Anti-collision control method and device, transmission system, electronic equipment and storage medium

Abstract

The invention provides an anti-collision control method and device, a transmission system, electronic equipment and a storage medium. The method comprises the steps that at least three moving parts are selected from the multiple moving parts located in the linear track module according to motion measurement data of all the moving parts, and a queue to be bent is formed; the queue to be turned is controlled to move towards the arc-shaped track module along the linear track module; in response to turning collision early warning information, a plurality of safety spacing ranges corresponding to the queue to be turned are obtained, and each safety spacing range corresponds to a pair of different moving parts in the queue to be turned; and according to the motion measurement data of the moving parts in the queue to be turned, controlling the distance between each pair of moving parts in the queue to be turned within a corresponding safe distance range.

Description

Technical Field

[0001] One or more embodiments of the present disclosure relate to the field of automation technology, and in particular, to an anti-collision control method, device, transmission system, electronic device, and storage medium. Background Art

[0002] With the development of automation technology, automatic transmission devices that can automatically transport items are widely used in various industries. Through the automatic transmission devices, the items to be transported can be moved to designated positions, thereby improving the production operation efficiency.

[0003] Generally, the automatic transmission device may include a track component and several moving components. The moving components are used to load the items to be transported, and the moving components can move along the track component to drive the items to move.

[0004] The track component may include a linear track module and an arc track module. During the movement of multiple moving components, there will be a certain distance between adjacent moving components. When in the linear track module, collisions between moving components can be avoided. However, when multiple moving components enter the arc track module component from the linear track module, since there is an angular deflection when the moving components turn along the arc track module, the distance between adjacent moving components may not be sufficient to avoid collisions. Summary of the Invention

[0005] The present disclosure provides an anti-collision control method, which is applied to an automatic transmission device. The automatic transmission device includes a track component and multiple moving components, and each of the moving components moves along the track component; the track component includes a linear track module and an arc track module, and the method includes:

[0006] Select at least three moving components from the multiple moving components located in the linear track module according to the motion measurement data of each of the moving components to form a queue to turn;

[0007] Control the queue to turn to move along the linear track module towards the arc track module;

[0008] In response to the turning collision warning information, obtain multiple safety distance ranges corresponding to the queue to turn, where each of the safety distance ranges corresponds to a different pair of moving components in the queue to turn;

[0009] According to the motion measurement data of the moving components in the queue to turn, control the distance between each pair of moving components in the queue to turn within the corresponding safety distance range.

[0010] The present disclosure also provides an anti-collision control device, which is connected to an automatic transmission device. The automatic transmission device includes a track component and a plurality of moving components, and each of the moving components moves along the track component. The track component includes a linear track module and an arc track module. The device includes:

[0011] A selection unit, which selects at least three moving components from the plurality of moving components located on the linear track module according to the motion measurement data of each moving component to form a queue to pass through the curve.

[0012] A moving unit, which controls the queue to pass through the curve to move along the linear track module towards the arc track module.

[0013] An acquisition unit, which, in response to the curve passing collision warning information, acquires a plurality of safety distance ranges corresponding to the queue to pass through the curve, wherein each of the safety distance ranges corresponds to a different pair of moving components in the queue to pass through the curve.

[0014] A control unit, which controls the distance between each pair of moving components in the queue to pass through the curve within the corresponding safety distance range according to the motion measurement data of the moving components in the queue to pass through the curve.

[0015] The present disclosure also provides a transmission system, which includes a control device and an automatic transmission device. The automatic transmission device includes a track component and a plurality of moving components, and the plurality of moving components move along the track component. The track component includes a linear track module and an arc track module.

[0016] The control device is used to execute the above anti-collision control method.

[0017] The present disclosure also provides an electronic device, which includes a communication interface, a processor, a memory, and a bus. The communication interface, the processor, and the memory are interconnected through the bus.

[0018] Machine-readable instructions are stored in the memory, and the processor executes the above anti-collision control method by calling the machine-readable instructions.

[0019] The present disclosure also provides a machine-readable storage medium, which stores machine-readable instructions. When the machine-readable instructions are called and executed by a processor, the above anti-collision control method is implemented.

[0020] In the above - mentioned manner, the technical solution of the present disclosure selects at least three mobile components in the queue waiting to turn, controls the queue waiting to turn to move along the executive track module towards the arc - shaped track module, and when obtaining the turning collision warning information, according to the motion measurement data of the mobile components in the queue waiting to turn, controls the distance between each pair of mobile components in the queue waiting to turn within the corresponding safe distance range, so as to avoid collisions between the mobile components in the queue waiting to turn when turning along the arc - shaped track module. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present disclosure. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0022] Figure 1 is a schematic diagram showing a collision occurring when turning along an arc - shaped track module in an exemplary application scenario;

[0023] Figure 2 is a flowchart of an anti - collision control method shown in an exemplary embodiment;

[0024] Figure 3 is a schematic diagram of the size information of mobile components shown in an exemplary embodiment;

[0025] Figure 4A is a schematic diagram showing a mover module moving at a constant speed in an exemplary embodiment;

[0026] Figure 4B is related to Figure 4A a schematic diagram of the predicted turning motion trajectory;

[0027] Figure 5A is a schematic diagram showing a mover module moving at a variable speed in an exemplary embodiment;

[0028] Figure 5B is related to Figure 5A a schematic diagram of the predicted turning motion trajectory;

[0029] Figure 6 is a schematic diagram showing the distance dynamically changing within the corresponding safe distance range in an exemplary embodiment;

[0030] Figure 7A is a schematic diagram showing an increased distance in an exemplary embodiment;

[0031] Figure 7BIt is a schematic diagram showing a reduced pitch in an exemplary embodiment;

[0032] Figure 8 It is a schematic diagram showing a moving speed curve in an exemplary embodiment;

[0033] Figure 9 It is a schematic diagram showing an increased pitch after grouping in an exemplary embodiment;

[0034] Figure 10 It is a schematic diagram showing a reduced pitch after grouping in an exemplary embodiment;

[0035] Figure 11 It is a schematic diagram showing a pitch adjustment method for reference grouping in an exemplary embodiment;

[0036] Figure 12 It is a hardware structure diagram of an electronic device shown in an exemplary embodiment;

[0037] Figure 13 It is a block diagram of an anti-collision control device shown in an exemplary embodiment. Detailed implementation manners

[0038] In order to enable those skilled in the art to better understand the technical solutions in this disclosure, the following will clearly and completely describe the technical solutions in the embodiments of this disclosure with reference to the accompanying drawings in the embodiments of this disclosure. Obviously, the described embodiments are only a part of the embodiments of this disclosure, rather than all the embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this disclosure.

[0039] It should be noted that: in other embodiments, the steps of the corresponding methods are not necessarily executed in the order shown and described in this disclosure. In some other embodiments, the steps included in the method may be more or less than those described in this disclosure. In addition, a single step described in this disclosure may be decomposed into multiple steps for description in other embodiments; and multiple steps described in this disclosure may also be combined into a single step for description in other embodiments.

[0040] As mentioned above, during the operation of multiple moving components, there will be a certain pitch between adjacent moving components, which can avoid collisions between moving components when in a linear track module. However, when adjacent moving components enter the arc-shaped track module components, since there is an angular deflection when the moving components turn along the arc-shaped track module, the pitch between adjacent moving components may not be sufficient to avoid collisions.

[0041] Please refer to Figure 1The schematic diagram of a collision occurring when turning along an arc-shaped track module shown in the exemplary application scenario. In this example, the automatic transfer device may include a track component and a plurality of moving components. The track component may include a linear track module 11 and an arc-shaped track module 12. There is an adjacent relationship between the moving component 21 and the moving component 22, and there is an adjacent relationship between the moving component 22 and the moving component 23. The moving components 21, 22, and 23 enter the arc-shaped track module 12 from the linear track module 11 in the direction of arrow 24.

[0042] At time t1, the moving components 21, 22, and 23 are all located in the linear track module 11. There will be a certain distance d between the moving component 21 and the moving component 22, and between the moving component 22 and the moving component 23. This distance d can prevent adjacent moving components from colliding when moving in the linear track module 11. As time goes by, at time t2, the moving component 23 will enter the arc-shaped track module 12. Since turning will cause the moving component 23 to deflect at an angle, even if the distance between the moving component 22 and the moving component 23 still remains d, a collision will occur. Similarly, when the moving component 22 enters the arc-shaped track module 12, due to the angle deflection of the moving component 22, it will also collide with the moving component 21.

[0043] It should be noted that Figure 1 the three moving components in are only used to schematically describe the collision problem of multiple moving components when turning along the arc-shaped track module. In practical applications, there may be three or more than three moving components. According to the different numbers of moving components, among multiple moving components, one moving component may have an adjacent relationship with another or two other moving components. For example, when there are moving components A, B, and C arranged in sequence, for the moving component A, it has an adjacent relationship with the moving component B; for the moving component B, it has an adjacent relationship with the moving component A and also has an adjacent relationship with the moving component C; for the moving component C, it has an adjacent relationship with the moving component B.

[0044] It should also be noted that the distance between multiple moving components may refer to the distance between the specified reference points of adjacent moving components at the same position. As Figure 1 shown in, the specified reference point may be the geometric center points of the moving components 21, 22, and 23. Of course, in some embodiments, it may also be other positions such as the center of mass of the moving component or the vertex of the outer contour edge.

[0045] The distance between multiple moving parts can also refer to the distance between a moving part and a reference point specified at the same position on another moving part selected as a reference object. For example, when there are moving parts A, B, and C arranged in sequence, if moving part C is selected as the reference object, the distance between multiple moving parts can include the distance between the reference point of moving part B and moving part C, and the distance between multiple moving parts can also include the distance between the reference point of moving part A and moving part C.

[0046] The present disclosure aims to provide an anti-collision control solution for an automatic transmission device. By selecting a queue of at least three moving parts to turn, controlling the queue to move along an executive track module towards an arc-shaped track module, and when obtaining a turning collision warning message, controlling the distance between each pair of moving parts in the queue to be within the corresponding safe distance range according to the motion measurement data of the moving parts in the queue to turn, it is possible to avoid collisions between the moving parts in the queue to turn when turning along the arc-shaped track module.

[0047] In practical applications, an automatic transmission device can include a track component and multiple moving parts. After the first magnetic unit of the track component is energized, a variable magnetic field is generated, and a second magnetic unit is provided in the moving part to interact with the variable magnetic field generated by the energization of the first magnetic unit to generate an electromagnetic force acting on the moving part to drive the moving part to move along the track component. Among them, the first magnetic unit can be understood as a component composed of coils, such as an armature winding, and the second magnetic unit can be understood as a component with a magnetic field, such as a permanent magnet. The track component is spliced by multiple track modules. According to different arrangement methods of the first magnetic unit, the track modules can be divided into straight track modules and arc-shaped track modules.

[0048] In practical applications, an automatic transmission device can include a track component and multiple moving parts. After the first magnetic unit of the track component is energized, a variable magnetic field is generated, and a second magnetic unit is provided in the moving part to interact with the variable magnetic field generated by the energization of the first magnetic unit to generate an electromagnetic force acting on the moving part to drive the moving part to move along the track component. Among them, the first magnetic unit can be understood as a component composed of coils, such as an armature winding, and the second magnetic unit can be understood as a component with a magnetic field, such as a permanent magnet. The track component is spliced by multiple track modules. According to different arrangement methods of the first magnetic unit, the track modules can be divided into straight track modules and arc-shaped track modules.

[0049] It can be understood that in some embodiments, the automatic transmission device in the present disclosure may be referred to as a linear motor device or a magnetic drive conveying device, etc. The track component may be referred to as a stator component or a stator wire body, the track module may be referred to as a stator module, and the moving component may be referred to as a rotor component. The stator wire body can usually be formed by splicing multiple stator modules, and can be spliced into regular shapes such as straight lines, arcs, squares and circles, or other irregular shapes.

[0050] Please refer to the following Figure 2 , Figure 2 which is a flowchart of an anti-collision control method shown in an exemplary embodiment. This method can be applied to the aforementioned automatic transmission device. The automatic transmission device includes a track component and multiple moving components, and each of the moving components moves along the track component; the track component includes a straight track module and an arc track module; as Figure 2 shown, this method may include the following steps:

[0051] Step 210, select at least three moving components from the multiple moving components located in the straight track module according to the motion measurement data of each moving component to form a queue to pass through the curve;

[0052] Step 220, control the queue to pass through the curve to move along the straight track module towards the arc track module;

[0053] Step 230, in response to the anti-collision warning information during the curve passing, obtain multiple safety distance ranges corresponding to the queue to pass through the curve, where each of the safety distance ranges corresponds to a different pair of moving components in the queue to pass through the curve;

[0054] Step 240, according to the motion measurement data of the moving components in the queue to pass through the curve, control the distance between each pair of moving components in the queue to pass through the curve within the corresponding safety distance range.

[0055] In the embodiments of the present disclosure, the motion measurement data may refer to the data obtained by measuring the motion state of the moving component on the track component in real time. Specifically, the motion state of the moving component may include the moving position of the moving component, the moving speed of the moving component, the acceleration of the moving component, etc. Correspondingly, the motion measurement data of the moving component may include the moving position information of the moving component, the moving speed information of the moving component, and the acceleration information of the moving component, etc.

[0056] The motion measurement data can be measured by various sensors. For example, a speed sensor can be used to measure the moving speed of the moving component, an acceleration sensor can be used to measure the acceleration of the moving component, a position sensor can be used to measure the moving position of the moving component, and so on.

[0057] The pair of moving parts can be two moving parts with an adjacent relationship, or two moving parts without an adjacent relationship. For example, when there are moving parts A, B, and C arranged in sequence, moving part A and moving part B can be regarded as a pair of moving parts with an adjacent relationship, moving part B and moving part C can also be regarded as a pair of moving parts with an adjacent relationship, and moving part A and moving part C can be regarded as a pair of moving parts without an adjacent relationship.

[0058] The spacing between each pair of moving parts in the queue to turn can be the straight-line distance between the reference points of the two moving parts in each pair, or the spacing between the two moving parts in each pair can be the length along the track module between the reference points of the two moving parts. In a straight track module, it can be the straight-line length between the reference points of the two moving parts, and in an arc track module, it can be the arc length between the reference points of the two moving parts. The specific type of the spacing can be determined according to the position measurement method. If it is an image measurement method, the straight-line distance or the length along the track module can be obtained through calculation. If it is an optoelectromagnetic method, the length along the track module is obtained when deployed along the track module.

[0059] The safe spacing range is used to represent the spacing range within which no collision will occur between two moving parts. It should be noted that the safe spacing range can have an upper boundary threshold and a lower boundary threshold. When the spacing between two moving parts is not less than the lower boundary threshold and not greater than the upper boundary threshold, that is, within the safe spacing range, it can be determined that no collision will occur between the two moving parts.

[0060] The safe spacing ranges between two moving parts may be the same or different, and the two moving parts may have an adjacent relationship or may not have an adjacent relationship. For example, when there are moving parts A, B, and C arranged in sequence, for moving part A, it has an adjacent relationship with moving part B; for moving part B, it has an adjacent relationship with moving part A and an adjacent relationship with moving part C; for moving part C, it has an adjacent relationship with moving part B; the safe spacing range between moving part B and moving part A and the safe spacing range between moving part B and moving part C can be the same; the safe spacing range between moving part A and moving part B and the safe spacing range between moving part A and moving part C can be different.

[0061] Based on the motion measurement data of each moving part in the to-be-cornered queue, the distance between each pair of moving parts can be determined in real time, so as to control the distance between each pair of moving parts within the corresponding safe distance range. For example, according to the motion measurement data of moving part A, its moving position in the linear track module is indicated as X, and according to the motion measurement data of moving part B, its moving position in the linear track module is indicated as Y. Then, the distance between moving part A and moving part B is determined as the absolute value of X - Y, and the absolute value of X - Y is controlled within the corresponding safe distance range, so as to avoid collision between moving part A and moving part B when turning along the arc-shaped track module.

[0062] Adopting the solution provided by the embodiment of the present disclosure, at least three moving parts are selected from a plurality of moving parts located in the linear track module according to the motion strategy data of each moving part to form a to-be-cornered queue, so as to control the to-be-cornered queue to move from the linear track module to the arc-shaped track module. When obtaining the cornering collision warning information, through the motion measurement data of the moving parts in the to-be-cornered queue, the distance between each pair of moving parts in the to-be-cornered queue is controlled in advance within the corresponding safe distance range, so as to avoid collision between the moving parts in the to-be-cornered queue when turning along the arc-shaped track module.

[0063] In an exemplary embodiment, the corresponding multiple safe distance ranges of the to-be-cornered queue can be obtained by any of the following methods:

[0064] The first method is to determine the safe distance range corresponding to each pair of moving parts in the to-be-cornered queue according to experimental tests.

[0065] In this method, the actual operation scenario is simulated physically or by software to conduct experimental tests on the automatic transmission device. For example, in each experiment, different distances are used to control the movement of multiple moving parts, so as to record whether collision occurs when multiple moving parts turn along the arc-shaped track module at different distances. Through multiple experiments and analysis of the experimental test data, a more accurate safe distance range can be obtained.

[0066] Exemplarily, during the experimental test, assume that there are three moving components arranged in sequence, namely moving component A, moving component B, and moving component C. According to the actual operation scenario, moving component A, moving component B, and moving component C can load items. Moving component A, moving component B, and moving component C move at a constant speed in a straight-line track module. Moving component A enters the arc-shaped track module first, moving component B then enters the arc-shaped track module, and moving component C enters the arc-shaped track module last. First, test the safety distance range between adjacent moving components. For example, for moving component A and moving component B, set a relatively large distance d that obviously will not cause a collision, and control moving component A and moving component B to turn according to the distance d, and record the experimental results of the distance d and whether a collision occurs. Each time the experiment is carried out, gradually reduce the distance between moving component A and moving component B. By repeatedly conducting the experiment and analyzing the recorded actual results, the collision distance range between moving component A and moving component B can be obtained, and the distance range outside this collision distance range can be used as the safety distance range between moving component A and moving component B. For moving component B and moving component C, moving component A can be removed, and the above experimental steps can be adopted. By adjusting the distance between moving component B and moving component C to turn, record the experimental results of the distance and whether a collision occurs. Repeatedly conduct the experiment and analyze the recorded actual results to obtain the collision distance range between moving component B and moving component C, and the distance range outside this collision distance range can be used as the safety distance range between moving component B and moving component C.

[0067] After determining the safety distance ranges between adjacent moving component A and moving component B, and moving component B and moving component C, for non-adjacent moving component A and moving component C, the safety distance ranges between moving component A and moving component B, and moving component B and moving component C can be added to obtain the safety distance range between moving component A and moving component C. For example, assume that the safety distance range between moving component A and moving component B is X, and the safety distance range between moving component B and moving component C is also X. Then the safety distance range between moving component A and moving component C is 2X.

[0068] In the second method, calculate the safety distance range corresponding to each pair of moving components in the to-be-turned queue according to the minimum distance information between the two moving components in each pair of moving components in the to-be-turned queue, the respective size information of the two moving components, and the size information of the arc-shaped track module.

[0069] In this way, the minimum spacing information can be used for the allowable minimum spacing between the corresponding moving part and the adjacent front moving part or the adjacent rear moving part. According to the above analysis, compared with the arc-shaped track module, the multiple moving parts can have a smaller spacing when in the linear track module. Therefore, the minimum spacing information can usually be set according to the allowable minimum spacing of the multiple moving parts when in the linear track module. In this way, the multiple moving parts can move with a smaller spacing in the linear track module, which is beneficial to improving the moving efficiency.

[0070] The size information of the two moving parts is used to represent the outer diameter size of the maximum contour corresponding to each of the two moving parts. The maximum contour corresponding to the moving part may be a regular geometric shape or an irregular geometric shape.

[0071] The size information of the arc-shaped track module may include the center position information of the arc-shaped track module, the radius information of the arc-shaped track module, etc.

[0072] For the maximum contour of the moving part corresponding to a regular geometric shape, there may be only one collision position between the two moving parts of each pair of moving parts in the queue to pass through the bend. Thus, geometric calculations can be performed based on this collision position to determine the corresponding spacing value when the two moving parts collide, and then, based on the corresponding spacing value when the two moving parts collide, the collision occurrence spacing range corresponding to each pair of moving parts can be obtained; and based on the collision occurrence spacing range and the minimum spacing information, the safety spacing range corresponding to each pair of moving parts can be determined.

[0073] For the maximum contour of the moving part corresponding to an irregular geometric shape, there may be multiple collision positions between the two moving parts of each pair of moving parts in the queue to pass through the bend. Thus, geometric calculations can be performed based on the multiple collision positions to determine the corresponding spacing value when the two moving parts collide, and then, based on the corresponding spacing value when the two moving parts collide, the collision occurrence spacing range corresponding to each pair of moving parts can be obtained; and based on the collision occurrence spacing range and the minimum spacing information, the safety spacing range corresponding to each pair of moving parts can be determined.

[0074] In this way, there is no need to repeatedly conduct experimental tests. Only by based on the minimum spacing information, measuring the size information of each moving part in the queue to pass through the bend and the radius information of the arc-shaped track module, the collision occurrence spacing range can be quickly calculated.

[0075] Such as Figure 3As shown, taking the moving parts in the shape of a rectangle as an example, since the maximum contours corresponding to the moving part 31 and the moving part 32 are regular geometric shapes, through the dimension information of the moving part 31 (the rectangle length L11 and the rectangle width L12 shown in the figure), the dimension information of the moving part 32 (the rectangle length L21 and the rectangle width L22 shown in the figure), and the radius R of the arc-shaped track module, the corresponding safety distance range between the moving part 31 and the moving part 32 can be calculated through geometric calculation.

[0076] In an exemplary embodiment, before calculating the corresponding safety distance range for each pair of moving parts in the to-be-curved queue according to the minimum distance information between the two moving parts in each pair of moving parts in the to-be-curved queue, the dimension information of the two moving parts respectively, and the dimension information of the arc-shaped track module, it may further include:

[0077] Determine the dimension information of each moving part according to the load information and model information of each moving part in the to-be-curved queue.

[0078] In the embodiments of the present disclosure, the load information of the moving part can be used to indicate whether the moving part is loaded with an item and the maximum outer diameter information of the loaded item, while the model information of the moving part can be used to indicate the maximum outer diameter information of the moving part body. Since the moving part can be loaded with an item, when measuring the dimension information of the moving part, it is also necessary to consider whether the moving part is loaded with an item and the size of the loaded item, so as to avoid incorrect calculation of the safety distance range due to errors in the dimension information.

[0079] Exemplarily, the determining the dimension information of each moving part according to the load information and model information of each moving part in the to-be-curved queue includes:

[0080] For each moving part, if the load information indicates that no item is loaded, then the maximum outer diameter information of the moving part body indicated by the model information can be directly determined as the dimension information of the moving part;

[0081] If the load information indicates that an item is loaded, it is necessary to compare the maximum outer diameter information between the item and the moving part body, so as to determine the larger value between the maximum outer diameter information of the item indicated by the load information and the maximum outer diameter information of the moving part body indicated by the model information as the dimension information of the moving part.

[0082] Through the embodiments of the present disclosure, considering that the moving part will carry the items to be transported, if the size of the item exceeds the maximum outer diameter of the moving part itself, then when determining the size information of the moving part, the maximum outer diameter information of the item shall prevail. In this way, more accurate size information of each moving part can be provided for calculating the safe spacing range, so as to improve the accuracy of anti-collision control.

[0083] In an exemplary embodiment, the turning collision warning information may refer to predicting that there is a risk of collision between the moving parts in the queue to turn; wherein, the prediction process may include the steps shown below:

[0084] According to the respective motion measurement data and motion control parameters of the moving parts in the queue to turn, predict the turning motion prediction trajectories of the respective moving positions of the moving parts in the queue to turn changing with time when turning along the arc-shaped track module;

[0085] According to the turning motion prediction trajectories of the respective moving parts, calculate the spacing prediction information between each pair of moving parts in the queue to turn when turning along the arc-shaped track module;

[0086] Determine whether the spacing prediction information between each pair of moving parts falls within the corresponding safe spacing range;

[0087] If the spacing prediction information between each pair of moving parts does not fall within the corresponding safe spacing range, determine to generate turning collision warning information.

[0088] In the embodiments of the present disclosure, the motion control parameters are used to control the motion state of the moving parts. Each moving part can be configured with corresponding motion control parameters, and the numerical values of the motion control parameters of each moving part can be the same or different.

[0089] The motion control parameters may include first motion parameter information for directly controlling the motion state of the moving part. The first motion parameter information is used to indicate the expected value of the motion state of the moving part. According to the first motion parameter information, the motion state of the corresponding moving part can be controlled to reach the corresponding motion expected value. For example, the motion control parameters may include expected moving speed information and expected acceleration information. According to the expected moving speed information and expected acceleration information, the moving speed of the corresponding moving part is controlled to reach the speed expected value and the acceleration of the moving part is controlled to reach the acceleration expected value.

[0090] The motion control parameters may include second motion parameter information for indirectly controlling the motion state of a moving component. The second motion parameter information is used to indicate the boundary values of the motion state of the moving component. For example, the second motion parameter information may include maximum speed information, minimum speed information, maximum acceleration information, minimum acceleration information, minimum spacing information, and maximum spacing information. Combining the foregoing motion measurement data, the first motion parameter information can be dynamically calculated under the condition of conforming to the second motion parameter information, so as to control the motion state of the corresponding moving component. For example, according to the second motion parameter information and motion measurement data of the moving component, the first motion parameter information such as expected moving speed information, expected acceleration information, and expected moving position information can be calculated, so as to control the moving position, moving speed, and acceleration of the corresponding moving component to reach the corresponding expected values according to the first motion parameter information.

[0091] It can be understood that the first motion parameter information and the second motion parameter information can also be used in combination, and the present disclosure does not make specific limitations thereon.

[0092] The motion state of each moving component in the linear track module can be determined through the motion measurement data of each moving component, and the motion state that each moving component expects to reach can be determined through the motion control parameters of each moving component. Therefore, according to the motion measurement data and motion control parameters of the moving component, the cornering motion prediction trajectory of the moving position of each moving component changing with time when passing through the arc-shaped track module can be predicted.

[0093] Through the embodiments of the present disclosure, the calculated cornering motion prediction trajectory of the moving component is used to predict whether a collision will occur when each moving component in the queue to be cornered passes through the arc-shaped track module. If it is predicted that a collision will occur when the queue to be cornered passes through the arc-shaped track module, the cornering collision warning information can be generated and the steps of the foregoing step 230 and step 240 can be executed to control the spacing between each pair of moving components in the queue to be cornered within the corresponding safe spacing range; conversely, if it is predicted that no collision will occur when the queue to be cornered passes through the arc-shaped track module, there is no need to execute step 230 and step 240, and the moving components can move according to their original motion control parameters.

[0094] The following describes the specific process of predicting whether a collision will occur when multiple moving components pass through the arc-shaped track module according to the cornering motion prediction trajectory with reference to the accompanying drawings.

[0095] In one example, as Figure 4AAs shown, it is assumed that the distance between the moving part 41 and the moving part 42 (hereinafter simply referred to as the two) when they are on the linear track module can be calculated as d3 based on the current position information indicated by their respective motion measurement data. If their respective motion control parameters indicate that the two move at the same constant speed, their moving positions increase linearly with time.

[0096] As Figure 4B shown, by constructing a coordinate system with the abscissa being time t and the ordinate being the moving position s, the predicted cornering motion trajectory 43 corresponding to the moving part 41 and the predicted cornering motion trajectory 44 corresponding to the moving part 42 can be intuitively displayed. Both the predicted cornering motion trajectory 43 and the predicted cornering motion trajectory 44 are inclined straight lines, and the slope is the constant moving speed.

[0097] Since the length of the linear track module (not marked in the figure) along the moving direction is known, the arc length of the arc-shaped track module (not marked in the figure) along the moving direction is known, and the splicing position of adjacent track modules is known, based on the motion measurement data of the moving part 41 and the motion measurement data of the moving part 42, the moving position information of the moving part 41 and the moving part 42 can be determined in real time, and the time when the moving part 41 and the moving part 42 enter the arc-shaped track module can be determined.

[0098] As Figure 4A shown, since the moving part 41 is located in front of the moving part 42, therefore as Figure 4B shown, the moving part 41 will first reach the splicing point s1 of the linear track module and the arc-shaped track module at the moment t1, then the moving part 41 moves along the arc-shaped track module. Next, the moving part 42 will also reach the splicing point s1 of the linear track module and the arc-shaped track module at the moment t2, then the moving part 42 moves along the arc-shaped track module. Then, the moving part 41 will first reach the splicing point s2 of the arc-shaped track module and other track modules (not shown in the figure) at the moment t3 and then leave the arc-shaped track module. Finally, the moving part 42 will reach the splicing point s2 of the arc-shaped track module and other track modules at the moment t4 and then leave the arc-shaped track module, thus completing the cornering process of the moving part 41 and the moving part 42 along the arc-shaped track module.

[0099] Based on the predicted trajectory 43 of the moving part 41 during cornering and the predicted trajectory 44 of the moving part 42 during cornering, it can be determined that the predicted spacing information between the moving part 41 and the moving part 42 always remains d3 at any moment tx during the entire cornering time period (from t1 to t4). Obtain the safety spacing range corresponding to the moving part 41 and the moving part 42. If d3 is within the safety spacing range, it indicates that the two will not collide when cornering along the arc-shaped track module; conversely, if d3 is not within the safety spacing range, it indicates that the two will collide when cornering along the arc-shaped track module.

[0100] In another example, as Figure 5A shown, assuming that the spacing between the moving part 51 and the moving part 52 (hereinafter simply referred to as the two) when on the linear track module can be calculated based on the current position information indicated by their respective motion measurement data, and if the motion control parameter of the moving part 51 indicates that the moving part 51 moves at a constant speed while the motion control parameter of the moving part 52 indicates that the moving part 52 moves at a variable speed, then the moving position of the moving part 51 increases linearly with time, while the moving position of the moving part 52 increases non-linearly with time.

[0101] As Figure 5B shown, by constructing a coordinate system with the abscissa as time t and the ordinate as the moving position s, the predicted trajectory 53 of the moving part 51 during cornering and the predicted trajectory 54 of the moving part 52 during cornering can be intuitively displayed. The predicted trajectory 51 during cornering is an inclined straight line with a constant slope of the moving speed, and the predicted trajectory 52 during cornering is an irregular curve.

[0102] Since the length of the linear track module (not marked in the figure) along the moving direction is known, the arc length of the arc-shaped track module (not marked in the figure) along the moving direction is known, and the splicing position of adjacent track modules is known, based on the motion measurement data of the moving part 51 and the motion measurement data of the moving part 52, the moving position information of the moving part 51 and the moving part 52 can be determined in real time, and the time when the moving part 51 and the moving part 52 enter the arc-shaped track module can be determined.

[0103] As Figure 5A shown, since the moving part 51 is in front of the moving part 52, so as Figure 5BThe shown moving part 51 will first reach the splicing point s1 of the linear track module and the arc track module at time t1. Subsequently, the moving part 51 moves along the arc track module. Then, the moving part 52 will also reach the splicing point s1 of the linear track module and the arc track module at time t2. Subsequently, the moving part 52 moves along the arc track module. Then, the moving part 51 will first reach the splicing point s2 of the arc track module and other track modules (not shown in the figure) at time t3 and then leave the arc track module. Finally, the moving part 52 will reach the splicing point s2 of the arc track module and other track modules at time t4 and then leave the arc track module. In this way, the process of the moving part 51 and the moving part 52 turning along the arc track module is completed.

[0104] According to the turning motion prediction trajectory 53 of the moving part 51 and the turning motion prediction trajectory 54 of the moving part 52, it can be determined that during the entire turning time period (from t1 to t4), since the turning motion prediction trajectory 54 of the moving part 52 presents an irregular curve, the spacing prediction information between the two is dynamically changing; at this time, it is necessary to determine whether the spacing prediction information between the moving part 51 and the moving part 52 will fall within the corresponding safety spacing range within the time range from t1 to t4. Taking Figure 4B the moment tx as an example, at the moment tx, the minimum value of the spacing between the two is x. If x does not fall within the safety spacing range, it means that the two will collide; on the contrary, if x falls within the safety spacing range, it means that the two will not collide.

[0105] In another exemplary embodiment, the prediction process may further include the following steps:

[0106] According to the respective motion measurement data and motion control parameters of each pair of moving parts in the queue to turn, determine whether each pair of moving parts makes a uniform motion with the same moving speed;

[0107] When it is determined that each pair of moving parts makes a uniform motion with the same moving speed, determine the spacing between each pair of moving parts when they are located in the linear track module according to the motion measurement data, and use the spacing between each pair of moving parts when they are located in the linear track module as the spacing prediction information between each pair of moving parts in the queue to turn;

[0108] When it is determined that each pair of moving components does not perform uniform motion with the same moving speed, based on the respective motion measurement data and motion control parameters of each pair of moving components, predict the cornering motion prediction trajectory of the respective moving positions of each pair of moving components changing with time when passing through a curve along the arc-shaped track module, and based on the respective cornering motion prediction trajectories of each pair of moving components, calculate the spacing prediction information between each pair of moving components in the queue to be cornered when passing through a curve along the arc-shaped track module.

[0109] It can be understood that regarding the specific process of predicting the cornering motion prediction trajectory of the respective moving positions of each pair of moving components changing with time when passing through a curve along the arc-shaped track module based on the respective motion measurement data and motion control parameters of each pair of moving components when it is determined that each pair of moving components does not perform uniform motion with the same moving speed, and calculating the spacing prediction information between each pair of moving components when passing through a curve along the arc-shaped track module based on the respective cornering motion prediction trajectories of each pair of moving components, reference can be made to the content shown in the previous exemplary embodiment, and details will not be elaborated here.

[0110] After calculating the spacing prediction information between each pair of moving components, it is also possible to determine whether the spacing prediction information between each pair of moving components falls within the corresponding safe spacing range; if the spacing prediction information between each pair of moving components does not fall within the corresponding safe spacing range, it is determined that a collision will occur when each pair of moving components passes through a curve along the arc-shaped track module.

[0111] In the embodiments of the present disclosure, when the paired moving components both perform uniform motion with the same moving speed, since the spacing between the moving components in the paired moving components remains unchanged before and during cornering (such as Figure 4B the spacing between the two moving components when they are located on the linear track module is the same as the spacing when they are located on the arc-shaped track module as shown), therefore, the spacing between the two moving components when they are located on the linear track module can be used as the spacing prediction information between the two moving components, without calculating the cornering motion prediction trajectory, thereby reducing the calculation amount.

[0112] After explaining the specific implementation process of predicting whether a collision will occur between moving components during the process of the queue to be cornered moving from the linear track module to the arc-shaped track module, the following explains the specific implementation process of anti-collision control in response to the cornering collision warning information.

[0113] In an exemplary embodiment, controlling the spacing between each pair of moving components in the queue to be cornered within the corresponding safe spacing range based on the motion measurement data of the moving components in the queue to be cornered includes at least one of the following:

[0114] If, based on the motion measurement data of each of the moving components in the queue to turn, it is determined that the distance between at least one pair of moving components in the queue to turn does not fall within the corresponding safe distance range, then according to the multiple safe distance ranges, when the queue to turn is on the linear track module, adjust the moving speeds of at least some of the moving components in the queue to turn so as to adjust the distance between each pair of moving components in the queue to turn to within the corresponding safe distance range;

[0115] If, based on the motion measurement data of the moving components in the queue to turn, it is determined that the distance between each pair of moving components in the queue to turn falls within the corresponding safe distance range, then according to the multiple safe distance ranges, control the distance between each pair of moving components in the queue to turn to vary dynamically within the corresponding safe distance range

[0116] In the embodiments of the present disclosure, even if the distance between only one pair of moving components does not fall within the corresponding safe distance range, since adjusting the distance between this pair of moving components may also cause the distances between other pairs of moving components to change to not fall within the corresponding safe distance range, thus resulting in a chain reaction; in this regard, it is also necessary to adjust the distances between other pairs of moving components to within the corresponding safe distance ranges; so that ultimately the distance between each pair of moving components is within the corresponding safe distance range.

[0117] In the embodiments of the present disclosure, regarding whether to adjust the distance on the linear track module, or on the arc-shaped track module, or on both the linear track module and the arc-shaped track module, it can be divided into the following situations:

[0118] In the first situation, if the distance between any pair of moving components in the queue to turn on the linear track module has exceeded the safe distance range, it indicates that this pair of moving components will collide when moving along the arc-shaped track module. For this situation, then when this pair of moving components is still on the linear track module, adjust the moving speed of at least one of the moving components in this pair of moving components so as to adjust the distance between this pair of moving components to within the corresponding safe distance range.

[0119] In the second situation, if the distance between any pair of moving components in the queue to turn on the linear track module is within the safe distance range, but due to different motion control parameters of this pair of moving components when turning, the distance between the moving components will be changed, and once the distance exceeds the safe distance range, it will lead to a collision. For this situation, then when this pair of moving components enters the arc-shaped track module, adjust the moving speed of at least one of the moving components in this pair of moving components so as to adjust the distance between this pair of moving components to within the corresponding safe distance range.

[0120] In the third case, in the first case, the distance between the pair of moving parts has been adjusted to within the safe distance range on the linear track module. However, due to the different motion states of the pair of moving parts or different motion control parameters during cornering, the distance between the pair of moving parts changes when cornering along the arc-shaped track module until the distance exceeds the safe distance range again, thus triggering a collision risk. For this situation, similar to the second case, on the arc-shaped track module, according to multiple safe distance ranges, the distance between each pair of moving parts in the queue to be cornered is controlled to dynamically change within the corresponding safe distance range.

[0121] In an exemplary embodiment, after adjusting the moving speeds of at least some of the moving parts in the queue to be cornered to adjust the distance between each pair of moving parts in the queue to be cornered to within the corresponding safe distance range, it further includes:

[0122] If it is determined according to the motion measurement data of the moving parts in the queue to be cornered that the moving speeds of the moving parts in the queue to be cornered are the same, then through the same motion control parameters, the queue to be cornered is controlled to pass through the arc track module.

[0123] In the embodiment of the present disclosure, if the moving speeds between the moving parts are the same, then it is only necessary to control the moving parts to corner according to the same motion control parameters. Since the distance between the moving parts is within the safe distance range at this time and the moving speeds are the same, the distance between the moving parts remains unchanged and always remains within the safe distance range, thereby ensuring that the moving parts do not collide when cornering.

[0124] In an exemplary embodiment, the controlling the distance between each pair of moving parts in the queue to be cornered to dynamically change within the corresponding safe distance range according to the multiple safe distance ranges includes at least one of the following:

[0125] After determining according to the motion measurement data of the moving parts in the queue to be cornered that the distance change between at least one pair of moving parts reaches the distance change threshold, adjust the moving speeds of at least some of the moving parts in the queue to be cornered to prevent the distance between each pair of moving parts in the queue to be cornered from changing to the boundary threshold of the corresponding safe distance range; wherein, the distance change threshold is less than the difference between the upper boundary threshold and the lower boundary threshold of the safe distance range;

[0126] Based on the motion control parameters and motion measurement data of the moving components in the queue to turn, determine the turning motion prediction trajectory of the moving positions of the moving components in the queue to turn changing with time, and based on the turning motion prediction trajectory, before the distance between any pair of moving components reaches the boundary threshold of the corresponding safe distance range, adjust the moving speeds of at least some of the moving components in the queue to turn, so that the distance between each pair of moving components in the queue to turn is controlled within the corresponding safe distance range.

[0127] In the embodiments of the present disclosure, the distance change threshold is used to adjust the moving speeds between the moving components in advance when the distance between each pair of moving components approaches the upper boundary threshold or the lower boundary threshold of the safe distance range, so as to prevent the distance from continuing to change to the boundary threshold of the corresponding safe distance range.

[0128] As Figure 6 Shown in the schematic diagram of the turning motion prediction trajectory, the abscissa is time t, the ordinate is the distance y between any pair of moving components, and the lower boundary threshold of the safe distance range corresponding to this pair of moving components is y1, and the upper boundary threshold of the safe distance range is y4. After the initial moment t1, due to the inconsistent moving speeds between this pair of moving components, the distance between them gradually decreases. At the moment t2, the distance decreases to the distance change threshold y2, and at this time, the moving speeds of at least some of the moving components in this pair of moving components are adjusted. Since it takes a certain amount of time for the speed to be adjusted until the distance no longer decreases, the distance between them may continue to decrease during the adjustment process, but it has been able to prevent the distance between them from reaching the lower boundary threshold y1, and the minimum distance can be reached at the moment t3. After the moment t3, the distance between them will gradually increase with the increase of time, and when the distance increases to the distance change threshold y3 at the moment t4, the moving speeds of at least some of the moving components in this pair of moving components will be adjusted again to prevent the distance from continuing to increase to the upper boundary threshold y4. Since it takes a certain amount of time for the speed to be adjusted until the distance no longer increases, the distance between them may continue to increase during the adjustment process, but it has been able to prevent the distance between them from reaching the upper boundary threshold y4, and the maximum distance can be reached at the moment t5. After the moment t5, the distance will gradually decrease again. In this way, with the distance change thresholds y2 and y3, the distance between the moving components can always be controlled within the safe distance range.

[0129] In an exemplary embodiment, the controlling the distance between each pair of moving components in the queue to turn within the corresponding safe distance range according to the motion measurement data of the moving components in the queue to turn may include:

[0130] Select a moving component from the queue to turn as a reference component, and regard the remaining moving components in the queue to turn as non-reference components;

[0131] Adjust the motion state of the non-reference component relative to the reference component according to the motion state of the reference component, so as to control the distance between each pair of moving components in the queue to be turned within the corresponding safe distance range.

[0132] In this embodiment, when adjusting the distance between each pair of moving components in the queue to be turned, a moving component can be selected as the reference component first, and then by adjusting the motion state of the non-reference component, the non-reference component can be adjusted relative to the reference component for the distance adjustment. In this way, the adjustment efficiency of the motion control parameters can be improved by selecting the reference component. As Figure 7A shown, for three moving components (moving component 71, moving component 72, and moving component 73), if moving component 71 is selected as the reference component, then moving component 72 and moving component 73 are non-reference components; if moving component 72 is selected as the reference component, then moving component 71 and moving component 73 are non-reference components; if moving component 73 is selected as the reference component, then moving component 71 and moving component 72 are non-reference components.

[0133] In an exemplary embodiment, the adjusting the motion state of the non-reference component relative to the reference component according to the motion state of the reference component to control the distance between each pair of moving components in the queue to be turned within the corresponding safe distance range may include at least one of the following:

[0134] If it is determined according to the motion measurement data of each moving component in the queue to be turned that there is at least one pair of moving components in the queue to be turned whose distance does not fall within the corresponding safe distance range, then when the queue to be turned is in the linear track module, with reference to the moving speed of the reference component, relatively adjust the moving speed of the non-reference component to adjust the distance between each pair of moving components in the queue to be turned within the corresponding safe distance range;

[0135] If it is determined according to the motion measurement data of each moving component in the queue to be turned that the distance between each pair of moving components in the queue to be turned falls within the corresponding safe distance range, then when the queue to be turned is in the linear track module or the arc track module, with reference to the moving speed situation of the reference component, relatively adjust the moving speed situation of the non-reference component to control the distance between the reference component and the non-reference component to change dynamically within the safe distance range.

[0136] In the embodiment of the present disclosure, as Figure 7AAs shown, assume that the moving part 72 is selected as the reference part. The distance between the pair of moving parts, i.e., the moving part 73 and the moving part 72, does not fall within the corresponding safe distance range, while the distance between the pair of moving parts, i.e., the moving part 72 and the moving part 71, falls within the corresponding safe distance range. This indicates that the distance between only the moving part 73 and the moving part 72 is insufficient to avoid a collision. Therefore, when the queue waiting to turn is on a straight track module, the moving speed of the moving part 73 can be relatively adjusted with reference to the moving speed of the moving part 72, which is used as the reference part, so as to adjust the distance between the moving part 73 and the moving part 72 in the queue waiting to turn to within the corresponding safe distance range.

[0137] Still taking Figure 7A As shown, assume that neither the distance between the moving part 73 and the moving part 72 nor the distance between the moving part 72 and the moving part 71 falls within the corresponding safe distance range. Then, on a straight track module or an arc track module, the moving speeds of the moving part 71 and the moving part 73 are relatively adjusted with reference to the moving speed condition of the moving part 72, which is used as the reference part, so as to control the distances between the moving part 73 and the moving part 72 and between the moving part 72 and the moving part 71 to dynamically change within the corresponding safe distance ranges.

[0138] In an exemplary embodiment, the step of selecting a moving part from the queue waiting to turn as the reference part includes:

[0139] In the queue waiting to turn, select the moving part at the specified position sequence in the moving direction as the reference part;

[0140] The step of adjusting the motion state of the non-reference part relative to the reference part according to the motion state of the reference part to control the distance between each pair of moving parts in the queue waiting to turn within the corresponding safe distance range includes:

[0141] According to the position sequence of the reference part in the queue waiting to turn and the distance between each pair of moving parts in the queue waiting to turn, adjust the motion state of the non-reference part relative to the reference part to control the distance between each pair of moving parts in the queue waiting to turn within the corresponding safe distance range.

[0142] In the embodiments of the present disclosure, the specified position sequence may refer to the position sequence of the selected reference part relative to the non-reference part according to the moving direction of the moving part. The specified position sequence may include the following three types:

[0143] The first type is the specified first position sequence, which means that along the moving direction, the reference part is the moving part at the first position in the queue waiting to turn. For example Figure 7AAs shown, the direction indicated by arrow 74 is the moving direction of the queue waiting to turn. Assuming that the specified position order is the first of the first type, it means that the reference component to be selected is the moving component 73 at the head of the queue waiting to turn.

[0144] The second type is the specified position order of the end. It means that along the moving direction, the reference component is the moving component at the end of the queue waiting to turn. As Figure 7A shown, the direction indicated by arrow 74 is the moving direction of the queue waiting to turn. Assuming that the specified position order is the end of the second type, it means that the reference component to be selected is the moving component 71 at the end of the queue waiting to turn.

[0145] The third type is the specified position order of the middle position. It means the moving component with adjacent relationships on both sides. As Figure 7A shown, the direction indicated by arrow 74 is the moving direction of the queue waiting to turn. Assuming that the specified position order is the middle position of the third type, it means that the reference component to be selected is the moving component 72 with adjacent relationships on both sides.

[0146] It can be understood that when it comes to the position order of the middle position of the third type, it does not mean that the reference component is located in the exact middle position of the queue waiting to turn. As long as there are other moving components with adjacent relationships on both sides of the moving component, they can be designated as the reference component for the middle position. For example, for the moving components A, B, C, and D arranged in order, assuming that the specified position order is the middle position order of the third type, then both the moving component B and the moving component C can be used as the reference component. In practical applications, the moving components in the queue waiting to turn can be numbered according to the moving direction, and the moving component corresponding to the specific number can be selected as the reference component by specifying the specific number.

[0147] In an exemplary embodiment, adjusting the motion state of the non-reference components relative to the reference component according to the position order of the reference component in the queue waiting to turn and the distance between each pair of moving components in the queue waiting to turn, so as to control the distance between each pair of moving components in the queue waiting to turn within the corresponding safe distance range includes at least one of the following:

[0148] If it is determined according to the motion measurement data of each moving component in the queue waiting to turn that there is at least one pair of moving components in the queue waiting to turn whose distance does not fall within the corresponding safe distance range, then according to the multiple safe distance ranges and the position order of the reference component in the queue waiting to turn, when the queue waiting to turn is in the straight track module, adjust the moving speeds of at least some non-reference moving components to adjust the distance between each pair of moving components in the queue waiting to turn to within the corresponding safe distance range;

[0149] If it is determined that the spacing between each pair of moving components in the queue to turn is within the corresponding safe spacing range according to the motion measurement data of the moving components in the queue to turn, then according to the multiple safe spacing ranges and the position order of the reference component in the queue to turn, control the spacing between each pair of moving components in the queue to turn to vary dynamically within the corresponding safe spacing range.

[0150] In the embodiments of the present disclosure, for the two different situations where the spacing between some pairs of moving components in the queue to turn falls within the corresponding safe spacing range, or the spacing between all pairs of moving components falls within the corresponding safe spacing range, different control strategies can be adopted for spacing control.

[0151] In the embodiments of the present disclosure, even if the spacing between only one pair of moving components does not fall within the corresponding safe spacing range, since adjusting the spacing between this pair of moving components may also cause the spacing between other pairs of moving components to change to not fall within the corresponding safe spacing range, resulting in a chain reaction; in this regard, it is also necessary to adjust the spacing between other pairs of moving components to within the corresponding safe spacing range; so that ultimately the spacing between each pair of moving components is within the corresponding safe spacing range.

[0152] In an exemplary embodiment, the adjusting the moving speeds of at least some non-reference moving components when the queue to turn is in the linear track module according to the multiple safe spacing ranges and the position order of the reference component in the queue to turn to adjust the spacing between each pair of moving components in the queue to turn to within the corresponding safe spacing range includes at least one of the following:

[0153] (1) In the case of selecting the first moving component as the reference component, if it is determined that there is at least one pair of moving components in the queue to turn whose spacing is greater than the upper boundary threshold of the corresponding safe spacing range, then when the queue to turn is in the linear track module, with reference to the moving speed of the reference component, adjust at least some non-reference components to accelerate at least relative to the reference component to adjust the spacing between each pair of moving components in the queue to turn to within the corresponding safe spacing range.

[0154] As Figure 7BAs shown, select the reference component 73 at the head of the queue waiting to turn. Assume that at time t1, the distance d3 between the reference component 73 and the non-reference component 72 is greater than the upper boundary threshold of the corresponding safe distance range, and the distance (2*d3) between the reference component 73 and the non-reference component 71 is greater than the upper boundary threshold of the corresponding safe distance range. Then, when the queue waiting to turn is in the straight track mode, referring to the moving speed of the reference component 73 (assuming the reference component 73 moves at a constant speed V3), accelerate the non-reference components 71 and 72 relative to the reference component 73 (accelerate to a moving speed greater than V3) to reduce the distance d3 between the reference component 73 and the non-reference component 72 to the distance d4 within the corresponding safe distance range, and reduce the distance (2*d3) between the reference component 73 and the non-reference component 71 to the distance (2*d4) within the corresponding safe distance range.

[0155] (2) When selecting the moving component at the head as the reference component, if it is determined that the distance between at least one pair of moving components in the queue waiting to turn is less than the lower boundary threshold of the corresponding safe distance range, then when the queue waiting to turn is in the straight track module, referring to the moving speed of the reference component, adjust at least some of the non-reference components to decelerate at least relative to the reference component to adjust the distance between each pair of moving components in the queue waiting to turn to within the corresponding safe distance range.

[0156] As Figure 7A As shown, select the reference component 73 at the head of the queue waiting to turn. Assume that at time t1, the distance d1 between the reference component 73 and the non-reference component 72 is less than the lower boundary threshold of the corresponding safe distance range, and the distance (2*d1) between the reference component 73 and the non-reference component 71 is less than the lower boundary threshold of the corresponding safe distance range. Then, when the queue waiting to turn is in the straight track mode, referring to the moving speed of the reference component 73 (assuming the reference component 73 moves at a constant speed V3), decelerate the non-reference components 71 and 72 relative to the reference component 73 (decelerate to a moving speed less than V3) to increase the distance d1 between the reference component 73 and the non-reference component 72 to the distance d2 within the corresponding safe distance range, and increase the distance (2*d1) between the reference component 73 and the non-reference component 71 to the distance (2*d2) within the corresponding safe distance range.

[0157] (3) In the case of selecting the moving part at the end as the reference part, if it is determined that there is at least one pair of moving parts in the queue to turn with a spacing greater than the upper boundary threshold of the corresponding safe spacing range, when the queue to turn is in the linear track module, referring to the moving speed of the reference part, at least some non-reference parts are adjusted to decelerate at least relative to the reference part, so as to adjust the spacing between each pair of moving parts in the queue to turn to within the corresponding safe spacing range.

[0158] As Figure 7B shown, select the reference part 71 at the end in the queue to turn. Assume that at time t1, the spacing d3 between the reference part 71 and the non-reference part 72 is greater than the upper boundary threshold of the corresponding safe spacing range, and the spacing (2*d3) between the reference part 71 and the non-reference part 73 is greater than the upper boundary threshold of the corresponding safe spacing range; then when the queue to turn is in the linear track mode, referring to the moving speed of the reference part 71 (assuming the reference part 71 moves at a constant speed V1), the non-reference parts 72 and 73 are decelerated relative to the reference part 71 (decelerated to a moving speed less than V1), so as to reduce the spacing d3 between the reference part 71 and the non-reference part 72 to the spacing d4 within the corresponding safe spacing range, and reduce the spacing (2*d3) between the reference part 71 and the non-reference part 73 to the spacing (2*d4) within the corresponding safe spacing range.

[0159] (4) In the case of selecting the moving part at the end as the reference part, if it is determined that there is at least one pair of moving parts in the queue to turn with a spacing less than the lower boundary threshold of the corresponding safe spacing range, when the queue to turn is in the linear track module, referring to the moving speed of the reference part, at least some non-reference parts are adjusted to accelerate at least relative to the reference part, so as to adjust the spacing between each pair of moving parts in the queue to turn to within the corresponding safe spacing range.

[0160] As Figure 7AAs shown, select the reference component 71 at the end of the queue to turn. Assume that at time t1, the distance d1 between the reference component 71 and the non-reference component 72 is less than the lower boundary threshold of the corresponding safe distance range, and the distance (2*d1) between the reference component 71 and the non-reference component 73 is less than the lower boundary threshold of the corresponding safe distance range. Then, when the queue to turn is in the straight track mode, referring to the moving speed of the reference component 71 (assuming the reference component 71 moves at a constant speed V1), accelerate the non-reference component 72 and the non-reference component 73 relative to the reference component 71 (accelerate to a moving speed greater than V1) to increase the distance d1 between the reference component 71 and the non-reference component 72 to the distance d2 within the corresponding safe distance range, and increase the distance (2*d1) between the reference component 71 and the non-reference component 73 to the distance (2*d2) within the corresponding safe distance range.

[0161] (5) In the case of selecting the moving component in the middle position as the reference component, if it is determined that the distance between at least one pair of moving components in the queue to turn is greater than the upper boundary threshold of the corresponding safe distance range, then when the queue to turn is in the straight track module, referring to the moving speed of the reference component, adjust at least some of the non-reference components behind the reference component to accelerate at least relative to the reference component, and / or adjust at least some of the non-reference components in front of the reference component to decelerate at least relative to the reference component, so as to adjust the distance between each pair of moving components in the queue to turn to within the corresponding safe distance range.

[0162] As Figure 7B As shown, select the reference component 72 in the middle of the queue to turn. Assume that at time t1, both the distance d3 between the reference component 72 and the non-reference component 71 and the distance d3 between the reference component 72 and the non-reference component 73 are greater than the upper boundary threshold of the corresponding safe distance range. Then, when the queue to turn is in the straight track mode, referring to the moving speed of the reference component 72 (assuming the reference component 72 moves at a constant speed V2), accelerate the non-reference component 71 behind the reference component 72 relative to the reference component 72 (accelerate to a moving speed greater than V2) to reduce the distance d3 between the reference component 72 and the non-reference component 71 to the distance d4 within the safe distance range; decelerate the non-reference component 73 in front of the reference component 72 relative to the reference component 72 (decelerate to a moving speed less than V2) to reduce the distance d3 between the reference component 72 and the non-reference component 73 to the distance d4 within the safe distance range.

[0163] It should be noted that when the reference component is in the middle position, not all non-reference components need to adjust their moving speeds. If the distance between non-reference components located behind the reference component has fallen within the safe distance range, there is no need to adjust the non-reference components located behind the reference component; similarly, if the distance between non-reference components located in front of the reference component has fallen within the safe distance range, there is no need to adjust the non-reference components located in front of the reference component.

[0164] (6) In the case of selecting the moving component in the middle position as the reference component, if it is determined that there is at least one pair of moving components in the queue to turn with a distance less than the lower boundary threshold of the corresponding safe distance range, when the queue to turn is in the linear track module, referring to the moving speed of the reference component, at least some of the non-reference components behind the reference component are adjusted to decelerate at least relative to the reference component, and / or at least some of the non-reference components in front of the reference component are adjusted to accelerate at least relative to the reference component, so as to adjust the distance between each pair of moving components in the queue to turn to within the corresponding safe distance range.

[0165] As Figure 7A shown, select the reference component 72 in the middle position of the queue to turn. Assume that at time t1, the distance d1 between the reference component 72 and the non-reference component 71, and the distance d1 between the reference component 72 and the non-reference component 73 are both less than the lower boundary threshold of the corresponding safe distance range. Then when the queue to turn is in the linear track mode, referring to the moving speed of the reference component 72 (assuming the reference component 72 moves at a constant speed of V2), the non-reference component 71 behind the reference component 72 is decelerated relative to the reference component 72 (decelerated to a moving speed less than V2) to increase the distance d3 between the reference component 72 and the non-reference component 71 to the distance d4 within the safe distance range; the non-reference component 73 in front of the reference component 72 is accelerated relative to the reference component 72 (accelerated to a moving speed greater than V2) to increase the distance d3 between the reference component 72 and the non-reference component 73 to the distance d4 within the safe distance range.

[0166] It should be noted that when the reference component is in the middle position, not all non-reference components need to adjust their moving speeds. If the distance between non-reference components located behind the reference component has fallen within the safe distance range, there is no need to adjust the non-reference components located behind the reference component; similarly, if the distance between non-reference components located in front of the reference component has fallen within the safe distance range, there is no need to adjust the non-reference components located in front of the reference component.

[0167] In an exemplary embodiment, adjusting the motion state of the non-reference component relative to the reference component according to the motion state of the reference component to control the spacing between each pair of moving components in the to-be-cornering queue within the corresponding safe spacing range includes:

[0168] According to the moving speed condition of the reference component, controlling the non-reference component to vary speed and move at a constant speed relative to the reference component so that when the speeds of the non-reference component and the reference component are the same, the spacing between each pair of moving components in the to-be-cornering queue is within the corresponding safe spacing range.

[0169] In the embodiments of the present disclosure, since the adjustment of the moving speed of the non-reference component is the relative speed with respect to the reference component, from the perspective of the reference component, the adjustment of the moving speed of the non-reference component is to vary speed and move at a constant speed. That is, when the moving speed of the non-reference component is different from that of the reference component, the non-reference component moves at a variable speed relative to the reference component, and when the moving speeds and accelerations of the non-reference component and the reference component are both the same, the non-reference component moves at a constant speed relative to the reference component.

[0170] It can be understood that from the perspective of the non-reference component itself, the process of adjusting the moving speed of the non-reference component may be to accelerate first and then decelerate, or may be to decelerate first and then accelerate, or may also be to accelerate first, move at a constant speed in the middle, and finally decelerate, or to decelerate first, move at a constant speed in the middle, and finally accelerate.

[0171] The following refers to Figure 8 , Figure 8 is Figure 7B a schematic diagram of the relationship between the moving speeds and time of the reference component 71, the non-reference component 72, and the non-reference component 73 at the time t1 to t2 (i.e., the time period for adjusting the motion state of the non-reference component relative to the reference component).

[0172] Assume that at the time t1, the spacing d1 between the reference component 71 and the non-reference component 72, and the spacing (2*d1) between the reference component 71 and the non-reference component 73 are both smaller than the lower boundary threshold of the corresponding safe spacing range, meeting the aforementioned (4), and thus as shown in the previous (4):

[0173] When the to-be-cornering queue is in the straight track mode, referring to the moving speed condition of the reference component 71 (assuming that the reference component 71 moves at a constant speed with a speed V1), the non-reference component 72 and the non-reference component 73 are accelerated relative to the reference component 71 (accelerated to a moving speed greater than V1) to increase the spacing d1 between the reference component 71 and the non-reference component 72 to the spacing d2 within the corresponding safe spacing range, and to increase the spacing (2*d1) between the reference component 71 and the non-reference component 73 to the spacing (2*d2) within the corresponding safe spacing range.

[0174] During the process of adjusting the motion states of the non-reference component 72 and the non-reference component 73 relative to the reference component 71, the moving speed curves of the reference component 71 and the non-reference component 72 are as shown in coordinate system A or coordinate system C, and the moving speed curves of the reference component 71 and the non-reference component 73 are as shown in coordinate system B or coordinate D.

[0175] During Figure 8 Four coordinate systems A, B, C, and D are shown. The abscissa of these four coordinate systems is time t, and the ordinate is moving speed V.

[0176] Among them, what coordinate system A represents is that the reference component 71 moves at a constant speed of V1. Therefore, in the coordinate system, it presents as a straight line 711 parallel to the abscissa, and the moving speed does not change with time (that is, uniform motion); when adjusting the motion state of the non-reference component 72 relative to the reference component 71, the method of first decelerating and then accelerating (presented as a curve 721 composed of dotted lines) can be adopted to reduce the distance from the reference component 71, and reach the distance d4 within the safe distance range at time t2; the closed area formed by this straight line 711 and the curve 721 can be understood as the reduced distance value (d3 - d4) between the reference component 71 and the non-reference component 72.

[0177] In coordinate system B, the reference component 71 moves at a constant speed of V1 and presents as a straight line 711. When adjusting the motion state of the non-reference component 73 relative to the reference component 71, the method of first decelerating and then accelerating (presented as a curve 731 composed of dotted lines) can also be adopted to reduce the distance from the reference component 71, and reach the distance (2 * d4) within the safe distance range at time t2; the closed area formed by this straight line 711 and the curve 731 is the reduced distance value 2 * (d3 - d4) between the non-reference component 73 and the reference component 71. In coordinate system C, the reference component 71 moves at a constant speed of V1 and presents as a straight line 711. The non-reference component 72 is adjusted to reduce the distance from the reference component 71 by first decelerating, moving at a constant speed in the middle, and finally accelerating (presented as a curve 722 composed of dotted lines), and reaches d2 within the safe distance range at time t2; the closed area formed by this straight line 711 and the curve 722 is the reduced distance value (d3 - d5) between the non-reference component 72 and the reference component 71.

[0178] In coordinate system D, the reference component 71 moves at a constant speed of V1 and presents as a straight line 711. The non-reference component 73 is adjusted to reduce the distance from the reference component 71 by first decelerating, moving at a constant speed in the middle, and finally accelerating (presented as a curve 732 composed of dotted lines), and reaches the safe distance (2 * d4) at time t2; the closed area formed by this straight line 711 and the curve 732 is the reduced distance value 2 * (d3 - d4) between the non-reference component 73 and the reference component 71.

[0179] In an exemplary embodiment, controlling the non-reference component to vary its speed relative to the reference component includes at least one of the following:

[0180] Controlling the non-reference component to vary its speed relative to the reference component with the same acceleration; or, controlling the non-reference component to vary its speed relative to the reference component with an acceleration that varies in a gradient manner according to the distance between the non-reference component and the reference component.

[0181] In the embodiments of the present disclosure, when the accelerations are the same, controlling the non-reference component to vary its speed relative to the reference component is relatively simple, which can reduce the computational amount of the system; while when using an acceleration that varies in a gradient manner according to the distance between the non-reference component and the reference component, the non-reference component can complete the speed variation adjustment synchronously, so as to meet the requirements of some scenarios with high synchronization requirements.

[0182] Such as Figure 7B the distance d3 between the non-reference component 72 and the reference component 71 in Figure 8 and the distance (2*d3) between the non-reference component 73 and the reference component 71, and in combination with Figure 8 the views A and B shown in Since the non-reference component 73 is farther from the reference component 71 than the non-reference component 72, the acceleration of the non-reference component 73 relative to the reference component 71 can also be greater than the acceleration of the non-reference component 72 relative to the reference component 71, so that the distance can be adjusted to the corresponding safe distance range synchronously within the same time from t1 to t2. Specifically, since the distance (2*d3) between the non-reference component 73 and the reference component 71 is twice the distance d3 between the non-reference component 72 and the reference component 71, according to the trapezoidal change of the acceleration corresponding to the distance, it can be obtained that the acceleration of the non-reference component 73 is twice the acceleration of the non-reference component 72.

[0183] In an exemplary embodiment, controlling the distance between each pair of moving components in the to-be-cornered queue within the corresponding safe distance range according to the motion measurement data of the moving components in the to-be-cornered queue includes:

[0184] Determining the front-to-back order of the moving components in the to-be-cornered queue according to the motion measurement data of the moving components in the to-be-cornered queue;

[0185] Grouping the moving components in the to-be-cornered queue according to the front-to-back order; wherein, each group includes at least one moving component;

[0186] Adjust the motion control parameters of at least one moving component in two adjacent groups to control the distance between the two adjacent groups within a safe distance range, and adjust the motion control parameters of at least one moving component in each group to control the distance between the moving components within each group within a safe distance range.

[0187] In the embodiments of the present disclosure, in the process of controlling the distance between each pair of moving components in the queue to be turned within a safe distance range, the moving components in the queue to be turned can be grouped first, and then the motion control parameters of at least some of the moving components between two adjacent groups and within each group are adjusted, so that the distance between adjacent moving components in adjacent groups and between moving components within each group is controlled within a safe distance range. In this way, the adjustment efficiency of the motion control parameters can be improved by the grouping method.

[0188] It should be noted that since the cases of dividing into two groups or dividing into several groups but at most including two moving components in each group are relatively easy to control, when grouping the moving components in the queue to be turned, the moving components in the queue to be turned can be divided into two groups in the front-to-back order, or the moving components in the queue to be turned can be divided into several groups in the front-to-back order, with at most two moving components in each group.

[0189] In an exemplary embodiment, the adjusting the motion control parameters of at least one moving component in two adjacent groups to control the distance between the two adjacent groups within a safe distance range, and adjusting the motion control parameters of at least one moving component in each group to control the distance between the moving components within each group within a safe distance range includes at least one of the following:

[0190] If adjusting the distance between groups first, adjust the motion control parameters of all moving components or the edge moving components in two adjacent groups to control the distance between the two adjacent groups within a safe distance range, and control the moving components in the two adjacent groups to move at the same moving speed.

[0191] If adjusting the distance within groups first, adjust the motion control parameters of at least one moving component in each group to control the distance between the moving components within each group within a safe distance range, and control the moving components in the group to move at the same moving speed, and then adjust the motion control parameters of at least one moving component in two adjacent groups to control the distance between the two adjacent groups within a safe distance range.

[0192] In the embodiments of the present disclosure, after grouping is completed, if the groups with an adjacent relationship are adjusted first, then when adjusting the distance between two groups, all or the edge moving components within the group are adjusted together, and the moving speed of the moving components within the group is controlled to be consistent; in this way, since the distance between the moving components can remain unchanged when the moving speeds are the same, and the adjusted distance has fallen within the safe distance range, the queue to turn will not collide when turning along the arc-shaped track module. If the distance between the moving components within each group is adjusted first, it is also possible to control the moving speed of the moving components within the group to be consistent when the distance between the moving components within the group is adjusted to the corresponding safe distance range, and in this way, it can also be ensured that the queue to turn will not collide when turning along the arc-shaped track module.

[0193] As Figure 9 shown, for three moving components (moving component 91, moving component 92, and moving component 93) grouped, if moving component 92 and moving component 93 are grouped into the first group, and moving component 91 itself is the second group. If the motion control parameters of these three moving components all indicate uniform motion at V1, and in the linear track module at time t1, the distances d1 between moving component 91 and moving component 92, and between moving component 92 and moving component 93 are less than the lower boundary threshold of the safe distance range, as Figure 9 shown, the distance between the groups can be adjusted first. For example, the moving speed of moving component 91 in the second group can be reduced, or the moving speed of moving component 92 in the first group can be increased, or both can be adjusted simultaneously; so that at time t2, the distance d1 between moving component 92 in the first group and moving component 91 in the second group is increased to the distance d2 within the safe distance range, and moving component 91 and moving component 92 are adjusted to the same moving speed. Then, the distance between the moving components within each group is adjusted. Since there is only moving component 91 in the second group, only the distance between moving component 92 and moving component 93 within the first group needs to be adjusted. And since the motion control parameters of moving component 92 have been fixed with those of moving component 91, the moving speed of moving component 93 needs to be increased to increase the distance d1 between moving component 92 and moving component 93 within the first group to the distance d2 within the safe distance range at time t3, and moving component 92 and moving component 93 are adjusted to the same moving speed. In this way, since the distance d2 between these three moving components is within the safe distance range and the three moving components have the same moving speed, there will be no collision when turning along the arc-shaped track. And if the distance between the moving components within the group is adjusted first and then the distance between the groups is adjusted, then as Figure 10As shown, first adjust the spacing between the moving parts within each group. Since there is only the moving part 91 in the second group, only the spacing between the moving part 92 and the moving part 93 within the first group needs to be adjusted. For example, the moving speed of the moving part 93 can be increased, or the moving speed of the moving part 92 can be decreased, or both can be adjusted simultaneously. Thus, at t2, the spacing d1 between the moving part 92 and the moving part 93 within the first group is increased to the spacing d2 within the safe spacing range, and the moving part 92 and the moving part 93 are adjusted to the same moving speed. Next, further adjust the spacing between the groups (i.e., adjust the spacing between the moving part 92 of the first group and the moving part 91 of the second group). Since the motion control parameters of the moving part 92 and the moving part 93 have been fixed, the moving speed of the moving part 91 needs to be decreased to increase the spacing d1 between the moving part 92 of the first group and the moving part 91 of the second group to the spacing d2 within the safe spacing range at time t3, and the moving part 92 and the moving part 91 are adjusted to the same moving speed. In this way, since the spacing d2 between these three moving parts is within the safe spacing range and the three moving parts have the same moving speed, no collision will occur when turning along the arc-shaped track.

[0194] In an exemplary embodiment, adjusting the motion control parameters of at least one moving part in two adjacent groups to control the spacing between the two adjacent groups within the safe spacing range, and adjusting the motion control parameters of at least one moving part in each group to control the spacing between the moving parts within each group within the safe spacing range includes:

[0195] Select a group from the grouping result of the queue to be turned as a reference group;

[0196] Adjust the motion control parameters of at least one moving part in the reference group to control the spacing between the moving parts in the reference group within the corresponding safe spacing range;

[0197] Adjust the motion control parameters of at least one moving part in the group adjacent to the reference group to control the spacing between the adjacent group and the reference group within the corresponding safe spacing range;

[0198] Adjust the motion control parameters of at least one moving part in the adjacent group to control the spacing between the moving parts within the adjacent group within the corresponding safe spacing range.

[0199] In the embodiments of the present disclosure, after selecting the reference group, first adjust the spacing between the moving components within the reference group, then adjust the spacing between the reference group and the adjacent group having an adjacent relationship with it, and finally adjust the spacing between the moving components within the adjacent group, so as to make the spacing between each pair of moving components in the queue to turn a corner fall within the safe spacing range. As Figure 11 shown, the six moving components (moving components 91 to 96) are grouped in sequence. They are successively divided into the first group 912 of moving component 91 and moving component 92, the second group 934 of moving component 93 and moving component 94, and the third group 956 of moving component 95 and moving component 96. If the motion control parameters of these six moving components all indicate uniform motion at V1, and in the linear track module at time t1, the spacing d3 between each pair of moving components is greater than the upper boundary threshold of the safe spacing range. If the second group 934 is selected as the reference group, then after time t1, the spacing between the moving components 93 and 94 within the reference group can be adjusted first; for example, the moving speed of moving component 94 can be decreased relative to it, or the moving speed of moving component 93 can be increased, or both can be adjusted simultaneously, so that at time t2, the spacing d3 between the moving components 93 and 94 within the reference group is reduced to the spacing d4 within the safe spacing range, and the moving components 93 and 94 are adjusted to the same moving speed.

[0200] After time t2, adjust the spacing between the reference group and the adjacent first group 912, and the spacing between the reference group and the third group 956. For example, the moving speed of moving component 92 can be increased to reduce the spacing between the reference group and the adjacent first group 912, and the moving speed of moving component 95 can be decreased to reduce the spacing between the reference group and the adjacent third group 956, and at time t3, the spacing between the reference group and the adjacent first group 912, and the spacing between the reference group and the third group 956 are reduced to the spacing d4 within the safe spacing range, and the moving speeds of moving components 92 and 95 are adjusted to be the same as the moving speeds of the moving components 93 and 94 in the reference component.

[0201] After time t3, adjust the spacing between the moving part 91 and the moving part 92 within the first group 912, and the spacing between the moving part 95 and the moving part 96 within the third group 956. Since the moving speeds of the moving part 92 and the moving part 95 are already fixed, the moving speed of the moving part 91 can be increased to reduce the spacing between the moving part 91 and the moving part 92 within the first group 912, and the moving speed of the moving part 96 can be reduced to reduce the spacing between the moving part 95 and the moving part 96 within the third group 956; and at time t4, reduce the spacing between the moving part 91 and the moving part 92 within the first group 912, and the spacing between the moving part 95 and the moving part 96 within the third group 956 to the spacing d4 within the safe spacing range, and adjust the moving speed of the moving part 91 within the first group 912 to the same moving speed as the moving part 91, and adjust the moving speed of the moving part 96 within the third group 956 to the same moving speed as the moving part 95. Thus, since the spacing d4 between these six moving parts is within the safe spacing range and the six moving parts have the same moving speed, no collision will occur when turning along the arc-shaped track.

[0202] Corresponding to the embodiment of the anti-collision control method described above, the present disclosure also provides an embodiment of an anti-collision control device.

[0203] Please refer to Figure 12 , Figure 12 which is a hardware structure diagram of an electronic device shown in an exemplary embodiment. At the hardware level, the device includes a processor 602, an internal bus 604, a network interface 606, a memory 608, and a non-volatile memory 610. Of course, other required hardware may also be included. One or more embodiments of the present disclosure can be implemented in a software manner, for example, the processor 602 reads the corresponding computer program from the non-volatile memory 610 into the memory 608 and then runs it. Of course, in addition to the software implementation manner, one or more embodiments of the present disclosure do not exclude other implementation manners, such as a logic device or a combination of software and hardware, etc. That is to say, the execution subject of the following processing flow is not limited to each logic unit, and can also be hardware or a logic device.

[0204] Please refer to Figure 13 , Figure 13 which is a block diagram of an anti-collision control device shown in an exemplary embodiment. The device is connected to an automatic transmission device, and the automatic transmission device includes a track component and a plurality of moving parts, and each of the moving parts moves along the track component; the track component includes a linear track module and an arc-shaped track module, and the device includes:

[0205] The selection unit 1110 selects at least three moving components from the multiple moving components located on the linear track module according to the motion measurement data of each moving component to form a queue to pass through the curve.

[0206] The moving unit 1120 controls the queue to pass through the curve to move along the linear track module towards the arc track module.

[0207] The acquisition unit 1130, in response to the curve collision warning information, acquires multiple safety distance ranges corresponding to the queue to pass through the curve, where each safety distance range corresponds to a different pair of moving components in the queue to pass through the curve.

[0208] The control unit 1140 controls the distance between each pair of moving components in the queue to pass through the curve within the corresponding safety distance range according to the motion measurement data of the moving components in the queue to pass through the curve.

[0209] Optionally, the control unit 1140 includes at least one of the following:

[0210] The first control subunit, if it is determined according to the motion measurement data of each moving component in the queue to pass through the curve that there is at least one pair of moving components in the queue to pass through the curve whose distance does not fall within the corresponding safety distance range, then according to the multiple safety distance ranges, when the queue to pass through the curve is on the linear track module, adjusts the moving speed of at least some moving components in the queue to pass through the curve to adjust the distance between each pair of moving components in the queue to pass through the curve to the corresponding safety distance range.

[0211] The second control subunit, if it is determined according to the motion measurement data of the moving components in the queue to pass through the curve that the distance between each pair of moving components in the queue to pass through the curve falls within the corresponding safety distance range, then according to the multiple safety distance ranges, controls the distance between each pair of moving components in the queue to pass through the curve to change dynamically within the corresponding safety distance range.

[0212] Optionally, the first control subunit is further configured to, if it is determined according to the motion measurement data of the moving components in the queue to pass through the curve that the moving speeds of the moving components in the queue to pass through the curve are the same, control the queue to pass through the curve to pass through the arc track module through the same motion control parameters.

[0213] Optionally, when the second control subunit controls the distance between each pair of moving components in the queue to pass through the curve to change dynamically within the corresponding safety distance range according to the multiple safety distance ranges, it includes at least one of the following:

[0214] After determining that the spacing change between at least one pair of moving components reaches the spacing change threshold according to the motion measurement data of the moving components in the queue to turn, adjust the moving speeds of at least some of the moving components in the queue to turn to prevent the spacing change between each pair of moving components in the queue to turn from changing to the boundary threshold of the corresponding safe spacing range; wherein, the spacing change threshold is less than the difference between the upper boundary threshold and the lower boundary threshold of the safe spacing range;

[0215] According to the motion control parameters and motion measurement data of the moving components in the queue to turn, determine the turning motion prediction trajectory of the moving positions of the moving components in the queue to turn changing with time, and according to the turning motion prediction trajectory, before the spacing between any pair of moving components reaches the boundary threshold of the corresponding safe spacing range, adjust the moving speeds of at least some of the moving components in the queue to turn so that the spacing between each pair of moving components in the queue to turn is controlled within the corresponding safe spacing range.

[0216] Optionally, the control unit 1140 includes:

[0217] A reference selection subunit selects a moving component from the queue to turn as a reference component, and takes the remaining moving components in the queue to turn as non-reference components;

[0218] A reference adjustment subunit adjusts the motion state of the non-reference components relative to the reference component according to the motion state of the reference component to control the spacing between each pair of moving components in the queue to turn within the corresponding safe spacing range.

[0219] Optionally, the reference adjustment subunit includes at least one of the following:

[0220] If it is determined according to the motion measurement data of each of the moving components in the queue to turn that there is at least one pair of moving components in the queue to turn whose spacing does not fall within the corresponding safe spacing range, when the queue to turn is in the straight track module, with reference to the moving speed of the reference component, relatively adjust the moving speeds of the non-reference components to adjust the spacing between each pair of moving components in the queue to turn to the corresponding safe spacing range;

[0221] If it is determined according to the motion measurement data of each of the moving components in the queue to turn that the spacing between each pair of moving components in the queue to turn falls within the corresponding safe spacing range, when the queue to turn is in the straight track module or the arc track module, with reference to the moving speed situation of the reference component, relatively adjust the moving speed situation of the non-reference components to control the spacing between the reference component and the non-reference components to change dynamically within the safe spacing range.

[0222] Optionally, when the reference selection subunit selects a moving component from the queue of components to turn as a reference component, it includes:

[0223] In the queue of components to turn, select the moving components in the specified position order according to the moving direction as the reference components;

[0224] The reference adjustment subunit includes:

[0225] According to the position order of the reference component in the queue of components to turn and the distance between each pair of moving components in the queue of components to turn, adjust the motion state of the non-reference components relative to the reference component, so as to control the distance between each pair of moving components in the queue of components to turn within the corresponding safe distance range.

[0226] Optionally, the reference adjustment subunit includes at least one of the following:

[0227] If it is determined according to the motion measurement data of the moving components in the queue of components to turn that there is at least one pair of moving components in the queue of components to turn whose distance does not fall within the corresponding safe distance range, then according to the multiple safe distance ranges and the position order of the reference component in the queue of components to turn, when the queue of components to turn is in the linear track module, adjust the moving speeds of at least some non-reference moving components, so as to adjust the distance between each pair of moving components in the queue of components to turn to the corresponding safe distance range;

[0228] If it is determined according to the motion measurement data of the moving components in the queue of components to turn that the distance between each pair of moving components in the queue of components to turn falls within the corresponding safe distance range, then according to the multiple safe distance ranges and the position order of the reference component in the queue of components to turn, control the distance between each pair of moving components in the queue of components to turn to change dynamically within the corresponding safe distance range.

[0229] Optionally, the step of adjusting the moving speeds of at least some non-reference moving components when the queue of components to turn is in the linear track module according to the multiple safe distance ranges and the position order of the reference component in the queue of components to turn, so as to adjust the distance between each pair of moving components in the queue of components to turn to the corresponding safe distance range, includes at least one of the following:

[0230] In the case where the first moving component is selected as the reference component, if it is determined that there is at least one pair of moving components in the queue to turn with a spacing greater than the upper boundary threshold of the corresponding safe spacing range, when the queue to turn is in the straight track module, referring to the moving speed of the reference component, at least some non-reference components are adjusted to accelerate at least relative to the reference component, so as to adjust the spacing between each pair of moving components in the queue to turn within the corresponding safe spacing range;

[0231] In the case where the first moving component is selected as the reference component, if it is determined that there is at least one pair of moving components in the queue to turn with a spacing less than the lower boundary threshold of the corresponding safe spacing range, when the queue to turn is in the straight track module, referring to the moving speed of the reference component, at least some non-reference components are adjusted to decelerate at least relative to the reference component, so as to adjust the spacing between each pair of moving components in the queue to turn within the corresponding safe spacing range;

[0232] In the case where the last moving component is selected as the reference component, if it is determined that there is at least one pair of moving components in the queue to turn with a spacing greater than the upper boundary threshold of the corresponding safe spacing range, when the queue to turn is in the straight track module, referring to the moving speed of the reference component, at least some non-reference components are adjusted to decelerate at least relative to the reference component, so as to adjust the spacing between each pair of moving components in the queue to turn within the corresponding safe spacing range;

[0233] In the case where the last moving component is selected as the reference component, if it is determined that there is at least one pair of moving components in the queue to turn with a spacing less than the lower boundary threshold of the corresponding safe spacing range, when the queue to turn is in the straight track module, referring to the moving speed of the reference component, at least some non-reference components are adjusted to accelerate at least relative to the reference component, so as to adjust the spacing between each pair of moving components in the queue to turn within the corresponding safe spacing range;

[0234] In the case where the middle moving component is selected as the reference component, if it is determined that there is at least one pair of moving components in the queue to turn with a spacing greater than the upper boundary threshold of the corresponding safe spacing range, when the queue to turn is in the straight track module, referring to the moving speed of the reference component, at least some non-reference components behind the reference component are adjusted to accelerate at least relative to the reference component, and / or at least some non-reference components in front of the reference component are adjusted to decelerate at least relative to the reference component, so as to adjust the spacing between each pair of moving components in the queue to turn within the corresponding safe spacing range;

[0235] In the case where the moving part in the middle position is selected as the reference part, if it is determined that the distance between at least a pair of moving parts in the queue to turn is less than the lower boundary threshold of the corresponding safety distance range, when the queue to turn is on the linear track module, referring to the moving speed of the reference part, at least some of the non-reference parts behind the reference part are adjusted to decelerate at least relative to the reference part, and / or at least some of the non-reference parts in front of the reference part are adjusted to accelerate at least relative to the reference part, so as to adjust the distance between each pair of moving parts in the queue to turn within the corresponding safety distance range.

[0236] Optionally, the reference adjustment subunit includes:

[0237] A speed adjustment subunit, according to the moving speed of the reference part, controls the non-reference part to change speed and move at a constant speed relative to the reference part, so that when the moving speeds of the non-reference part and the reference part are the same, the distance between each pair of moving parts in the queue to turn is within the corresponding safety distance range.

[0238] Optionally, when the speed adjustment subunit controls the non-reference part to change speed relative to the reference part, it includes at least one of the following:

[0239] Controlling the non-reference part to change speed relative to the reference part with the same acceleration; or, according to the distance between the non-reference part and the reference part, controlling the non-reference part to change speed relative to the reference part with an acceleration that changes in a gradient.

[0240] Optionally, the control unit 1140 includes:

[0241] A grouping subunit, according to the motion measurement data of the moving parts in the queue to turn, determines the front-back order between the moving parts in the queue to turn; according to the front-back order, groups the moving parts in the queue to turn; wherein, each group includes at least one moving part;

[0242] A grouping adjustment subunit, adjusts the motion control parameters of at least one moving part in two adjacent groups to control the distance between the two adjacent groups within the safety distance range, and adjusts the motion control parameters of at least one moving part in each group to control the distance between the moving parts in each group within the safety distance range.

[0243] Optionally, the grouping adjustment subunit includes at least one of the following:

[0244] If the distance between groups is adjusted first, then the motion control parameters of all the moving parts or the moving parts at the edges within two adjacent groups are adjusted to control the distance between the two adjacent groups within the safe distance range, and the moving parts of the two adjacent groups are controlled to move at the same moving speed;

[0245] If the distance within a group is adjusted first, then the motion control parameters of at least one moving part within each group are adjusted to control the distance between the moving parts within each group within the safe distance range, and the moving parts within the group are controlled to move at the same moving speed. Then, the motion control parameters of at least one moving part within two adjacent groups are adjusted to control the distance between the two adjacent groups within the safe distance range.

[0246] Optionally, the group adjustment subunit includes:

[0247] A reference group selection subunit that selects one group from the grouped results of the to-be-cornering queue as the reference group;

[0248] An adjustment subunit within the reference group that adjusts the motion control parameters of at least one moving part within the reference group to control the distance between the moving parts within the reference group within the corresponding safe distance range;

[0249] An adjustment subunit between adjacent groups that adjusts the motion control parameters of at least one moving part within the group adjacent to the reference group to control the distance between the adjacent group and the reference group within the corresponding safe distance range;

[0250] An adjustment subunit within adjacent groups that adjusts the motion control parameters of at least one moving part within the adjacent groups to control the distance between the moving parts within the adjacent groups within the corresponding safe distance range.

[0251] Optionally, when the obtaining unit 110 obtains the multiple safe distance ranges corresponding to the to-be-cornering queue, it includes any one of the following:

[0252] An experimental test subunit that determines the safe distance range corresponding to each pair of moving parts in the to-be-cornering queue according to experimental tests;

[0253] A calculation subunit that calculates the safe distance range corresponding to each pair of moving parts in the to-be-cornering queue according to the minimum distance information between two moving parts in each pair of moving parts in the to-be-cornering queue, the size information of the two moving parts respectively, and the size information of the arc-shaped track module.

[0254] For the implementation processes of the functions and actions of each unit in the above device, please refer to the implementation processes of the corresponding steps in the above method for details, which will not be elaborated here.

[0255] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to the partial descriptions of the method embodiments. The device embodiments described above are only illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the present disclosure solution. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0256] The present disclosure also provides a transmission system, which includes: a control device and an automatic transmission device; the automatic transmission device includes a track component and a plurality of moving components, the plurality of moving components move along the track component, and the track component includes a linear track module and an arc-shaped track module;

[0257] The control device is used to execute the above anti-collision control method.

[0258] The present disclosure also provides a machine-readable storage medium, which stores machine-readable instructions. When the machine-readable instructions are called and executed by a processor, the above anti-collision control method is implemented.

[0259] The systems, devices, modules or units illustrated in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer, and the specific form of the computer can be a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email transceiver device, a game console, a tablet computer, a wearable device, or a combination of any several of these devices.

[0260] In a typical configuration, a computer includes one or more processors (CPUs), an input / output interface, a network interface, and a memory.

[0261] The memory may include non-permanent memory in the computer-readable medium, forms such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. The memory is an example of the computer-readable medium.

[0262] A computer-readable medium includes both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, disk storage, quantum memory, graphene-based storage media or other magnetic storage devices, or any other non-transitory media that can store information accessible by a computing device. As defined herein, a computer-readable medium does not include transitory computer-readable media such as modulated data signals and carrier waves.

[0263] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this disclosure are all information and data authorized by the user or fully authorized by all parties. Moreover, the collection, use, and processing of relevant data need to comply with the relevant laws, regulations, and standards of the relevant countries and regions, and corresponding operation entrances are provided for users to choose to authorize or reject.

[0264] It should also be noted that the term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, commodity, or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, commodity, or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the existence of additional identical elements in the process, method, commodity, or device comprising the said element.

[0265] The specific embodiments of the present disclosure have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve the desired result. Additionally, the processes depicted in the figures do not necessarily require the specific order or sequential order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0266] The terms used in one or more embodiments of the present disclosure are for the purpose of describing specific embodiments only and are not intended to limit one or more embodiments of the present disclosure. The singular forms "a", "the", and "said" used in one or more embodiments of the present disclosure and the appended claims are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0267] It should be understood that although the terms first, second, third, etc. may be used in one or more embodiments of the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of one or more embodiments of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to determining".

[0268] The above are only the preferred embodiments of one or more embodiments of the present disclosure and are not intended to limit one or more embodiments of the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of one or more embodiments of the present disclosure shall be included within the scope of protection of one or more embodiments of the present disclosure.

Claims

1. A collision avoidance control method, characterized in that, The method is applied to an automatic transmission device, which includes a track component and a plurality of moving components, and each of the moving components moves along the track component; the track component includes a linear track module and an arc track module, and the method includes: According to the motion measurement data of each of the moving components, at least three moving components selected from the plurality of moving components located on the linear track module form a queue to pass through the curve; Control the queue to pass through the curve and move along the linear track module towards the arc track module; In response to the curve passing collision warning information, obtain a plurality of safety distance ranges corresponding to the queue to pass through the curve, where each of the safety distance ranges corresponds to a different pair of moving components in the queue to pass through the curve; According to the motion measurement data of the moving components in the queue to pass through the curve, control the distance between each pair of moving components in the queue to pass through the curve within the corresponding safety distance range.

2. The method according to claim 1, characterized in that The controlling the distance between each pair of moving components in the queue to pass through the curve within the corresponding safety distance range according to the motion measurement data of the moving components in the queue to pass through the curve includes at least one of the following: If it is determined according to the motion measurement data of each of the moving components in the queue to pass through the curve that there is at least one pair of moving components in the queue to pass through the curve whose distance does not fall within the corresponding safety distance range, then according to the plurality of safety distance ranges, when the queue to pass through the curve is on the linear track module, adjust the moving speed of at least some of the moving components in the queue to pass through the curve so as to adjust the distance between each pair of moving components in the queue to pass through the curve to the corresponding safety distance range; If it is determined according to the motion measurement data of the moving components in the queue to pass through the curve that the distance between each pair of moving components in the queue to pass through the curve falls within the corresponding safety distance range, then according to the plurality of safety distance ranges, control the distance between each pair of moving components in the queue to pass through the curve to change dynamically within the corresponding safety distance range.

3. The method according to claim 2, characterized in that After adjusting the moving speed of at least some of the moving components in the queue to pass through the curve so as to adjust the distance between each pair of moving components in the queue to pass through the curve to the corresponding safety distance range, it further includes: If it is determined according to the motion measurement data of the moving components in the queue to pass through the curve that the moving speeds of the moving components in the queue to pass through the curve are the same, control the queue to pass through the curve to pass through the arc track module through the same motion control parameters.

4. The method according to claim 2, wherein The controlling the distance between each pair of moving components in the queue to pass through the curve to change dynamically within the corresponding safety distance range according to the plurality of safety distance ranges includes at least one of the following: After it is determined according to the motion measurement data of the moving components in the queue to pass through the curve that the distance change between at least one pair of moving components reaches the distance change threshold, adjust the moving speed of at least some of the moving components in the queue to pass through the curve to prevent the distance between each pair of moving components in the queue to pass through the curve from changing to the boundary threshold of the corresponding safety distance range; where the distance change threshold is less than the difference between the upper boundary threshold and the lower boundary threshold of the safety distance range; Based on the motion control parameters and motion measurement data of the moving components in the queue to turn, determine the turning motion prediction trajectory of the moving components in the queue to turn with the change of motion position over time. And according to the turning motion prediction trajectory, before the distance between any pair of moving components reaches the boundary threshold of the corresponding safe distance range, adjust the moving speeds of at least some of the moving components in the queue to turn, so that the distance between each pair of moving components in the queue to turn is controlled within the corresponding safe distance range.

5. The method according to claim 1, characterized in that, The controlling the distance between each pair of moving components in the queue to turn within the corresponding safe distance range according to the motion measurement data of the moving components in the queue to turn includes: Select a moving component from the queue to turn as the reference component, and regard the remaining moving components in the queue to turn as non-reference components; According to the motion state of the reference component, adjust the motion state of the non-reference components relative to the reference component to control the distance between each pair of moving components in the queue to turn within the corresponding safe distance range.

6. The method according to claim 5, wherein The adjusting the motion state of the non-reference components relative to the reference component according to the motion state of the reference component to control the distance between each pair of moving components in the queue to turn within the corresponding safe distance range includes at least one of the following: If it is determined according to the motion measurement data of the moving components in the queue to turn that there is at least one pair of moving components in the queue to turn whose distance does not fall within the corresponding safe distance range, when the queue to turn is in the straight track module, with reference to the moving speed of the reference component, relatively adjust the moving speeds of the non-reference components to adjust the distance between each pair of moving components in the queue to turn to the corresponding safe distance range; If it is determined according to the motion measurement data of the moving components in the queue to turn that the distance between each pair of moving components in the queue to turn falls within the corresponding safe distance range, when the queue to turn is in the straight track module or the arc track module, with reference to the moving speed condition of the reference component, relatively adjust the moving speed condition of the non-reference components to control the distance between the reference component and the non-reference components to change dynamically within the safe distance range.

7. The method according to claim 5, wherein The selecting a moving component from the queue to turn as the reference component includes: In the queue to turn, select the moving component at the specified position order in the moving direction as the reference component; The adjusting the motion state of the non-reference components relative to the reference component according to the motion state of the reference component to control the distance between each pair of moving components in the queue to turn within the corresponding safe distance range includes: According to the position order of the reference component in the queue to turn and the distance between each pair of moving components in the queue to turn, adjust the motion state of the non-reference components relative to the reference component to control the distance between each pair of moving components in the queue to turn within the corresponding safe distance range.

8. The method according to claim 7, wherein Adjusting the motion state of the non-reference component relative to the reference component according to the position order of the reference component in the queue to be turned and the spacing between each pair of moving components in the queue to be turned, so as to control the spacing between each pair of moving components in the queue to be turned within the corresponding safety spacing range, including at least one of the following: If it is determined according to the motion measurement data of each moving component in the queue to be turned that there is at least one pair of moving components in the queue to be turned whose spacing does not fall within the corresponding safety spacing range, then according to the multiple safety spacing ranges and the position order of the reference component in the queue to be turned, when the queue to be turned is in the linear track module, adjust the moving speeds of at least some non-reference moving components so as to adjust the spacing between each pair of moving components in the queue to be turned to within the corresponding safety spacing range; If it is determined according to the motion measurement data of the moving components in the queue to be turned that the spacing between each pair of moving components in the queue to be turned falls within the corresponding safety spacing range, then according to the multiple safety spacing ranges and the position order of the reference component in the queue to be turned, control the spacing between each pair of moving components in the queue to be turned to change dynamically within the corresponding safety spacing range.

9. The method according to claim 8, wherein The adjusting the moving speeds of at least some non-reference moving components so as to adjust the spacing between each pair of moving components in the queue to be turned to within the corresponding safety spacing range according to the multiple safety spacing ranges and the position order of the reference component in the queue to be turned when the queue to be turned is in the linear track module includes at least one of the following: In the case where the first moving component is selected as the reference component, if it is determined that there is at least one pair of moving components in the queue to be turned whose spacing is greater than the upper boundary threshold of the corresponding safety spacing range, then when the queue to be turned is in the linear track module, with reference to the moving speed of the reference component, adjust at least some non-reference components to accelerate at least relative to the reference component so as to adjust the spacing between each pair of moving components in the queue to be turned to within the corresponding safety spacing range; In the case where the first moving component is selected as the reference component, if it is determined that there is at least one pair of moving components in the queue to be turned whose spacing is less than the lower boundary threshold of the corresponding safety spacing range, then when the queue to be turned is in the linear track module, with reference to the moving speed of the reference component, adjust at least some non-reference components to decelerate at least relative to the reference component so as to adjust the spacing between each pair of moving components in the queue to be turned to within the corresponding safety spacing range; In the case where the last moving component is selected as the reference component, if it is determined that there is at least one pair of moving components in the queue to turn with a spacing greater than the upper boundary threshold of the corresponding safe spacing range, when the queue to turn is in the linear track module, with reference to the moving speed of the reference component, at least some non-reference components are adjusted to decelerate at least relative to the reference component, so as to adjust the spacing between each pair of moving components in the queue to turn within the corresponding safe spacing range; In the case where the last moving component is selected as the reference component, if it is determined that there is at least one pair of moving components in the queue to turn with a spacing less than the lower boundary threshold of the corresponding safe spacing range, when the queue to turn is in the linear track module, with reference to the moving speed of the reference component, at least some non-reference components are adjusted to accelerate at least relative to the reference component, so as to adjust the spacing between each pair of moving components in the queue to turn within the corresponding safe spacing range; In the case where the middle moving component is selected as the reference component, if it is determined that there is at least one pair of moving components in the queue to turn with a spacing greater than the upper boundary threshold of the corresponding safe spacing range, when the queue to turn is in the linear track module, with reference to the moving speed of the reference component, at least some non-reference components behind the reference component are adjusted to accelerate at least relative to the reference component, and / or at least some non-reference components in front of the reference component are adjusted to decelerate at least relative to the reference component, so as to adjust the spacing between each pair of moving components in the queue to turn within the corresponding safe spacing range; In the case where the middle moving component is selected as the reference component, if it is determined that there is at least one pair of moving components in the queue to turn with a spacing less than the lower boundary threshold of the corresponding safe spacing range, when the queue to turn is in the linear track module, with reference to the moving speed of the reference component, at least some non-reference components behind the reference component are adjusted to decelerate at least relative to the reference component, and / or at least some non-reference components in front of the reference component are adjusted to accelerate at least relative to the reference component, so as to adjust the spacing between each pair of moving components in the queue to turn within the corresponding safe spacing range.

10. The method according to claim 5, wherein Adjusting the motion state of the non-reference component relative to the reference component according to the motion state of the reference component to control the spacing between each pair of moving components in the queue to turn within the corresponding safe spacing range includes: According to the moving speed of the reference component, controlling the non-reference component to change speed and move at a constant speed relative to the reference component, so that when the moving speeds of the non-reference component and the reference component are the same, the spacing between each pair of moving components in the queue to turn is within the corresponding safe spacing range.

11. The method according to claim 10, wherein Controlling the non-reference component to change speed relative to the reference component includes at least one of the following: Controlling the non-reference component with the same acceleration is equivalent to the reference component for speed change; or, according to the distance between the non-reference component and the reference component, controlling the non-reference component with a gradient-changing acceleration is equivalent to the reference component for speed change.

12. The method according to claim 2, wherein Controlling the distance between each pair of moving components in the to-be-cornering queue within the corresponding safe distance range according to the motion measurement data of the moving components in the to-be-cornering queue includes: Determining the front-to-back order of the moving components in the to-be-cornering queue according to the motion measurement data of the moving components in the to-be-cornering queue; Grouping the moving components in the to-be-cornering queue according to the front-to-back order; wherein, each group includes at least one moving component; Adjusting the motion control parameters of at least one moving component in two adjacent groups to control the distance between the two adjacent groups within the safe distance range, and adjusting the motion control parameters of at least one moving component in each group to control the distance between the moving components in each group within the safe distance range.

13. The method according to claim 12, wherein Adjusting the motion control parameters of at least one moving component in two adjacent groups to control the distance between the two adjacent groups within the safe distance range, and adjusting the motion control parameters of at least one moving component in each group to control the distance between the moving components in each group within the safe distance range includes at least one of the following: If adjusting the distance between groups first, adjusting the motion control parameters of all the moving components or the edge moving components in two adjacent groups to control the distance between the two adjacent groups within the safe distance range, and controlling the moving components in the two adjacent groups to move at the same moving speed; If adjusting the distance within groups first, adjusting the motion control parameters of at least one moving component in each group to control the distance between the moving components in each group within the safe distance range, and controlling the moving components in the group to move at the same moving speed, and then adjusting the motion control parameters of at least one moving component in two adjacent groups to control the distance between the two adjacent groups within the safe distance range.

14. The method according to claim 12, wherein Adjusting the motion control parameters of at least one moving component in two adjacent groups to control the distance between the two adjacent groups within the safe distance range, and adjusting the motion control parameters of at least one moving component in each group to control the distance between the moving components in each group within the safe distance range includes: Selecting one group from the grouping result of the to-be-cornering queue as the reference group; Adjusting the motion control parameters of at least one moving component in the reference group to control the distance between the moving components in the reference group within the corresponding safe distance range; Adjust the motion control parameters of at least one moving component within the group having an adjacent relationship with the reference group to control the spacing between the group having the adjacent relationship and the reference group within the corresponding safe spacing range; Adjust the motion control parameters of at least one moving component within the group having the adjacent relationship to control the spacing between the moving components within the group having the adjacent relationship within the corresponding safe spacing range.

15. The method according to claim 1, characterized in that, Before responding to the cornering collision warning information, the method further includes: Predict whether a collision will occur when the at least three moving components turn along the arc-shaped track module according to the respective motion measurement data and motion control parameters of the at least three moving components.

16. The method according to claim 1, wherein The obtaining of the multiple safe spacing ranges corresponding to the queue to turn includes any one of the following: Determine the safe spacing range corresponding to each pair of moving components in the queue to turn according to experimental tests; Calculate the safe spacing range corresponding to each pair of moving components in the queue to turn according to the minimum spacing information between the two moving components in each pair of moving components in the queue to turn, the respective size information of the two moving components, and the size information of the arc-shaped track module.

17. An anti-collision control device, characterized in that, The device is connected to an automatic transmission device, the automatic transmission device includes track components and multiple moving components, and each of the moving components moves along the track components; the track components include a linear track module and an arc-shaped track module, and the device includes: A selection unit, which selects at least three moving components from the multiple moving components located on the linear track module according to the motion measurement data of each of the moving components to form a queue to turn; A moving unit, which controls the queue to turn to move along the linear track module towards the arc-shaped track module; An obtaining unit, which, in response to the cornering collision warning information, obtains multiple safe spacing ranges corresponding to the queue to turn, wherein each of the safe spacing ranges corresponds to a different pair of moving components in the queue to turn; A control unit, which controls the spacing between each pair of moving components in the queue to turn within the corresponding safe spacing range according to the motion measurement data of the moving components in the queue to turn.

18. A transmission system, characterized in that, The transmission system includes: a control device and an automatic transmission device; the automatic transmission device includes track components and multiple moving components, the multiple moving components move along the track components, and the track components include a linear track module and an arc-shaped track module; The control device is used to execute the method according to any one of claims 1 to 16.

19. An electronic device, characterized in that, It includes a communication interface, a processor, a memory, and a bus, and the communication interface, the processor, and the memory are interconnected through the bus; Machine-readable instructions are stored in the memory, and the processor executes the method according to any one of claims 1 to 16 by calling the machine-readable instructions.

20. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores machine-readable instructions, and when the machine-readable instructions are called and executed by the processor, the method according to any one of claims 1 to 16 is implemented.

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