Priority and real-time avoidance system of single-rail multi-station double-moving mold warehouse

Abstract

The invention relates to the field of automatic production lines, in particular to a priority and real-time avoidance system of a single-rail multi-station double-moving die library, which comprises a plurality of process stations arranged on two sides of a rail, a moving die library 1 and a moving die library 2 which are sequentially arranged on the rail, and a moving die library position conversion system, the position conversion module is used for converting the real-time positions of the movable mold library 1 and the movable mold library 2 into respective real-time station numbers; the mold process information data packet packaging unit is used for packaging the mold number and the process information into a process information data packet and circulating along with the mold; and the mold process information data packet decoding unit is used for decoding the process information data packets carried by the mobile mold library 1 and the mobile mold library 2. According to the technical scheme of the invention, both the mobile mold library 1 and the mobile mold library 2 can respond to the call of any station according to the own state, the idle condition is avoided, and the overall availability of the double-mobile mold library system is improved.

Description

Technical Field

[0001] This invention relates to the field of automated production lines, and in particular to a priority and real-time avoidance system for a single-track, multi-station, dual-moving mold library. Background Technology

[0002] In the field of automated production, single-track dual-moving mold library systems are used to improve material handling efficiency. In existing technologies, a common control method is to segment the entire production process and assign each segment to a specific moving mold library. For example, one part of the process is designated to be completed by moving mold library 1, while another part is designated to be completed by moving mold library 2.

[0003] While this control strategy is relatively simple in logic, its inherent flaw lies in its lack of flexibility. The binding relationship between the mobile mold library and specific process flows is rigid and cannot be dynamically adjusted according to the real-time production cycle and workstation requirements.

[0004] This rigid binding model directly leads to a severe imbalance in the workload of the dual-mobile mold storage system. When production tasks are concentrated in a specific process segment, the mobile mold storage unit responsible for that segment will be in a high-frequency, busy state, becoming a bottleneck in the entire production line's cycle time. Meanwhile, the other mobile mold storage unit responsible for other process segments may remain idle for extended periods due to a lack of tasks. This not only results in a significant waste of equipment resources but also prevents the dual-mobile mold storage system from realizing its intended collaborative efficiency advantages, thereby reducing the overall system efficiency and equipment utilization rate. Summary of the Invention

[0005] To overcome the above shortcomings, this invention provides a priority and real-time avoidance system for a single-track multi-station dual-moving mold library, aiming to improve the problems of frequent operational conflicts, equipment load imbalance and low overall coordination efficiency caused by the rigid control strategy of existing single-track dual-moving mold libraries.

[0006] In a first aspect, the present invention provides the following technical solution: a priority and real-time avoidance system for a single-track multi-station dual-moving mold library, comprising multiple process stations arranged on both sides of a track and movable mold libraries 1 and 2 sequentially arranged on the track; the system further includes:

[0007] The mobile mold library position conversion system is used to convert the real-time positions of mobile mold library 1 and mobile mold library 2 into their respective real-time workstation numbers;

[0008] The mold process information data packet encapsulation unit is used to encapsulate the mold number and process flow information into a process information data packet and follow the mold flow.

[0009] A mold process information data packet decoding unit is configured to enable the mobile mold library 1 and the mobile mold library 2 to decode the respective allowed-to-reach-station data packets according to the process information data packets carried by the mobile mold library 1 and the mobile mold library 2.

[0010] A process station calling system is configured to determine the respective stations that the mobile mold library 1 and the mobile mold library 2 should reach by combining the calling information of the process stations on the production line and the allowed-to-reach-station data packets.

[0011] A priority analysis system is configured to evaluate the respective stations that the mobile mold library 1 and the mobile mold library 2 should reach to determine the expected running stations of the two mobile mold libraries.

[0012] A real-time avoidance control system is configured to generate the respective target running stations of the mobile mold library 1 and the mobile mold library 2 by performing real-time processing on the expected running stations and the real-time station numbers of the two mobile mold libraries, so that the mobile mold library 1 and the mobile mold library 2 can be moved to the target running stations.

[0013] According to the technical solution, the running of each mobile mold library is controlled according to the production process flow of the mold on the production line, and the production process flow is bound to the mold to prevent the idle condition of one mobile mold library caused by the concentration of work on the other mobile mold library, and the priority and real-time avoidance control system reduces the invalid avoidance time of the mobile mold library. When the system is running, the real-time positions of the two mobile mold libraries are first converted into the corresponding current station numbers.

[0014] Then, the mold is taken as the carrier of the process flow information, the mold product number and the process completion information of each station are encapsulated into a data packet and follow the mold, the mobile mold library analyzes and decodes the station that the mobile mold library should reach according to the received data packet and the calling state of each station to the mobile mold library, the priority analysis system is used to evaluate the stations that the two mobile mold libraries should reach to determine the expected stations of the two mobile mold libraries, and finally, the real-time avoidance system performs real-time processing on the expected stations and the current station numbers to generate the real-time target stations of the two mobile mold libraries.

[0015] In a second aspect, the application provides the following technical solution, a priority and real-time avoidance method for a single-track multi-station double mobile mold library, including the following steps:

[0016] Step A: converting the real-time positions of the mobile mold library 1 and the mobile mold library 2 into the respective real-time station numbers;

[0017] Step B: encapsulating the mold number and the process flow information into a process information data packet and following the mold;

[0018] Step C: enabling the mobile mold library 1 and the mobile mold library 2 to decode the respective allowed-to-reach-station data packets according to the process information data packets carried by the mobile mold library 1 and the mobile mold library 2.

[0019] Step D, combine the call information of the process station and the allowed-to-reach station data packet to determine the respective should-reach station of the mobile mold library 1 and the mobile mold library 2;

[0020] Step E, evaluate the should-reach station of the two mobile mold libraries to determine the expected running station of both;

[0021] Step F, real-time process according to the expected running station and the real-time station number of the two mobile mold libraries to generate the respective target running station;

[0022] Step G, the execution mechanism moves to the target running station.

[0023] Preferably, in the step C, the mold process information data packet decoding unit decodes the allowed-to-reach station data packet by corresponding the process flow information completion status in the process information data packet with the process station;

[0024] The allowed-to-reach station data packet contains a mold presence identification bit JH and allowed-to-reach identification J1 to JN corresponding to N process stations respectively;

[0025] Wherein, if the process information data packet carried by the mobile mold library shows that the process flow information B1 is processed and the process flow information B2 is not processed, the identification J3 of the allowed-to-reach process station 3 in the generated allowed-to-reach station data packet is TRUE.

[0026] Preferably, in the step D, the logic of the process station call system to determine the should-reach station is as follows:

[0027] When a process station N calls a mobile mold library that needs a mold, if the mold presence identification bit JH in the allowed-to-reach station data packet of a mobile mold library is +1 and the allowed-to-reach identification JN is TRUE, it is determined that the should-reach station of the mobile mold library contains the process station N.

[0028] Preferably, in the step E, the evaluation process to determine the expected running station includes:

[0029] Single mobile mold library priority analysis: based on the preset process station priority, select the highest priority station from the should-reach station of each mobile mold library as its theoretical station;

[0030] Double mobile mold library priority analysis: when the theoretical station numbers of the two mobile mold libraries are the same, based on the preset process station priority and the priority parameter between the mobile mold libraries, determine that the expected running station of one of the mobile mold libraries is the theoretical station and the expected running station of the other mobile mold library is empty.

[0031] Preferably, the process station priority based on which the single mobile mold magazine priority analysis is performed is: process station 4> process station 6> process station 5> process station 7> process station 8> process station 9> process station 10> process station 11> process station 1> process station 2> process station 3.

[0032] Preferably, in step F, the process of generating the target running station of the mobile mold magazine includes:

[0033] Step F2, obtaining the expected running track and the expected running direction of each mobile mold magazine through the expected running station and the real-time station number;

[0034] Step F3, obtaining the running track intersection information of the two running tracks by comparing the expected running tracks of the two mobile mold magazines;

[0035] Step F4, obtaining the target running station of the mobile mold magazine 1 and the mobile mold magazine 2 in combination with the running track intersection information, the expected running direction and the working state of the mobile mold magazine.

[0036] Preferably, in step F3, the expected running tracks of the two mobile mold magazines are encoded as Z1 and Z2, and if (Z1+Z2)-Z2≠Z1, it is judged that the running track intersection information T is TRUE, indicating that the tracks intersect.

[0037] Preferably, in step F4, the logic for obtaining the target running station is:

[0038] If the running track intersection information is FALSE, the target running stations of the mobile mold magazine 1 and the mobile mold magazine 2 are equal to their expected running stations, respectively.

[0039] If the running track intersection information is TRUE, and the expected running directions of the mobile mold magazine 1 and the mobile mold magazine 2 are both +1, then taking the mobile mold magazine 2 as the reference, the target running station of the mobile mold magazine 2 is its expected running station H2, and the target running station of the mobile mold magazine 1 is the real-time station number G2 of the mobile mold magazine 2 minus a safety distance.

[0040] Preferably, in step A, the rule for converting the real-time position into the real-time station number is:

[0041] If the current position of the mobile mold magazine is at a certain process station N on the production line, the station number G=N is outputted.

[0042] If the current position of the mobile mold magazine is between two process stations on the production line, the last station number plus 0.5 is outputted.

[0043] The present application has the following beneficial effects:

[0044] 1. In this invention, by setting up a mold process information data packet encapsulation unit and a decoding unit, the production process flow information is bound to the mold itself and flows with the mold. This technical solution enables both mobile mold library 1 and mobile mold library 2 to respond to calls from any workstation according to their own status, breaking the limitation of binding the mobile mold library to a specific process flow, avoiding the situation where a large number of mobile mold libraries become idle due to the concentration of operations at a specific workstation, and improving the overall availability of the dual mobile mold library system.

[0045] 2. In this invention, a priority analysis system is set up to evaluate all workstations that should be reached before determining the target of the mobile mold library. Based on a preset priority sequence of process workstations and priority parameters between mobile mold libraries, the system selects and assigns tasks, so that requests from higher-ranked process workstations can be responded to first, and resolves conflicts when two mobile mold libraries compete for the same workstation, thereby reducing the invalid waiting time of critical process workstations.

[0046] 3. In this invention, a real-time obstacle avoidance control system is set up to calculate the expected running trajectory and determine whether there is trajectory overlap based on the expected running positions and real-time position numbers of the two mobile mold libraries. When trajectory overlap is detected, the system can dynamically generate a temporary nearby target running position based on the real-time position to complete the avoidance, replacing the traditional method of moving to a fixed avoidance area, thereby reducing the invalid running distance and time consumption of the mobile mold libraries due to avoidance. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of the single-track dual-moving mold storage mechanism proposed in this invention;

[0048] Figure 2 This is a flowchart of the single-track dual-moving mold library multi-station priority analysis and real-time obstacle avoidance operation control system of the present invention;

[0049] Figure 3 This is a schematic diagram of the system architecture of the present invention. Detailed Implementation

[0050] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] Example 1

[0052] Please see the appendix Figure 1 -Appendix Figure 3Figure 1 is a structural diagram of a priority and real-time avoidance system of a single-track multi-station double mobile mold magazine provided by an embodiment of the present application. The system is applied to a production environment comprising a track, a plurality of process stations arranged on both sides of the track, and a mobile mold magazine 1 and a mobile mold magazine 2 arranged in sequence on the track. In this embodiment, the system comprises:

[0053] A mobile mold magazine position conversion system, which functions to obtain the real-time physical positions of the mobile mold magazine 1 and the mobile mold magazine 2 and convert them into respective corresponding real-time station numbers G.

[0054] A mold process information data packet packaging unit, which functions to package a mold number BH of a mold and process flow information B1 to BN recording completion states of the mold at respective process stations into a process information data packet B, and make the data packet follow the mold in the production line.

[0055] A mold process information data packet decoding unit arranged on the mobile mold magazine, which functions to analyze the process information data packet B carried by itself in real time, and according to the analysis result, decode to generate an allowed station data packet J containing information of whether the mobile mold magazine currently has a mold and all process stations allowed to arrive.

[0056] A process station calling system, which functions to receive calling information C issued by respective process stations in the production line, and perform logical matching of the calling information and respective allowed station data packets J of the mobile mold magazines, to determine respective arrival stations K of the mobile mold magazine 1 and the mobile mold magazine 2.

[0057] A priority analysis system, which functions to receive the arrival station data packets K1 and K2 of the mobile mold magazine 1 and the mobile mold magazine 2, and through internal priority analysis logic, evaluate these stations, and finally output respective expected running stations H1 and H2 for the two mobile mold magazines.

[0058] A real-time avoidance control system, which functions to receive the expected running stations H1 and H2 of the two mobile mold magazines and the real-time station numbers G1 and G2, through trajectory prediction and conflict analysis, generate respective final executable target running stations J1 and J2 of the two mobile mold magazines, for execution mechanism to move to the stations.

[0059] Embodiment two

[0060] Please refer to the accompanying Figure 2 Figure 1 is a structural diagram of a priority and real-time avoidance system of a single-track multi-station double mobile mold magazine provided by an embodiment of the present application. The system is applied to a production environment comprising a track, a plurality of process stations arranged on both sides of the track, and a mobile mold magazine 1 and a mobile mold magazine 2 arranged in sequence on the track. In this embodiment, the system comprises:

[0061] Step A, converting the real-time positions of the mobile mold magazine 1 and the mobile mold magazine 2 into respective real-time station numbers.

[0062] Specifically, define the first end process station on the production line as No. 1 station, and define the last process station according to the total number. If the current position of the mobile mold library is at a process station N on the production line, output the station number G = N; if the current position of the mobile mold library is between two process stations on the production line, output the last station number plus 0.5.

[0063] Step B, encapsulate the mold number and process flow information into a process information data packet and follow the mold flow.

[0064] Specifically, the structure of the process information data packet can be defined as B (BH, B1, B2,..., BN), where BH is the mold number, B1 is the process flow information 1 processing completion state, B2 is the process flow information 2 processing completion state, and so on. The process flow information is the process flow that the mold product needs to be processed in sequence on the production line.

[0065] Step C, the mobile mold library decodes the respective allowed to reach station data packet according to the process information data packet carried by itself.

[0066] Specifically, the structure of the allowed to reach station data packet can be defined as J (JH, J1, J2,..., JN). Where JH is the mold identification bit, JH = +1 represents that there is a mold, and JH = -1 represents that there is no mold. J1 is TRUE, which means that the mobile mold library is allowed to reach process station 1, J2 is TRUE, which means that the mobile mold library is allowed to reach process station 2, and so on. In a specific process scenario, the decoding logic correspondence can be set as follows:

[0067] If the mold BH ≠ 0 and B1 = TRUE, B2 = FALSE, then JH = +1, J3 = TRUE.

[0068] If the mold BH ≠ 0 and B2 = TRUE, B3 = FALSE, then JH = +1, J1 = TRUE.

[0069] If the mold BH ≠ 0 and B3 = TRUE, B4 = FALSE, then JH = +1, J2 = TRUE.

[0070] If the mold BH ≠ 0 and B4 = TRUE, B5 = FALSE, then JH = +1, J3 = TRUE.

[0071] If the mold BH ≠ 0 and B5 = TRUE, B6 = FALSE, then JH = +1, J4 = TRUE, J6 = TRUE.

[0072] If the mold BH ≠ 0 and B6 = TRUE, B7 = FALSE, then JH = +1, J4 = TRUE, J6 = TRUE.

[0073] If mold BH≠ 0 and B7=TRUE, B8=FALSE, then JH=+1, J5=TRUE, J7=TRUE.

[0074] If mold BH≠ 0 and B8=TRUE, B9=FALSE, then JH=+1, J5=TRUE, J7=TRUE.

[0075] If mold BH≠ 0 and B9=TRUE, B10=FALSE, then JH=+1, J11=TRUE.

[0076] If mold BH≠ 0 and B10=TRUE, B11=FALSE, then JH=+1, J8=TRUE, J9=TRUE, J10=TRUE.

[0077] If mold BH=0 (the mobile mold library is empty), then JH=-1, and J1=TRUE, J2=TRUE,..., JN=TRUE.

[0078] Step D, in combination with the call information of the process station on the production line, determine the respective arrival station of the mobile mold library.

[0079] Specifically, the information data packet structure of the process station calling the mobile mold library can be defined as C(C1, C2,..., CN), wherein each item has three states: if C1=+1, the process station 1 calls the mobile mold library with molds; if C1=-1, the process station 1 calls the mobile mold library without molds; if C1=0, no call.

[0080] The arrival station data packet K(K1, K2,..., KN) is determined by logically matching the call information C and the allowed arrival station J.

[0081] The corresponding relationship is as follows:

[0082] If CN=+1 and JH=+1 and JN=TRUE, then KN=TRUE;

[0083] If CN=-1 and JH=-1 and JN=TRUE, then KN=TRUE. This logic is applied to all N stations in turn.

[0084] Step E, evaluate the arrival stations of the two mobile mold libraries to determine the expected running stations of the two.

[0085] This step is executed by the multi-station priority analysis system, inputs the arrival station data packet K of the two mobile mold libraries, and combines the preset parameters to output the expected station H.

[0086] The analysis process first determines a theoretical station I for each mobile mold base, which is based on a preset sequence of process station priority, for example: process station 4 > process station 6 > process station 5 > process station 7 > process station 8 > process station 9 > process station 10 > process station 11 > process station 1 > process station 2 > process station 3.

[0087] The system traverses the sequence of stations K that should be reached, and takes the first station that is TRUE as its theoretical station I. If all stations that should be reached are FALSE, then the theoretical station I is equal to 0.

[0088] Then, the theoretical station I1 of the mobile mold base 1 and the theoretical station I2 of the mobile mold base 2 are compared. If I1≠I2, then H1=I1 and H2=I2. If I1=I2≠0, then a decision is made according to a preset parameter of mobile mold base priority at the conflicting station, for example, the parameter can be set as: process stations 1, 2, 3, 8, 9, 10, 11 (mobile mold base 1 > mobile mold base 2), process stations 4, 5, 6, 7 (mobile mold base 2 > mobile mold base 1).

[0089] If I1=I2=1, then according to the parameter, H1=1 and H2=0.

[0090] If I1=I2=4, then according to the parameter, H1=0 and H2=4.

[0091] Step F, real-time processing according to the expected running station and real-time station number of the two mobile mold bases, to generate the respective target running station.

[0092] This step is executed by the real-time avoidance running control system, with the expected station H1, H2, real-time station number G1, G2, and mobile mold base working state L (TRUE for busy, FALSE for idle) as inputs, and the target running station J1, J2 as outputs. The process first calculates the trajectory code Z representing the path by a formula, for example, the formula can be ZH=(2^(2*H)) and Z=ZH>>((G-H)*2), where >> is the right shift operation, and determines the running direction P (for example, +1 for moving towards station 11, -1 for moving towards station 1); if H=0, then Z=0 and P=0.

[0093] Then, it is determined whether the trajectories overlap by performing operations on Z1 and Z2, for example, if the result of (Z1+Z2)-Z2≠Z1 is true, then the running trajectory intersection information T is TRUE, otherwise it is FALSE. Finally, J1, J2 are output according to a preset running mode library, in combination with T, P, L, and a preset parameter (such as avoidance safety distance R=1 station).

[0094] The mode library can include:

[0095] Mode 1: If T=FALSE, then J1=H1, J2=H2.

[0096] Mode 2: If T=TRUE, and P1=-1, P2=-1, then J1=H1, J2=G1+R.

[0097] Mode 3: If T=TRUE, and P1=+1, P2=+1, then J1=G2-R, J2=H2.

[0098] Mode 4: If T=TRUE, and P1≠P2, then J1=G2-R, J2=H2 (or other preset avoidance logic).

[0099] Mode 5: If T=TRUE, and P1=+1, P2=0, then J1=H1, J2=H1+R.

[0100] Mode 6: If T=TRUE, and P1=0, P2=-1, then J1=H2-R, J2=H2.

[0101] Mode 7: If T=TRUE, and P1=+1, L2=TRUE, then J1=G2-R.

[0102] Mode 8: If T=TRUE, and L1=TRUE, P2=-1, then J2=G1+R.

[0103] Step G: The actuator drives the moving mold library to the generated target operating station.

[0104] Finally, it should be noted that the above only describes the preferred embodiments of the present application and is not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent replacements to some technical features, as long as they are within the spirit and principles of the present application. Any modification, equivalent replacement, improvement, etc. made within the scope of the present application should be included in the protection scope of the present application.

Claims

1. A priority and real-time obstacle avoidance system for a single-track, multi-station, dual-moving mold library, characterized in that, The system comprises a plurality of process stations arranged on both sides of a track, and a mobile mold bank 1 and a mobile mold bank 2 arranged sequentially on the track, and further comprises: A mobile mold bank position conversion system for converting the real-time positions of the mobile mold bank 1 and the mobile mold bank 2 into respective real-time station numbers; A mold process information data packet packaging unit for packaging mold numbers and process flow information into process information data packets and following the mold flow; A mold process information data packet decoding unit for enabling the mobile mold bank 1 and the mobile mold bank 2 to decode respective allowed-to-reach-station data packets from the process information data packets carried by themselves; A process station calling system for determining the respective stations that the mobile mold bank 1 and the mobile mold bank 2 should reach by combining the calling information of the process stations on the production line and the allowed-to-reach-station data packets; A priority analysis system for evaluating the respective stations that the two mobile mold banks should reach to determine the expected running stations of the two mobile mold banks; A real-time avoidance control system for real-time processing according to the expected running stations of the two mobile mold banks and the real-time station numbers to generate respective target running stations for the execution mechanism to move to the stations.

2. A priority and real-time avoidance method for a single-rail multi-station double mobile mold magazine, according to the priority and real-time avoidance system for a single-rail multi-station double mobile mold magazine of claim 1, characterized in that, The system comprises the following steps: Step A, converting the real-time positions of the mobile mold bank 1 and the mobile mold bank 2 into respective real-time station numbers; Step B, packaging mold numbers and process flow information into process information data packets and following the mold flow; Step C, enabling the mobile mold bank 1 and the mobile mold bank 2 to decode respective allowed-to-reach-station data packets from the process information data packets carried by themselves; Step D, determining the respective stations that the mobile mold bank 1 and the mobile mold bank 2 should reach by combining the calling information of the process stations on the production line and the allowed-to-reach-station data packets; Step E, evaluating the respective stations that the two mobile mold banks should reach to determine the expected running stations of the two mobile mold banks; Step F, real-time processing according to the expected running stations of the two mobile mold banks and the real-time station numbers to generate respective target running stations; Step G, the execution mechanism moves to the stations according to the target running stations.

3. The priority and real-time avoidance method of a single-track multi-station double-moving die library according to claim 2, characterized in that, In the step C, the mold process information data packet decoding unit decodes the allowed-to-reach-station data packet by corresponding the process flow information completion status in the process information data packet with the process stations; The allowed-to-reach-station data packet contains a mold presence identification bit JH and allowed-to-reach identification bits J1 to JN corresponding to N process stations respectively; If the process information data packet carried by the mobile mold bank shows that the process flow information B1 is processed and the process flow information B2 is not processed, the identification bit J3 of the allowed-to-reach-station data packet generated by decoding is TRUE.

4. The priority and real-time avoidance method of a single-track multi-station double-moving die library according to claim 2, characterized in that, The logic for determining the station that should be reached by the process station calling system in the step D is as follows: When a process station N calls for a mobile mold bank with a mold, if the mold presence identification bit JH in the allowed-to-reach-station data packet of a mobile mold bank is +1 and the allowed-to-reach identification bit JN is TRUE, it is determined that the station that the mobile mold bank should reach contains the process station N.

5. The priority and real-time avoidance method of a single-track multi-station double-moving die magazine according to claim 2, characterized in that, The evaluation process of determining the expected running station in step E includes: Performing single mobile mold base priority analysis: based on the preset process station priority, from each mobile mold base that should arrive at the station, the highest priority station is selected as its theoretical station; Performing double mobile mold base priority analysis: when the theoretical station numbers of two mobile mold bases are the same, based on the preset process station priority and the priority parameter between the mobile mold bases, the expected running station of one mobile mold base is determined as the theoretical station, and the expected running station of the other mobile mold base is empty.

6. The priority and real-time avoidance method of a single-track multi-station double-moving die magazine according to claim 5, characterized in that, The process station priority based on the single mobile mold base priority analysis is: process station 4> process station 6> process station 5> process station 7> process station 8> process station 9> process station 10> process station 11> process station 1> process station 2> process station 3.

7. The priority and real-time avoidance method of a single-track multi-station double-moving die library according to claim 2, characterized in that, The processing process of generating the target running station in step F includes: Step F2, obtain the expected running trajectory and the expected running direction of each mobile mold base through the expected running station and the real-time station number; Step F3, obtain the running trajectory intersection information of the two running trajectories by comparing and analyzing the expected running trajectories of the two mobile mold bases; Step F4, obtain the target running stations of the mobile mold base 1 and the mobile mold base 2 by combining the running trajectory intersection information, the expected running direction, and the working state of the mobile mold base.

8. The priority and real-time avoidance method of a single-track multi-station double-moving die library according to claim 7, characterized in that, In step F3, by performing summation operation on the expected running trajectories Z1 and Z2 of the two mobile mold bases, if (Z1+Z2)-Z2≠Z1, it is judged that the running trajectory intersection information T is TRUE, indicating that the trajectories intersect.

9. The priority and real-time avoidance method of a single-track multi-station double-moving die magazine according to claim 7, characterized in that, In step F4, the logic for obtaining the target running station is: If the running trajectory intersection information is FALSE, the target running stations of the mobile mold base 1 and the mobile mold base 2 are equal to their expected running stations respectively; If the running trajectory intersection information is TRUE, and the expected running directions of the mobile mold base 1 and the mobile mold base 2 are both +1, then taking the mobile mold base 2 as the reference, the target running station of the mobile mold base 2 is its expected running station H2, and the target running station of the mobile mold base 1 is the real-time station number G2 of the mobile mold base 2 minus a safety distance for avoiding.

10. The priority and real-time avoidance method of a single-track multi-station double-moving die magazine according to claim 2, characterized in that, In step A, the rule for converting the real-time position into the real-time station number is: If the current position of the mobile mold base is at a certain process station N on the production line, then output the station number G=N; If the current position of the mobile mold base is between two process stations on the production line, then output the last station number plus 0.5.

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