset information based on the device information.

[0068] Step 303: When the second search result is successful, obtain the initial interference configuration information of the current device from the preset information based on the device information.

[0069] Step 304: Based on the running instructions and initial interference configuration information, determine whether mechanical interference will occur if the current device operates according to the running instructions; if yes, proceed to step 305; if no, proceed to step 306.

[0070] In one optional implementation, the operating instruction includes the current device's operating status information and the corresponding operating position information. The initial interference configuration information may include at least one initial interference status information of the current device and the corresponding interference position information. The operating status information and the interference status information can be matched to obtain a first matching result. If the first matching result is successful, the operating position information and the interference position information are matched to obtain a second matching result. If the second matching result is successful, it is determined that mechanical interference will occur if the current device operates according to the operating instruction. This allows for the determination of whether mechanical interference will occur if the current device operates according to the operating instruction after the operating status information and interference status information are successfully matched, based on the matching result of the operating position information and the interference position information. In other words, the accuracy of determining whether the current device will prevent mechanical interference is improved through a dual information matching method.

[0071] The operational status information may include, but is not limited to, one or more of the following: the cylinder status (on / off), shaft status (idle / busy), and sensor input status of the current device. The initial interference status information can be understood as the operational status information of the current device in which mechanical interference will occur; the initial interference status information may include, but is not limited to, one or more of the following: the cylinder status (on / off), shaft status (idle / busy), and sensor input status of the current device. In other embodiments, the operational status information and the initial interference status information may also include device information related to the occurrence of mechanical interference in the current device.

[0072] For example, the current operating command of device 1 is X, which includes the current operating status information M1 (cylinder open, shaft idle) and the corresponding operating position information [500, 550]. The initial interference configuration information includes the current device 1's initial interference status information M2 (cylinder open, shaft idle) and the corresponding interference position information [500, 550]. The operating status information M1 and the interference status information M2 can be matched to obtain a first matching result; if the first matching result is successful, the operating position information [500, 550] and the interference position information [500, 550] can be matched to obtain a second matching result. If the second matching result is successful, it is determined that mechanical interference will occur when the current device operates according to the operating command.

[0073] Step 305: Prohibit the current device from running according to the running instructions.

[0074] Step 306: Control the current device to run according to the running instructions.

[0075] In this embodiment of the invention, before controlling the current device to run according to the running instruction, the device information and running instruction of the current device are obtained; a second search result is obtained by searching preset information based on the device information; when the second search result is successful, the initial interference configuration information of the current device is obtained from the preset information based on the device information; based on 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 instruction of the current device that will cause mechanical interference is stopped in advance, thus avoiding the problem of equipment impact damage caused by controlling the current device to run according to the motion instruction that will cause mechanical interference.

[0076] Figure 4 This is a schematic diagram of a device for preventing mechanical interference provided in an embodiment of the present invention. This device is suitable for implementing the method for preventing mechanical interference provided in 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 jogging device when an interference alarm is received;

[0078] The first determining module 402 is used to determine the target interference configuration information of the jogging device based on the device information of the jogging device;

[0079] The second determining module 403 is used to determine the safe jogging direction and the target jogging position of the current device based on the target interference configuration information and the current position;

[0080] The device control module 404 is used to control the current device to move to the target jogging position in the safe jogging direction.

[0081] Optionally, the first determining module 402 is specifically used for:

[0082] Based on the device information, preset information is queried to obtain the first search result;

[0083] When the first search result is a successful search, the initial interference configuration information of the current device is obtained from the preset information based on the device information. The preset information includes the initial interference configuration information corresponding to each device information.

[0084] The target interference configuration information is determined based on 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 initial interference configuration information sets, each including at least one safety interval. The first determining module 402 determines the target interference configuration information based on the initial interference configuration information, including:

[0087] Determine the intersection of two adjacent safe intervals;

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

[0089] Optionally, the target interference configuration information includes at least one safety interval, and the second determining module 403 is specifically used for:

[0090] Determine multiple actual distances between the current location and each safety zone;

[0091] Based on the multiple actual distances, determine the candidate safe zone that is closest to the current position;

[0092] Based on the candidate safe zone and the current position, determine the safe jog direction and the target jog position.

[0093] Optionally, the second determining module 403 determines the candidate safe zone closest to the current position based on the plurality of actual distances, including:

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

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

[0096] Optionally, the candidate safe zone includes the left endpoint position and the right endpoint position. The second determining module 403 determines the safe movement direction and the target movement position based on the candidate safe zone and the current position, including:

[0097] 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 safe interval;

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

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

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

[0101] The interval offset is obtained by 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.

[0102] Furthermore, the device also includes:

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

[0104] The search module is used to search for the preset information based on the device information to obtain a second search result;

[0105] The third acquisition module is used to acquire the initial interference configuration information of the current device from the preset information based on the device information when the second search result is a successful search.

[0106] The third determining module is used to determine, based on the running instruction and the initial interference configuration information, whether mechanical interference will occur when the current device operates according to the running instruction;

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

[0108] Optionally, the running instruction includes the current device's running status information and the running position information corresponding to the running status information; the initial interference configuration information includes at least one initial interference status information of the current device and the interference position information corresponding to the initial interference status information; the third determining module is specifically used for:

[0109] The first matching result is obtained by matching the running status information and the interference status information.

[0110] When the first matching result is a successful match, the running position information and the interference position information are matched 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 operates according to the running instructions.

[0112] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is merely an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be 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 be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0113] The anti-mechanical interference device provided in this embodiment of the invention can, upon receiving interference alarm information of the current device, determine the target interference configuration information of the current device based on the device information of the current device, and determine the safe jogging direction and target jogging position of the current device based on the target interference configuration information and the current position. It can promptly control the current device to recover from the erroneous jogging direction at the time of the interference alarm to the safe jogging direction, and control the current device to jog to the target jogging position in the safe direction. This avoids the problem of collision damage caused by the current device colliding with other devices, ensures that the current device does not cause secondary equipment damage, and reduces the loss cost caused by mechanical interference.

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

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

[0116] Processor 51; and,

[0117] Memory 52 is used to store the executable instructions of the processor;

[0118] The processor 51 is configured to execute the methods described above by executing the executable instructions.

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

[0120] This invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the methods described above.

[0121] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions 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 of preventing mechanical interference, characterized by, The method comprises: obtaining device information and running instructions of a current device, the running instructions comprising running state information of the current device and running position information corresponding to the running state information; finding preset information according to the device information to obtain a second finding result; when the second finding result is finding success, obtaining initial interference configuration information of the current device from the preset information according to the device information, the initial interference configuration information comprising at least one initial interference state information of the current device and interference position information corresponding to the initial interference state information; performing information matching on the running state information and the interference state information to obtain a first matching result; when the first matching result is matching success, performing information matching on the running position information and the interference position information to obtain a second matching result; when the second matching result is matching success, determining that mechanical interference will occur when the current device runs according to the running instructions; when it is determined that mechanical interference will occur when the current device runs according to the running instructions, prohibiting the current device from running according to the running instructions; when receiving interference alarm information of the current device, obtaining device information and a current position of the current device; determining target interference configuration information of the current device according to the device information of the current device, the target interference configuration information comprising at least one safety interval, the safety interval representing a working position interval in which the current device will not have mechanical interference; 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; controlling the current device to jog to the target jog position according to the safe jog direction.

2. The method of claim 1, wherein, The determining of the target interference configuration information of the current device according to the device information of the current device comprises: querying preset information according to the device information to obtain a first finding result; when the first finding result is finding success, obtaining initial interference configuration information of the current device from the preset information according to the device information, the initial interference configuration information comprising at least one safety interval, the preset information comprising initial interference configuration information corresponding to each device information; determining the target interference configuration information according to the initial interference configuration information; when the first finding result is finding failure, obtaining original limit information of the current device from the preset information according to the device information, and determining the original limit information as the target interference configuration information, the preset information further comprising original limit information corresponding to each device information.

3. The method of claim 2, wherein, The initial interference configuration information is multiple, each initial interference configuration information comprising at least one safety interval, and the determining of the target interference configuration information according to the initial interference configuration information comprises: determining an interval intersection between two adjacent safety intervals; determining the interval intersection as the target interference configuration information, and one interval intersection being one safety interval.

4. The method of claim 1, wherein, The determining of a safe jog direction and a target jog position of the current device according to the target interference configuration information and the current position comprises: determining a plurality of actual distances between the current position and each safety interval; determining a candidate safety interval closest to the current position according to the plurality of actual distances; determining the safety point motion direction and the target point motion position according to the candidate safety interval and the current position.

5. The method of claim 4, wherein, The determining a candidate safety interval closest to the current position according to the plurality of actual distances comprises: determining a minimum distance in the plurality of actual distances; determining the safety interval corresponding to the minimum distance as the candidate safety interval.

6. The method of claim 4, wherein, The candidate safety interval comprises a left end position and a right end position, and the determining the safety point motion direction and the target point motion position according to the candidate safety interval and the current position comprises: determining an interval offset of the current position relative to the candidate safety interval according to the left end position, the right end position and the current position; when the interval offset is negative, determining the safety point motion direction as forward and determining the left end position of the candidate safety interval as the target point motion position; when the interval offset is positive, determining the safety point motion direction as backward and determining the right end position of the candidate safety interval as the target point motion position.

7. The method of claim 6, wherein, The determining an interval offset of the current position relative to the candidate safety interval according to the left end position, the right end position and the current position comprises: subtracting a coordinate value corresponding to the current position from a coordinate value corresponding to the left end position or a coordinate value corresponding to the right end position to obtain the interval offset.

8. A mechanical interference prevention device, characterized by, The apparatus for implementing the method for preventing mechanical interference according to any one of claims 1 to 7 comprises: a first obtaining module, configured to obtain device information and a current position of a point motion device when receiving an interference alarm; a first determining module, configured to determine target interference configuration information of the point motion device according to the device information of the point motion device, the target interference configuration information comprising at least one safety interval, the safety interval representing a working position interval in which the current device will not cause mechanical interference; a second determining module, configured to determine a safety point motion direction and a target point motion position of the current device according to the target interference configuration information and the current position; a device control module, configured to control the current device to point motion to the target point motion position according to the safety point motion direction.

9. An electronic device, comprising: The apparatus comprises a processor and a memory, the memory is configured to store codes and related data; the processor is configured to execute the codes in the memory to implement the method for preventing mechanical interference according to any one of claims 1 to 7.

10. A storage medium having a computer program stored thereon, the program being executed by a processor to implement the method for preventing mechanical interference according to any one of claims 1 to 7.

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