Work avoidance control system and method based on relative position awareness

Abstract

The application discloses a work avoidance control system and method based on relative position perception, belongs to the technical field of work avoidance control, and aims to solve the problems of collision caused by periodic interference between a structural transition component and a work execution mechanism and difficulty in correcting a non-sticking section. The application comprises the following steps: collecting the running positions of the structural transition component and continuous base material and the pose of the work execution mechanism, calculating the relative motion state, the structural size of the structural transition component, the lateral offset and the amount of warping; constructing a work envelope and a space occupation, determining interference and calculating the time margin; when the space interference is established and the time margin is not greater than the avoidance time, outputting an avoidance instruction and driving the work execution mechanism to move to an avoidance position, resetting the work position after the structural transition component passes, and recording the avoidance start and end time; and according to the continuous base material position corresponding to the avoidance start and end time, calibrating the non-sticking section and performing the sticking. The application quantitatively manages the avoidance time and the non-sticking interval based on the same reference, and realizes the cooperation of avoidance and sticking.

Description

Technical Field

[0001] This invention relates to the field of job avoidance control technology, and more specifically to a job avoidance control system and method based on relative position perception. Background Technology

[0002] In the continuous lamination manufacturing of long strip materials, material needs to be continuously applied along the edges of the strip along its length. The strip is typically conveyed continuously in segments, and the connecting components between these segments and the supporting components along the production line exceed the thickness and rigidity of the strip itself. This causes frequent spatial interference between the lamination device and these components during the strip's movement. This phenomenon occurs in various production lines that continuously laminate long strip materials. Taking a conveyor belt production line as an example, after the strip blank is formed, edge sealing material is continuously applied to its edges to cover the strip core. This operation is carried out by the lamination mechanism on the side of the production line while the strip blank is moving. The strip blank is conveyed in segments, connected by structural transition components that accompany the strip blank through each station. Supporting transition components are also provided at the equipment connection points. The structural transition components are thicker and more rigid than the strip blank, interfering with the mechanism at the lamination station, causing damage to the lamination head, material breakage, or failure to laminate the edges of the strip blank.

[0003] Existing methods for obstacle avoidance often rely on manual observation, a fixed delay before the arrival of structural transition components, or single-point triggering via proximity switches. These approaches fail to describe the interference relationship between the structural transition components and the mechanism under a common coordinate system, and do not quantitatively control the timing of obstacle avoidance and the resulting uncoated sections. This leads to collisions due to overly late avoidance, or excessively long uncoated sections due to overly early avoidance. Material tension instability during avoidance can cause accumulation or breakage. Furthermore, the position and length of the uncoated section cannot be calibrated, making subsequent correction difficult. Moreover, the avoidance parameters are constant and cannot be adjusted according to changes in belt speed and the rhythm of structural transition components. Therefore, to overcome these limitations, this invention proposes a work avoidance control system and method based on relative position perception. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a work avoidance control system and method based on relative position perception. This solves the problem in continuous bonding production lines where structural transition components and other components with thickness and stiffness greater than the strip body cause periodic spatial interference with the work execution mechanism at the work position when the strip travels to the bonding station. Existing avoidance control lacks description of interference relationships under the same position reference and quantitative management of avoidance timing and unbonded areas, leading to problems such as bonding head collisions, material breakage, or strip edges not being bonded and difficult to correct.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A relative position awareness-based operation avoidance control system includes: The pose perception module collects the position of the structural transition component, the travel position of the continuous substrate, and the pose of the work execution mechanism and calculates them to the production line coordinate system to obtain the relative motion state, and obtains the structural dimensions, lateral offset, and warping of the structural transition component. The interference determination module constructs the operation envelope based on the outer dimensions and position of the operation execution mechanism, and constructs the spatial occupancy based on the position of the structural transition component, the structural dimensions of the structural transition component, the lateral offset and the warping amount. It performs spatial interference determination on the operation envelope and the spatial occupancy, and calculates the arrival time margin when spatial interference is established. The avoidance control module outputs an avoidance command when spatial interference is established and the arrival time margin is not greater than the time required to complete the avoidance action. It drives the work execution mechanism to move from the work position to the avoidance position. After the structural transition component passes, it drives the work execution mechanism to reset to the work position and records the avoidance start time and the restoration application completion time. The job compensation module marks the start and end positions of the unapplied section according to the continuous substrate travel position corresponding to the avoidance start time and the restoration completion time, and applies subsidies to the unapplied section and outputs the subsidy execution flag.

[0006] Specifically, the interference determination module includes an envelope occupancy construction unit, a spacing determination unit, and a margin calculation unit; The envelope occupancy construction unit constructs a work envelope according to the position and outer dimensions of the work execution mechanism. The work envelope includes an application state work envelope and an avoidance state work envelope. The space occupancy is constructed according to the position of the structural transition component, the structural dimensions of the structural transition component, the lateral offset, and the warping amount. The spacing determination unit calculates the gap components between the working envelope and the spatial occupancy in each direction and takes the minimum value as the minimum spacing. It then compares the minimum spacing with a preset safety gap threshold and outputs a spatial interference flag. The margin calculation unit calculates the arrival time margin according to the relative motion state when spatial interference is established.

[0007] Specifically, the avoidance control module includes an avoidance decision unit, an avoidance execution unit, and a state transition recording unit; The avoidance decision unit reads the arrival time margin. If the arrival time margin is not greater than the sum of the preset avoidance action duration and the preset safety time margin, the avoidance trigger flag is set to true and an avoidance command is generated; otherwise, the avoidance trigger flag is set to false. When the work execution mechanism is in the avoidance position and is ready to perform a reset, a continuous avoidance judgment is performed on the adjacent subsequent structural transition component. If the arrival time margin of the subsequent structural transition component is not greater than the sum of the preset avoidance action duration and the preset safety time margin, the continuous avoidance flag is set to true and no reset command is generated; otherwise, the continuous avoidance flag is set to false and a reset command is generated. The avoidance execution unit responds to the avoidance command and drives the work execution mechanism to move from the work position to the avoidance position. The time when the work execution mechanism reaches the avoidance position is recorded as the avoidance arrival time. After the structural transition component passes, the work execution mechanism is driven to reset to the work position and the material application operation is resumed. The reset condition establishment flag is set to established. The state transition recording unit switches the state of the work execution mechanism between the application state, warning state, avoidance state, reset state and subsidy state according to the state transition conditions, and records the transition events and transition times as state transition records and outputs them.

[0008] Specifically, the work compensation module includes an unapplied section calibration unit, a subsidy execution unit, and a threshold correction unit; The unapplied segment calibration unit calibrates the start position, end position, and length of the unapplied segment according to the continuous substrate travel position corresponding to the avoidance start time and the recovery application completion time, and writes them into the continuous substrate length coordinate table. When the length of the unapplied segment exceeds the preset allowable unapplied length threshold, a quality alarm flag is output. The subsidy execution unit selects the subsidy method according to the continuous substrate travel status flag, performs subsidy on the unapplied segment, and outputs the subsidy execution flag. The threshold correction unit adjusts the preset safety gap threshold and preset safety time margin by using the statistics of the unapplied section length and the error avoidance rate in the sliding statistics window.

[0009] Specifically, the relative motion state includes longitudinal relative distance, lateral overlap, vertical overlap, and relative travel speed; The steps for obtaining the relative motion state include: Collect the positions of structural transition components, the travel position of continuous substrate, and the pose of the work execution mechanism; The difference between the coordinates of the workstation in the longitudinal direction of the production line coordinate system and the position of the structural transition component is used as the longitudinal relative distance; The lateral overlap is defined as the overlap dimension between the structural transition member and the work execution mechanism at the outer boundary of the continuous substrate width direction. The vertical overlap is defined as the overlap dimension between the structural transition component and the work execution mechanism at the outer boundary in the production line height direction. The relative travel speed is obtained by dividing the difference in longitudinal relative distance between two adjacent sampling times by a preset sampling control period.

[0010] Specifically, both the application state operation envelope and the avoidance state operation envelope are bounding boxes, and the dimensional components of the outer dimensions of the operation execution mechanism in the three directions of the vertical axis, horizontal axis and vertical axis of the production line coordinate system are used as the outer dimensions of the bounding box in the corresponding directions. When the work execution mechanism is in the work position, the center of the enclosure box is taken as the longitudinal axis coordinate of the work position, the position of the edge of the continuous substrate in the horizontal axis direction, and the position of the surface of the continuous substrate in the vertical axis direction. When the work execution mechanism is in the avoidance position, the center of the enclosure box is superimposed with the retreat amount in the horizontal axis direction and the lifting amount in the vertical axis direction; Wherein, the enclosing box refers to a cuboid space region with the vertical, horizontal and vertical axes of the production line coordinate system as its outer edges; the lifting amount refers to the lifting displacement of the work execution mechanism relative to the work position along the height direction of the production line; and the retraction amount refers to the retraction displacement of the work execution mechanism relative to the edge of the continuous substrate along the width direction of the continuous substrate.

[0011] Specifically, the steps for constructing the space occupant include: The spatial occupant is generated by using the position of the structural transition member as the coordinate of the spatial occupant center in the vertical direction of the production line coordinate system, the coordinate of the center line of the continuous substrate in the horizontal direction of the production line coordinate system superimposed with the lateral offset as the coordinate of the spatial occupant center in the horizontal direction, half the structural thickness of the structural transition member superimposed with the warping amount as the coordinate of the spatial occupant center in the vertical direction, the structural length of the structural transition member as the outer dimension of the spatial occupant in the vertical direction, the structural width of the structural transition member as the outer dimension of the spatial occupant in the horizontal direction, and the structural thickness of the structural transition member as the outer dimension of the spatial occupant in the vertical direction.

[0012] Specifically, the steps for outputting the spatial interference flag include: The longitudinal relative distance is compared with the preset determination trigger distance. If the longitudinal relative distance is greater than the preset determination trigger distance, the spatial interference flag is set to interference not established; otherwise, the gap component calculation is performed. The gap component in the continuous substrate travel direction is the difference between the longitudinal relative distance minus half of the space occupied in the continuous substrate travel direction outline dimension and the working envelope in the continuous substrate travel direction outline dimension. When the horizontal overlap or the vertical overlap is greater than zero, the gap component in the corresponding direction is recorded as a value not greater than zero. When the minimum spacing is less than the preset safety gap threshold, the spatial interference flag is set to interference.

[0013] Specifically, calculating the arrival time margin according to the relative motion state includes: The spatial interference indicator is that the arrival time margin calculation is not performed when the interference does not occur; When the spatial interference indicator is established, the remaining travel distance is the difference between the longitudinal relative distance minus half of the spatial occupancy in the continuous substrate travel direction outline dimension and the working envelope in the continuous substrate travel direction outline dimension. The arrival time margin is obtained by dividing the remaining travel distance by the relative travel speed.

[0014] Specifically, switching the status of the work execution mechanism includes: Monitor the avoidance trigger sign, avoidance completion time, reset condition establishment sign, continuous avoidance sign, and subsidy execution sign; When the avoidance trigger flag is set to true, the state is switched from the application state to the warning state. When the avoidance is completed, the state is switched from the warning state to the avoidance state. When the continuous avoidance flag is set to true, the avoidance state remains unchanged. When the reset condition flag is set to true, the state is switched from the avoidance state to the reset state, and when the restoration application is completed, the state is switched back from the reset state to the application state. The subsidy execution flag indicates that the state is switched to the subsidy state when the subsidy is executed, and the state is switched back to the subsidy application state when the subsidy is completed.

[0015] Specifically, the preset safety gap threshold and preset safety time margin are modified, including: The sliding statistics window accumulates the number of avoidance events, the cumulative value of the unapplied section length, and the number of erroneous avoidances. When the number of avoidance events reaches the preset statistical sample size, the average value of the unapplied section length is obtained by dividing the cumulative value of the unapplied section length by the number of avoidance events, and the erroneous avoidance rate is obtained by dividing the number of erroneous avoidances by the number of avoidance events. When the average length of the unapplied section exceeds the product of the preset allowable unapplied length threshold and the preset correction trigger ratio, or when the false avoidance rate is greater than the preset false avoidance rate upper limit, the preset safety gap threshold is reduced by the preset gap step size, and the preset safety time margin is reduced by the preset time step size. When an avoidance event occurs in the sliding statistics window where the lateral overlap and vertical overlap of the work execution mechanism are both greater than zero during the avoidance position, the preset safety gap threshold is increased by the preset gap step size, and the preset safety time margin is increased by the preset time step size.

[0016] Operational avoidance control methods based on relative position awareness include: The positions of structural transition components, the travel positions of continuous substrates, and the poses of the work execution mechanism are collected and converted to the production line coordinate system to obtain the relative motion state, and the structural dimensions, lateral offset, and warping of the structural transition components are obtained. The operation envelope is constructed based on the outer dimensions and position of the operation execution mechanism. The spatial occupancy is constructed based on the position of the structural transition component, the structural dimensions of the structural transition component, the lateral offset and the warping amount. Spatial interference judgment is performed on the operation envelope and spatial occupancy. When spatial interference is established, the arrival time margin is calculated. When spatial interference is established and the arrival time margin is not greater than the time required to complete the avoidance action, an avoidance command is output, driving the work execution mechanism to move from the work position to the avoidance position. After the structural transition component passes, the work execution mechanism is driven to reset to the work position, and the avoidance start time and the restoration application completion time are recorded. The start and end positions of the unapplied segment are marked according to the continuous substrate travel position corresponding to the avoidance start time and the restoration completion time, and the unapplied segment is coated and a coating execution mark is output.

[0017] The beneficial effects of this invention are: This application normalizes the positions of structural transition components, the continuous substrate travel position, and the pose of the work execution mechanism to the same production line coordinate system with the work station as the origin. Based on this, it constructs the application state work envelope and the avoidance state work envelope, as well as the spatial occupancy of the structural transition component, and performs spatial interference judgment and arrival time margin calculation. The triggering timing of the avoidance command is thus directly related to the actual position and travel speed of the structural transition component. The avoidance action is completed within the required time before the structural transition component reaches the interference boundary, and the application is resumed after the structural transition component passes. This avoidance method mitigates collisions caused by delayed avoidance and collisions caused by excessive avoidance. The two types of improper situations that cause excessively long unattached sections are simultaneously resolved; during the avoidance period, material continuity is maintained by maintaining material tension or cutting out the material, and the position of the continuous substrate corresponding to the start and end times of the avoidance is marked to define the unattached section and perform patching, so that the unattached section can be located and corrected; the safety gap threshold and safety time margin are adaptively corrected according to the avoidance event statistics, so the avoidance parameters are dynamically adjusted with the rhythm of the production line and the structural transition components. Overall, while achieving coordinated avoidance of spatial interference between the structural transition components and the operation execution mechanism, the continuity of materials and the correctability of the unattached section are taken into account. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the interference determination module of the present invention; Figure 2 This is a schematic diagram of the obstacle avoidance control module of the present invention; Figure 3 This is a schematic diagram of the job compensation module of the present invention; Figure 4 This is a flowchart of the operation avoidance control method based on relative position perception of the present invention. Detailed Implementation

[0019] Example 1: In subsequent processes, continuously formed long strip materials require continuous application along their length edges. The strip material travels continuously on the production line in segments. The connecting components between adjacent segments and the supporting components along the path of the strip material are thicker and more rigid than the strip material itself. There is a risk of periodic spatial interference between the application device and these components. This type of interference is common in manufacturing long strip materials using continuous application processes. Taking a conveyor belt manufacturing line as an example, after the conveyor belt blank is formed, adhesive strips are continuously applied along its edge to cover the belt core. This material application is completed by an execution mechanism located on the side of the production line during the continuous travel of the blank. The blank travels continuously on the production line in multiple segments, connected by structural transition components. These transition components travel with the blank through each production station, and transition support components are also installed where the production line crosses equipment gaps. The structural transition component has a greater thickness and stiffness than the strip blank along the production line height. When the structural transition component travels with the strip blank to the work station, it will spatially interfere with the work execution mechanism at the work station, causing the bonding head to collide and be damaged, the material to break, or the edge of the strip blank to be unbonded. Existing solutions mostly use manual observation or trigger the bonding head to lift before the structural transition component arrives with a fixed delay, or trigger avoidance with a single-point signal from a proximity switch. They do not establish a description of the interference relationship between the structural transition component and the work execution mechanism under the same position reference, nor do they quantitatively manage the timing of avoidance and the unbonded section formed by avoidance. This results in collisions due to avoidance that is too late, and excessively long unbonded sections due to avoidance that is too early. During avoidance, the material tension becomes out of control, leading to accumulation or breakage. The position and length of the unbonded section are not calibrated and are difficult to correct. Moreover, the avoidance parameters are fixed and cannot be adaptively adjusted according to the strip blank travel speed and the rhythm of the structural transition component.

[0020] This embodiment introduces a job avoidance control system based on relative position perception. The system includes a pose perception module, an interference determination module, an avoidance control module, and a job compensation module. The modules establish a bidirectional data communication link through an industrial Ethernet network or a production line dedicated communication network.

[0021] The pose perception module collects the position of the structural transition component, the traveling position of the continuous substrate, and the pose of the work execution mechanism according to a preset sampling control cycle. The collected results are converted to the production line coordinate system with the work station as the origin to obtain the relative motion state composed of longitudinal relative distance, lateral overlap, vertical overlap, and relative traveling speed. The module also identifies the structural dimensions of the structural transition component passing through the work station, reads the lateral offset and warping of the structural transition component, and monitors the continuity of the position detection signal of the structural transition component. When the detection signal is continuously missing, a structural transition component detection failure alarm is output. The relative motion state, structural dimensions of the structural transition component, lateral offset, and warping are output to the interference judgment module via the bidirectional data communication link.

[0022] The continuous substrate refers to a long strip of material that is continuously conveyed along the length of the production line and requires continuous application along its edges. For example, the continuous substrate is a conveyor belt blank, which is a semi-finished conveyor belt consisting of a core layer and a cover adhesive layer. The structural transition member refers to a local component on the continuous substrate that has a thickness or stiffness greater than the continuous substrate body along the direction of travel. For example, the structural transition member is a transition plate, which is a plate-shaped component used to connect adjacent continuous substrates or support continuous substrates at gaps in production line equipment and moves relative to the workstation along the direction of travel of the continuous substrate. For example, the structural transition member includes a joint transition plate at the joint of adjacent continuous substrates, a transition support plate driven by the conveyor chain and periodically passing through the workstation, and a transition support plate spanning equipment gaps. The material refers to a strip of material applied to the edge of the continuous substrate. For example, the material includes edge sealing strips, edge covering strips, cover strips, and edge adhesive. The work execution mechanism refers to the mechanism that continuously applies material to the edge of a continuous substrate. Exemplarily, the work execution mechanism includes an application head, a pressing roller group, a guide roller group, a material guiding component, and a cutting component. The application head is the component that contacts the edge of the continuous substrate and performs the application. The production line coordinate system is a coordinate system with the work station as the origin, the continuous substrate travel direction as the vertical axis, the continuous substrate width direction as the horizontal axis, and the production line height direction as the vertical axis. The preset sampling control period refers to the time interval between two adjacent samples. Its value is set based on the output update period of the pose detection element and the time resolution required for interference determination, ensuring that the displacement of the structural transition component along the continuous substrate travel direction within a single sampling period meets the accuracy requirements for gap comparison. Exemplarily, it is set to 10 milliseconds to 50 milliseconds. The longitudinal relative distance refers to the distance between the structural transition member and the work station along the continuous substrate travel direction; the lateral overlap refers to the relative positional distance between the structural transition member and the work execution mechanism in the width direction of the continuous substrate, taking the coincident size when their outer boundaries coincide and a value not greater than zero when they separate; the vertical overlap refers to the relative positional distance between the structural transition member and the work execution mechanism in the height direction of the production line, taking the coincident size when their outer boundaries coincide and a value not greater than zero when they separate. The relative travel speed refers to the relative speed between the structural transition member and the work station in the continuous substrate travel direction, obtained by dividing the difference in the longitudinal relative distance between two adjacent sampling times by the preset sampling control period; the relative motion state refers to the data set composed of the longitudinal relative distance, the lateral overlap, the vertical overlap, and the relative travel speed.The structural dimensions of the transition member refer to its external dimensions in three directions of the production line coordinate system, including the structural length along the continuous substrate travel direction, the structural width along the continuous substrate width direction, and the structural thickness along the production line height direction. The lateral offset refers to the offset of the transition member relative to the centerline of the continuous substrate along the continuous substrate width direction; the warping refers to the lifting of the transition member relative to the surface of the continuous substrate along the production line height direction.

[0023] Furthermore, the pose perception module includes a structural transition component position perception unit, a continuous substrate travel position perception unit, an application mechanism pose perception unit, and a pose calculation and processing unit.

[0024] The structural transition component position sensing unit reads the position of the structural transition component along the production line direction output by the structural transition component position sensing element according to the preset sampling control cycle, adds a sampling time to each reading result and registers it as a structural transition component position record, and outputs it to the pose calculation and processing unit; for example, the structural transition component position sensing element includes a proximity switch, a photoelectric switch, a vision detection component, a magnetic grating detection component and a laser ranging component, and outputs a signal characterizing the position of the structural transition component when passing through the joint area of ​​adjacent continuous substrates.

[0025] The continuous substrate travel position sensing unit reads the travel position of the continuous substrate along the production line direction output by the continuous substrate travel position sensing element according to the preset sampling control cycle, adds a sampling time to each reading result and registers it as a continuous substrate travel position record, and outputs it to the pose calculation processing unit; for example, the continuous substrate travel position sensing element includes a rotary encoder, a linear encoder and a speed measuring roller encoder, which are installed on the continuous substrate drive roller or speed measuring roller.

[0026] The position sensing unit of the applicator reads the current position status of the work execution mechanism output by the position sensing element of the applicator according to the preset sampling control cycle, as well as the lifting amount along the production line height direction and the retraction amount along the continuous substrate width direction. It adds a sampling time to each reading result and registers it as the position record of the work execution mechanism, and outputs it to the position calculation and processing unit. For example, the position sensing element of the applicator includes a servo motor encoder, a displacement sensor and a cylinder magnetic switch.

[0027] The pose calculation and processing unit aligns the position records of the structural transition components, the travel position records of the continuous substrate, and the pose records of the work execution mechanism according to the sampling time and calculates them to the production line coordinate system. It calculates the longitudinal relative distance, the lateral overlap, the vertical overlap, and the relative travel speed to form the relative motion state. It also identifies the structural dimensions of the structural transition components passing through the work station, reads the lateral offset and warping of the structural transition components, monitors the continuity of the position detection signal of the structural transition components, and outputs the relative motion state, along with the structural dimensions, lateral offset, and warping of the structural transition components, to the interference determination module.

[0028] Specifically, the processing steps of the pose reduction processing unit include: The system receives the position records of the structural transition components, the travel position records of the continuous substrate, and the pose records of the work execution mechanism. The three types of records at the same sampling time are grouped into the same data group according to the sampling time. For a data group that is missing a certain type of record or a certain sampling time, linear interpolation is performed on the pose records of the same type at adjacent sampling times. The interpolation result is used to complete the data group, resulting in a complete sequence of pose data groups at the sampling time. Coordinate reduction is performed on the complete pose data set at the sampling time. The difference between the coordinate of the workstation in the longitudinal direction of the production line coordinate system and the position of the structural transition member is used as the longitudinal relative distance. The overlap size between the structural transition member and the work execution mechanism in the width direction of the continuous substrate is used as the lateral overlap. The overlap size between the structural transition member and the work execution mechanism in the height direction of the production line is used as the vertical overlap. The relative travel speed is obtained by dividing the difference between the longitudinal relative distances of two adjacent sampling times by the preset sampling control period. A multi-point moving average is performed on the relative travel speed according to a preset number of filter points. The moving average result is used as the output value of the relative travel speed at that sampling time. The preset number of filter points is based on the ratio of the travel speed fluctuation period of the structural transition component to the preset sampling control period, and is set to 3 to 9 points for example. Structural dimension recognition is performed on the structural transition components passing through the work station. The structural dimensions of the structural transition components issued by the upper production management system according to the structural transition component number are read, or the structural length, structural width and structural thickness measurement values ​​output by the visual detection component in the position sensing element of the structural transition component are read. The reading results are recorded as the structural dimensions of the structural transition component. The structural dimension recognition results serve as the source of the outer contour dimensions of the space occupied by the structural transition component, which are called by the interference determination module. The lateral offset and warping of the structural transition member are read. The lateral offset and warping are calculated from the structural transition member contour data output by the visual detection component or laser ranging component in the structural transition member position sensing element. After the measurement value is read, it is output to the interference determination module along with the structural size record. The duration of the missing position detection signal of the structural transition component is compared with the preset detection failure duration. The preset detection failure duration refers to the time limit for determining the failure of the position detection signal of the structural transition component. Its value is based on the time interval between the occurrence of adjacent structural transition components and the detection range coverage of the position detection element of the structural transition component. It is set to 0.5 seconds to 3 seconds for example. When the missing duration is greater than the preset detection failure duration, a structural transition component detection failure alarm is output. The structural transition component detection failure alarm refers to alarm data used to characterize the continuous missing position detection signal of the structural transition component. The alarm is output to the production line monitoring terminal, and the recovery status of the position detection of the structural transition component is manually confirmed.

[0029] The interference determination module receives the relative motion state, the structural dimensions of the structural transition component, the lateral offset, the tilting amount, and the pre-stored outer dimensions of the work execution mechanism. It constructs the applicating work envelope when the work execution mechanism is in the working position, the avoiding work envelope when it is in the avoiding position, and the spatial occupancy of the structural transition component. It performs spatial interference determination on the above work envelope and spatial occupancy, and calculates the arrival time margin when spatial interference is established. The work envelope includes the applicating work envelope and the avoiding work envelope. The spatial interference flag and the arrival time margin are output to the avoiding control module via the bidirectional data communication link.

[0030] The term "working position" refers to the position of the work execution mechanism when the pressing roller group contacts the edge of the continuous substrate and applies material to the edge of the continuous substrate. The term "avoidance position" refers to the position of the work execution mechanism after the pressing roller group has been lifted away from the surface of the continuous substrate along the production line height direction and retreated away from the edge of the continuous substrate along the continuous substrate width direction. The outer dimensions of the work execution mechanism refer to the envelope dimensions of the work execution mechanism in three directions of the production line coordinate system, which are pre-stored in the production line configuration library. The work envelope refers to the spatial area swept by the work execution mechanism during one application cycle. It is determined by the outer dimensions and pose of the work execution mechanism and is represented by a bounding box. The bounding box is a cuboid spatial area defined by the coordinates of the center of the bounding box in the production line coordinate system and the outer dimensions of the bounding box in the three directions, with the vertical, horizontal, and longitudinal axes of the production line coordinate system as its outer edges. The application state work envelope and the avoidance state work envelope share the same set of outer dimensions of the work execution mechanism. Only the spatial position of the envelope changes with the pose of the work execution mechanism and is generated by the envelope occupancy building unit according to the position state of the work execution mechanism. The spatial occupancy refers to the spatial area occupied by the structural transition component in the production line coordinate system. It is determined by the structural dimensions, position, lateral offset, and warping of the structural transition component and is represented by a bounding box. The minimum gap refers to the gap between the working envelope and the spatial occupancy used for comparison with a preset safety gap threshold. When there is no overlap in either the width or height of the continuous substrate, the gap component in the direction of continuous substrate travel is taken. When there is overlap in either direction, a value not greater than zero is taken. The preset safety gap threshold is a threshold used to determine whether the gap between the working envelope and the spatial occupancy is less than the safety limit. Its value is determined according to the following data processing flow: During the production line debugging phase or in historical production data, the actual positioning deviation of the work execution mechanism in the working and avoidance positions is sampled multiple times, and the maximum value is taken to obtain the assembly and operation deviation components; the lateral sway amplitude of the edge when the continuous substrate travels at the rated speed is continuously sampled, and three times the root mean square deviation is taken as the edge jitter component; the root mean square composite value of the measurement uncertainty of the structural transition component position detection element and the bonding mechanism pose sensing element is taken as the pose detection error component; the above three components are summed, then amplified by a preset safety factor, and rounded up to the millimeter dimension to obtain the value of the threshold, which is exemplarily set to 20 mm to 80 mm. The preset safety factor refers to the amplification factor reserved for occasional deviations that do not include the assembly and operation deviation components, the edge jitter components, and the pose detection error components. Its value is based on the trade-off between the statistical upper limit of the amplitude of the occasional deviation and the increase in the false avoidance rate after threshold amplification, and is exemplarily taken as 1.1 to 1.5.The gap component refers to the distance between the outer boundaries of the working envelope and the spatial occupancy in a certain direction of the production line coordinate system. Whether the width direction of the continuous substrate overlaps with the height direction of the production line is characterized by the lateral overlap and the vertical overlap. When the corresponding direction overlaps, the gap component in that direction takes a value no greater than zero; when there is no overlap, the gap component in that direction does not participate in the minimum value selection. The spatial interference flag refers to the judgment result data characterizing whether there is interference between the spatial occupancy and the working envelope, taking two values: interference established or interference not established. The arrival time margin refers to the time required for the structural transition member to travel from its current position along the continuous substrate travel direction to the boundary position where it interferes with the working envelope.

[0031] Please see Figure 1 Furthermore, the interference determination module includes an envelope occupancy construction unit, a spacing determination unit, and a margin calculation unit.

[0032] The envelope occupancy construction unit reads the pose record of the work execution mechanism, the position record of the structural transition component, the structural dimensions of the structural transition component, the lateral offset and the tilt amount, constructs the applicating state work envelope and the avoidance state work envelope according to the pose and outer dimensions of the work execution mechanism, constructs the spatial occupancy according to the position of the structural transition component, the structural dimensions of the structural transition component, the lateral offset and the tilt amount, and outputs it to the spacing determination unit.

[0033] Specifically, the processing steps for the envelope occupant building block include: The outer dimensions of the work execution mechanism and the position status output by the position sensing unit of the applicator are read. The position status is used to determine whether the work execution mechanism is in the working position or the avoidance position. The lifting amount and the retraction amount in the position record of the work execution mechanism are read. The applicator state work envelope and the avoidance state work envelope are both represented by bounding boxes. The bounding box is generated by first taking the size components of the outer dimensions of the work execution mechanism in the three directions of the production line coordinate system as the outer dimensions of the bounding box in the corresponding directions, then determining the coordinates of the center of the bounding box in the production line coordinate system, and generating a bounding box with the center as the reference and expanding the outer dimensions of each direction by half the distance of the outer dimensions in each of the three directions. When generating the application state work envelope according to the outer contour dimensions, the position state indicates that the work execution mechanism is in the work position. The coordinate of the center of the enclosure box in the vertical axis direction of the production line coordinate system is taken as the vertical axis coordinate of the work position. The coordinate of the center of the enclosure box in the horizontal axis direction is taken as the position of the edge of the continuous substrate in the horizontal axis direction. The coordinate of the center of the enclosure box in the vertical axis direction is taken as the position of the surface of the continuous substrate in the vertical axis direction. The enclosure box is generated by expanding the outer contour dimension by half in each of the three directions from the center, which serves as the application state work envelope. When generating the avoidance state work envelope according to the outer contour dimensions, the position state indicates that the work execution mechanism is in the avoidance position. The coordinate of the center of the enclosure box in the vertical axis direction of the production line coordinate system is taken as the vertical axis coordinate of the work station. The coordinate of the center of the enclosure box in the horizontal axis direction is taken as the position of the continuous substrate edge in the horizontal axis direction plus the avoidance amount. The coordinate of the center of the enclosure box in the vertical axis direction is taken as the position of the continuous substrate surface in the vertical axis direction plus the lifting amount. The enclosure box is generated by expanding the outer contour dimensions by half in each of the three directions from the center, which serves as the avoidance state work envelope. The three-dimensional outer contour dimensions of the two types of work envelopes are the same, only the coordinate of the center of the enclosure box changes with the pose of the work execution mechanism. When generating the space occupant, first determine the coordinates of the space occupant center in the production line coordinate system and the outer dimensions of the space occupant in three directions. Then, generate the bounding box of the space occupant according to the center coordinates and outer dimensions. The position of the structural transition member is used as the coordinate of the space occupant center in the vertical axis of the production line coordinate system. The coordinates of the continuous substrate centerline in the horizontal axis of the production line coordinate system, superimposed with the lateral offset, are used as the coordinates of the space occupant center in the horizontal axis. Half the structural thickness of the structural transition member, superimposed with the warping amount, are used as the coordinates of the space occupant center in the vertical axis. The structural length of the structural transition member is used as the outer dimension of the space occupant in the vertical axis. The structural width of the structural transition member is used as the outer dimension of the space occupant in the horizontal axis. The structural thickness of the structural transition member is used as the outer dimension of the space occupant in the vertical axis. The space occupant is generated according to the above center coordinates and outer dimensions. When the measured values ​​of lateral offset and warping are unavailable, a preset envelope magnification factor is read and the outer dimensions of the space occupies in three directions are magnified according to the factor. The value of the preset envelope magnification factor is based on the statistical upper limit of the assembly deviation and detection error of the structural transition component, and is set to 1.05 to 1.30 for example.

[0034] The spacing determination unit reads the operation envelope and the spatial occupancy, calculates the gap components of the two in each direction and takes the minimum value as the minimum spacing, compares the minimum spacing with a preset safety gap threshold, and outputs a spatial interference flag and the minimum spacing.

[0035] Specifically, the processing steps of the spacing determination unit include: The longitudinal relative distance is compared with the preset trigger distance. If the longitudinal relative distance is greater than the preset trigger distance, the area flag is set to "not entered" and the spatial interference flag is set to "not established," skipping the gap component calculation. If the longitudinal relative distance is not greater than the preset trigger distance, the area flag is set to "entered" and the gap component calculation is performed. The area flag refers to the flag data characterizing whether the structural transition member has entered the interference judgment range. The preset trigger distance refers to the distance limit for starting the gap component calculation. Its value is based on the sum of the structural length of the structural transition member along the continuous substrate travel direction and the travel distance of the continuous substrate within the preset avoidance action duration, and is exemplarily set to 2 meters to 8 meters. The preset avoidance action duration refers to the time required for the operating mechanism to move from the working position to the avoidance position. It is determined by the larger of the lifting stroke divided by the lifting speed and the lateral retreat stroke divided by the lateral retreat speed, plus the operating mechanism response time, and is exemplarily set to 0.3 seconds to 1.5 seconds.

[0036] After the structural transition components have entered the interference judgment range, the gap components of the operation envelope and the space occupancy in each direction of the production line coordinate system are calculated. In the continuous substrate travel direction, the difference between the longitudinal relative distance minus half of the outer dimension of the space occupancy in the continuous substrate travel direction and half of the outer dimension of the operation envelope in the continuous substrate travel direction is taken as the gap component in that direction. In the continuous substrate width direction and the production line height direction, the lateral overlap amount and the vertical overlap amount respectively characterize the overlap state in the corresponding direction. When the lateral overlap amount or the vertical overlap amount is greater than zero, it is determined that the operation envelope and the space occupancy have overlapped in the corresponding direction, and the gap component in that direction is recorded as a value not greater than zero. When both the lateral overlap amount and the vertical overlap amount are not greater than zero, the continuous substrate width direction and the production line height direction do not overlap, and the gap components in these two directions do not participate in the minimum value selection. The minimum spacing value depends on the gap components involved in the minimum value selection. The gap component in the continuous substrate travel direction always participates in the minimum value selection. The gap components in the width direction of the continuous substrate and the height direction of the production line only participate in the minimum value selection when they overlap, with a value not greater than zero. When the gap component in the continuous substrate travel direction is not greater than zero, or when either the lateral overlap or the vertical overlap is greater than zero, the minimum spacing is a value not greater than zero; otherwise, the minimum spacing is the gap component in the continuous substrate travel direction. The minimum spacing is compared with the preset safety gap threshold. When the minimum spacing is less than the preset safety gap threshold, the spatial interference flag is set to interference established and the spatial interference flag and the minimum spacing are output. When the minimum spacing is not less than the preset safety gap threshold, the spatial interference flag is set to interference not established and the spatial interference flag and the minimum spacing are output.

[0037] The margin calculation unit reads the spatial interference flag, the longitudinal relative distance, and the relative travel speed. When spatial interference occurs, it calculates the remaining travel distance required for the structural transition member to travel from its current position to the boundary position where it interferes with the work envelope, and divides the remaining travel distance by the relative travel speed to obtain the arrival time margin, which is then output to the avoidance control module.

[0038] Specifically, the processing steps of the residual calculation unit include: Read the spatial interference flag output by the spacing determination unit. If the spatial interference flag indicates that interference is not established, do not perform the arrival time margin calculation and maintain the arrival time margin output at the previous sampling time. When the spatial interference flag indicates interference has occurred, the arrival time margin is calculated based on the ratio of the remaining travel distance to the travel speed. First, the travel speed involved in the calculation is determined. Then, the remaining travel distance required for the structural transition component to travel from its current position to the boundary position where it interferes with the work envelope is calculated. The arrival time margin is obtained by dividing the remaining travel distance by the travel speed involved in the calculation. When determining the travel speed involved in the calculation, the relative travel speed output by the pose reduction processing unit is read, and the relative travel speed is compared with a preset minimum relative travel speed lower limit. The value of the preset minimum relative travel speed lower limit is based on the minimum stable operating speed of the production line, and is exemplarily set to 0.5 meters per minute to 2 meters per minute. If the relative travel speed is lower than the preset minimum relative travel speed lower limit, the preset minimum relative travel speed lower limit is taken as the travel speed involved in the calculation. When calculating the remaining travel distance, the difference between the longitudinal relative distance minus half of the spatial occupancy in the continuous substrate travel direction outline dimension and the working envelope in the continuous substrate travel direction outline dimension is taken as the remaining travel distance; the remaining travel distance is divided by the travel speed involved in the calculation to obtain the arrival time margin and output to the avoidance control module.

[0039] The avoidance control module receives the spatial interference flag and the arrival time margin. When spatial interference is established and the arrival time margin is not greater than the sum of the preset avoidance action duration and the preset safety time margin, it outputs an avoidance command and drives the work execution mechanism to move from the work position to the avoidance position. During the avoidance period, it maintains the material tension or performs material cutting and extraction. After the structural transition component passes the work position, it drives the work execution mechanism to reset to the work position and resumes the material application operation. It performs continuous avoidance judgment on the adjacent subsequent structural transition component and outputs the avoidance start time and the resumption of application completion time to the work compensation module.

[0040] The preset safety time margin refers to the time allowance reserved outside the avoidance action duration. Its value is based on the upper limit of pose detection transmission delay and control cycle jitter, and is exemplarily set to 0.1 seconds to 0.5 seconds. The avoidance command refers to command data including target lifting height, target retreat amount, execution time, and command sequence number. The target lifting height refers to the target displacement of the work execution mechanism lifting away from the continuous substrate surface along the production line height direction. Its value is based on the difference between the structural thickness of the structural transition member and the thickness of the continuous substrate along the production line height direction, plus a safety margin, and is exemplarily set to 10 mm to 50 mm. The target retreat amount refers to the target displacement of the work execution mechanism retreating away from the edge of the continuous substrate along the width direction. Its value is based on the distance between the outer dimension of the structural transition member along the width direction of the continuous substrate and the edge of the continuous substrate, plus a safety margin, and is exemplarily set to 30 mm to 150 mm. The avoidance start time refers to the moment when the work execution mechanism begins to leave the work position and the material application operation is interrupted; the resumption of application completion time refers to the moment when the work execution mechanism returns to the work position and the material application operation is resumed.

[0041] Please see Figure 2 Furthermore, the avoidance control module includes an avoidance decision unit, an avoidance execution unit, and a state transition recording unit.

[0042] The avoidance decision unit compares the arrival time margin with the sum of the preset avoidance action duration and the preset safety time margin, and outputs an avoidance trigger flag and a monitoring flag. Before resetting, it calculates the arrival time margin of the adjacent subsequent structural transition component and determines whether to perform continuous avoidance, outputting a continuous avoidance flag. The avoidance command, avoidance trigger flag, monitoring flag, and continuous avoidance flag are output to the avoidance execution unit and the state transition recording unit. The continuous avoidance flag refers to the state flag data used to characterize the successive entry of adjacent structural transition components into the avoidance determination range and the combined execution of two adjacent avoidance actions.

[0043] Specifically, the steps taken by the decision-making unit to avoid the obstacle include: The arrival time margin output by the margin calculation unit is read, and the arrival time margin is compared with the sum of the preset avoidance action duration and the preset safety time margin. If the arrival time margin is not greater than the sum of the two, the avoidance trigger flag is set to true. The avoidance trigger flag is a flag data indicating that the arrival time margin is not greater than the sum of the two and the work execution mechanism needs to perform an avoidance action. An avoidance command containing the target lifting height, target retreat amount, execution time and instruction sequence number is generated according to the set avoidance trigger flag. The avoidance command is output to the avoidance execution unit, and the avoidance trigger flag is output to the state transition record unit. If the arrival time margin is greater than the sum of the two, the avoidance trigger flag is set to false, and a monitoring flag and the arrival time margin are output. The monitoring flag is a flag data indicating that the avoidance trigger condition is not met and the current application state is maintained for continued monitoring. The monitoring flag is output to the state transition record unit. When the work execution mechanism is in the avoidance position and preparing to perform a reset, the position, longitudinal relative distance, and relative travel speed of the adjacent subsequent structural transition component are read. The outer dimensions of the spatial occupancy of the subsequent structural transition component in the continuous substrate travel direction and the outer dimensions of the work envelope in the continuous substrate travel direction are retrieved. The arrival time margin of the subsequent structural transition component is calculated using the same calculation method as the margin calculation unit. This margin is compared with the sum of the preset avoidance action duration and the preset safety time margin. If the margin is not greater than the sum of the two, the continuous avoidance flag is set to true, the work execution mechanism remains in the avoidance position, and no reset command is generated. The current determination is re-executed after the subsequent structural transition component passes. If the margin is greater than the sum of the two, the continuous avoidance flag is set to false, a reset command is generated, and the reset command is output to the avoidance execution unit.

[0044] The avoidance execution unit receives avoidance and reset commands. It first outputs a target lifting height displacement to the lifting axis of the work execution mechanism, and then outputs a target retraction displacement to the lateral axis, driving the work execution mechanism to move from the work position to the avoidance position. During the avoidance period, it outputs a preset material tension value to the material guiding component, or outputs a cutting command to the cutting component and retains the lead-out section according to the preset lead-out length. After the structural transition component passes the work position, it drives the work execution mechanism to reset, gradually increasing the application pressure from zero to the preset application pressure according to the preset starting pressure increase time. At the starting position, it overlaps with the already applied section according to the preset overlap length and resumes material application. The preset application pressure refers to the pressing pressure applied by the work execution mechanism to the material and the edge of the continuous substrate at the work position. Its value is based on the pressing process requirements of the material and the edge of the continuous substrate, given by the application process parameter table.

[0045] Specifically, the processing steps for avoiding execution units include: Upon receiving an avoidance command, the system first outputs a displacement setting of the target lifting height to the lifting axis of the work execution mechanism. After the lifting amount fed back by the posture sensing element of the application mechanism reaches the target lifting height, it then outputs a displacement setting of the target retraction amount to the lateral axis. The system compares the deviation between the feedback value and the given value with a preset positioning deviation. The preset positioning deviation is based on the positioning accuracy of the work execution mechanism and is exemplarily set to 1 mm to 3 mm. When the deviation is not greater than the preset positioning deviation, the system determines that the work execution mechanism has reached the avoidance position, and records the current sampling time as the avoidance positioning time. The avoidance positioning time refers to the time when the work execution mechanism reaches the avoidance position and the material application operation has been interrupted. The data is then output to the state transition recording unit. During the period when the work execution mechanism is in the avoidance position, it outputs a preset material tension setpoint to the tension controller of the material guide component. The preset material tension setpoint is based on the tension range in which the material does not sag or accumulate and does not undergo tensile deformation on the avoidance path, and is exemplarily set to 10% to 30% of the material breaking tension; or it outputs a cutting command to the cutting component to retain a lead-out section at the application head according to a preset lead-out length. The preset lead-out length is based on the overlap length required for re-application, and is exemplarily set to 20 mm to 80 mm. On a production line where the continuous substrate travel speed is adjustable, a preset avoidance travel speed is output to the production line drive mechanism while the work execution mechanism is in the avoidance position. The value of the preset avoidance travel speed is based on shortening the continuous substrate travel distance during the avoidance period and ensuring the stability of the work execution mechanism's reset. It is exemplarily set to 50% to 80% of the main line speed. While the work execution mechanism is in the avoidance position, the overtaking distance of the structural transition member along the continuous substrate travel direction is read. The overtaking distance refers to the distance the structural transition member continues to travel along the continuous substrate travel direction from the position where it coincides with the outer boundary of the work envelope in the continuous substrate travel direction. When a reset command is received, the avoidance state work envelope and the space occupancy are read, and the minimum distance is calculated in the same way as the distance determination unit. The minimum distance is compared with the preset safety gap threshold, and the overtaking distance is compared with the preset back-attachment confirmation distance. The value of the preset back-attachment confirmation distance is based on the travel distance of the continuous substrate within the preset avoidance action duration, and is exemplarily set to 0.1 meters to 0.5 meters. When the minimum distance is not less than the preset safety gap threshold and the overtaking distance is greater than the preset back-attachment confirmation distance, the reset condition establishment flag is set to established. The reset condition establishment flag refers to the status flag data used to characterize that the structural transition member has passed the work station and the work execution mechanism can perform the reset.

[0046] When the reset condition is established and the continuous avoidance flag is not established, a zero displacement input is output to the lifting axis and a zero displacement input is output to the lateral axis, driving the work execution mechanism to return from the avoidance position to the work position. During the return process, the application pressure input is gradually increased from zero to the preset application pressure according to the preset application pressure increase time. The value of the preset application pressure increase time is based on the bonding establishment time between the material and the edge of the continuous substrate, and is exemplarily set to 0.2 seconds to 1.0 seconds. The continuous substrate travel position output by the pose calculation processing unit is read, and the continuous substrate travel position corresponding to the sampling time of reset completion is taken as the application start position. At the application start position, the material head is aligned with the edge of the continuous substrate, and overlapped with the applied section according to the preset overlap length. The value of the preset overlap length is based on the bonding strength requirement between the material and the edge of the continuous substrate, and is exemplarily set to 30 mm to 100 mm. After the overlap is completed, the material application operation is resumed, and the current sampling time is recorded as the resumption application completion time.

[0047] The state transition recording unit switches the state of the work execution mechanism between the application state, warning state, avoidance state, reset state and subsidy state according to the state transition conditions. It registers the transition event and transition time of each state transition as a state transition record and outputs it. The state transition record is used by the work compensation module to retrieve the avoidance start time and the restoration application completion time when calibrating the non-application segment.

[0048] The term "applying state" refers to the state where the work execution mechanism is in the working position and applies material to the edge of the continuous substrate; the term "warning state" refers to the state after the avoidance trigger flag is set and before the work execution mechanism starts to perform avoidance actions from the working position; the term "avoidance state" refers to the state where the work execution mechanism is in the avoidance position, suspends material application and maintains material tension or performs material cutting and extraction; the term "reset state" refers to the state where the work execution mechanism returns from the avoidance position to the working position and performs a gradual increase in applying pressure and material overlap; and the term "subsidy state" refers to the state during the subsidy treatment of the unapplied section.

[0049] Specifically, the processing steps of the state transition record unit include: The avoidance trigger flag, avoidance arrival time, reset condition establishment flag, continuous avoidance flag, and subsidy execution flag output by the subsidy execution unit are monitored. When the above state variables change, a state transition determination is triggered. The subsidy execution flag refers to the state flag data output by the subsidy execution unit of the job compensation module, which represents whether the unit is executing subsidies. It takes two values: subsidy in progress or subsidy completed. The change of the value of the subsidy execution flag serves as the basis for the subsidy state switch.

[0050] When the avoidance trigger flag is set to true, the status of the work execution mechanism is switched from the application state to the warning state, and then switched back to the avoidance state when the avoidance is completed; when the continuous avoidance flag is set to true, the avoidance state remains unchanged; when the reset condition set to true and the continuous avoidance flag is false, the status is switched from the avoidance state to the reset state, and switched back to the application state when the application is completed; when the subsidy execution flag indicates that the subsidy is being executed, the status is switched to the subsidy state, and when the subsidy is completed, the status is switched back to the application state. Each time a state changes, the migration event, the state before migration, the state after migration, and the migration time are written into the state migration record. The avoidance start time is the time when the warning state changes to the avoidance state, and the recovery application completion time is the time when the reset state changes back to the application state. The two time data are output to the job compensation module along with the state migration record.

[0051] The operation compensation module calibrates the start and end positions and length of the unapplied segment based on the continuous substrate travel position corresponding to the avoidance start time and the recovery application completion time, applies a patch to the unapplied segment, and corrects the preset safety gap threshold and the preset safety time margin based on the avoidance event statistics.

[0052] The unapplied section refers to the area where the material application operation is not completed at the edge of the continuous substrate during the period when the operation execution mechanism is in the avoidance state. It is defined by the start position and the end position of the unapplied section. The start position of the unapplied section is the continuous substrate travel position corresponding to the start time of avoidance, and the end position of the unapplied section is the continuous substrate travel position corresponding to the time of completion of the resumed application. The length of the unapplied section is the difference between the end position and the start position.

[0053] Please see Figure 3 Furthermore, the operation compensation module includes an unapplied section calibration unit, a subsidy execution unit, and a threshold correction unit.

[0054] The unattached segment calibration unit reads the avoidance start time, the resumption of attachment completion time, and the continuous substrate travel position. It then calibrates the start and end positions and length of the unattached segment and writes this information into the continuous substrate length coordinate table. The unit compares the unattached segment length with a preset allowable unattached length threshold and outputs a quality alarm flag. The continuous substrate length coordinate table is a data table that registers the unattached segment intervals and quality markers according to the length coordinates of the continuous substrate along the production line travel direction.

[0055] Specifically, the processing steps for the unattached calibration unit include: Read the avoidance start time and the recovery application completion time in the state transition record, read the continuous substrate travel position output by the pose calculation processing unit, take the continuous substrate travel position corresponding to the avoidance start time as the start position of the unapplied segment, take the continuous substrate travel position corresponding to the recovery application completion time as the end position of the unapplied segment, and take the difference between the end position and the start position as the length of the unapplied segment. Write the start position, end position and unapplied segment length into the continuous substrate length coordinate table. The length of the unattached section is compared with a preset allowable unattached length threshold. The preset allowable unattached length threshold is determined based on the corrective capability of the subsidy execution unit and the quality requirements of the continuous substrate edge, and is exemplarily set to 200 mm to 800 mm. When the length of the unattached section is greater than the preset allowable unattached length threshold, a quality alarm flag is set to active and a quality mark of the unattached section is written into the continuous substrate length coordinate table. The quality alarm flag is a flag data indicating that the length of the unattached section exceeds the corrective range and a quality mark needs to be performed on the continuous substrate section. The active quality alarm flag is output to the subsidy execution unit along with the unattached section.

[0056] The subsidy execution unit selects the subsidy method according to whether the continuous substrate can be paused, performs subsidy on the unapplied section, outputs a subsidy execution flag during the subsidy execution period, and writes a subsidy completion flag into the continuous substrate length coordinate table after the subsidy is completed and sets the subsidy execution flag to subsidy completion.

[0057] Specifically, the processing steps of the subsidy implementation unit include: The continuous substrate travel status flag is read. The continuous substrate travel status flag refers to the status flag data that indicates whether the continuous substrate on the current production line can pause its travel, can slow down its travel, or can travel continuously without slowing down. When the continuous substrate travel status flag indicates that the continuous substrate can pause its travel or can slow down its travel, the subsidy execution flag is set to subsidy execution and output to the status migration record unit. The retraction displacement is output to the operation execution mechanism. The retraction target position is the starting position of the unapplied section. After the operation execution mechanism retracts to this position, the unapplied section is reapplied according to the preset subsidy application parameters. The subsidy interval is the distance from the starting position of the unapplied section to the point where the subsidy overlap length is moved forward in the opposite direction of the continuous substrate travel direction to the point where the end position of the unapplied section is moved backward in the continuous substrate travel direction to the point where the subsidy overlap length is moved backward. The value of the preset subsidy overlap length is based on the bonding strength requirement between the subsidy section and the applied section, and is set to 30 mm to 100 mm for example. The continuous substrate travel status indicator indicates that when the continuous substrate is traveling continuously and cannot be slowed down, the starting position and ending position of the unapplied section are sent to the subsidy station located downstream of the work station. The subsidy station performs positioning according to the length coordinate of the starting position in the continuous substrate length coordinate table and performs subsidy on the subsidy section. During the subsidy process, preset subsidy application parameters are output to the operation execution agency or subsidy work station. The application pressure in the preset subsidy application parameters is taken as the preset application pressure, and the continuous substrate travel speed is taken as 50% to 80% of the main line speed. After the subsidy is completed, a subsidy completion flag is written into the record corresponding to the unapplied segment in the continuous substrate length coordinate table, and the subsidy execution flag is set to "subsidy completed" and output to the state transition record unit.

[0058] The threshold correction unit accumulates avoidance events according to a sliding statistical window, calculates the average length of the unapplied section and the false avoidance rate, corrects the preset safety gap threshold and the preset safety time margin according to a preset gap step size and a preset time step size, and then writes the correction results into the next batch parameter table. The false avoidance rate refers to the proportion of false avoidance events to avoidance events within the statistical window. A false avoidance event refers to an avoidance event in which, after the avoidance trigger flag is set to true, the horizontal overlap and the vertical overlap do not simultaneously exceed zero throughout the entire process of the structural transition component passing through the work station, that is, the work envelope and the space occupation never actually overlap. The sliding statistical window refers to a statistical interval that slides forward along the avoidance event sequence, with the avoidance event as the statistical unit. Its window width is calculated based on the number of avoidance events and takes the preset statistical sample size. The preset statistical sample size refers to the window width of the sliding statistical window. Its value is determined by a trade-off between the sample size required for statistical stability and the response speed of threshold correction to changes in production line conditions. It is typically set to 30 to 100 times, and in this embodiment, it is set to 50 times. The sliding step size refers to the number of avoidance events that the sliding statistical window slides forward along the avoidance event sequence between two adjacent statistical calculations. Its value is determined by a trade-off between the real-time requirements of threshold correction and the degree of sample overlap between two adjacent statistical results. It is typically set to one-third to one-half of the preset statistical sample size.

[0059] Specifically, the processing steps of the threshold correction unit include: The sliding statistical window is established with avoidance events as the statistical unit. The length of the unapplied segment corresponding to each avoidance event is read. The avoidance event count, the accumulated value of the unapplied segment length, and the count of erroneous avoidance are accumulated according to the sliding statistical window. The avoidance event count is the number of avoidance events in the current window. The accumulated value of the unapplied segment length is the sum of the unapplied segment lengths corresponding to each avoidance event in the current window. The count of erroneous avoidance is the number of erroneous avoidance events in the current window. Whenever the number of newly entered avoidance events in the sliding statistical window reaches one sliding step, the avoidance event count in the window is compared with the preset statistical sample number. If the avoidance event count in the window is less than the preset statistical sample number, statistical calculation is not performed temporarily until the avoidance event count in the window accumulates to the preset statistical sample number. When performing statistical calculation, the average length of the unapplied segment is obtained by dividing the cumulative value of the unapplied segment length in the window by the avoidance event count in the window, and the false avoidance rate is obtained by dividing the false avoidance count in the window by the avoidance event count in the window. After each statistical calculation is completed, the sliding statistical window slides forward one sliding step along the avoidance event sequence. Avoidance events that slide out of the window are removed from the avoidance event count, the cumulative value of the unapplied segment length, and the false avoidance count, and newly entered avoidance events are counted accordingly, so that the avoidance event sets on which adjacent statistical calculations are based partially overlap. The system reads the average length of the unapplied segment and the false avoidance rate within the sliding statistics window, and reads the lateral overlap and vertical overlap output by the interference judgment module. The preset upper limit of the false avoidance rate is based on the allowable false avoidance ratio, and is exemplarily set to 10%. When the average length of the unapplied segment is greater than the product of the preset allowable unapplied length threshold and the preset correction trigger ratio, or when the false avoidance rate is greater than the preset upper limit of the false avoidance rate, the preset safety gap threshold is reduced by a preset gap step, and the preset safety time margin is reduced by a preset time step. When an avoidance event occurs in the statistics window where the lateral overlap and the vertical overlap are both greater than zero while the work execution mechanism is in the avoidance position, the preset... The safety gap threshold is increased by a preset gap step, and the preset safety time margin is increased by a preset time step. The preset correction trigger ratio is a proportional coefficient used to determine whether the average length of the unapplied segment meets the reduction direction correction trigger condition. Its value is based on the allowable exceedance of the average length of the unapplied segment relative to the preset allowable unapplied length threshold, and is exemplarily set to 1.1 to 1.3. The preset gap step is based on the fact that the single-step correction amount does not exceed one-tenth of the span of the preset gap threshold range, and is exemplarily set to 5 mm. The preset time step is based on the fact that the single-step correction amount does not exceed one-tenth of the span of the preset time margin range, and is exemplarily set to 0.05 seconds. The corrected preset safety gap threshold is trimmed according to the preset gap threshold range, and the corrected preset safety time margin is trimmed according to the preset time margin range. The lower limit of the preset gap threshold range is the sum of the positioning accuracy and pose detection error of the operating mechanism, which is exemplarily set to 10 mm. The upper limit is the sum of the structural thickness of the structural transition component along the production line height direction and the allowable gap of the continuous substrate within the travel distance corresponding to the preset allowable unattached length threshold, which is exemplarily set to 120 mm. The lower limit of the preset time margin range is a value not less than one preset sampling control cycle, which is exemplarily set to 0.05 seconds, and the upper limit is exemplarily set to 1.0 seconds. If the correction result exceeds the corresponding range, the boundary value of the corresponding range is used.

[0060] Example 2: Please see Figure 4 This embodiment introduces a job avoidance control method based on relative position awareness. The method is executed by the job avoidance control system based on relative position awareness described in Embodiment 1. The method includes: S1: Collect the position of the structural transition component, the travel position of the continuous substrate, and the pose of the work execution mechanism according to the preset sampling control cycle. Convert the collected results to the production line coordinate system with the work station as the origin to obtain the relative motion state. Identify the structural dimensions of the structural transition component, read the lateral offset and warping amount, monitor the continuity of the position detection signal of the structural transition component, and output the relative motion state along with the structural dimensions, lateral offset, and warping amount of the structural transition component.

[0061] Further, step S1 includes: S11: Read the position of the structural transition component along the production line direction output by the structural transition component position sensing element according to the preset sampling control cycle, add a sampling time to each reading result and register it as a structural transition component position record; for example, the structural transition component position sensing element includes a proximity switch, a photoelectric switch, a vision detection component, a magnetic grating detection component and a laser ranging component.

[0062] S12: Read the continuous substrate traveling position along the production line direction output by the continuous substrate traveling position sensing element according to the preset sampling control cycle, add the sampling time and register it as the continuous substrate traveling position record; for example, the continuous substrate traveling position sensing element includes a rotary encoder, a linear encoder and a speed measuring roller encoder.

[0063] S13: Read the current position status of the work execution mechanism output by the position sensing element of the applicator according to the preset sampling control cycle, as well as the lifting amount along the production line height direction and the retraction amount along the continuous substrate width direction, add the sampling time and register it as the position record of the work execution mechanism; for example, the position sensing element of the applicator includes a servo motor encoder, a displacement sensor and a cylinder magnetic switch.

[0064] S14: Align the position records of the structural transition components, the travel position records of the continuous substrate, and the pose records of the work execution mechanism according to the sampling time. For data sets missing a certain type of record or a certain sampling time, perform linear interpolation to complete the data by taking the pose records of the same type from adjacent sampling times, thus obtaining a complete sequence of pose data sets at the sampling time. Use the difference between the coordinates of the workstation in the longitudinal direction of the production line coordinate system and the position of the structural transition component as the longitudinal relative distance. Use the overlap dimensions between the outer contour boundaries of the structural transition component and the work execution mechanism in the width direction of the continuous substrate and the height direction of the production line as the lateral overlap and vertical overlap, respectively. The difference in longitudinal relative distance at the sampling time is divided by the preset sampling control cycle to obtain the relative travel speed, and a multi-point moving average is performed according to the preset number of filter points; structural dimension recognition is performed on the structural transition components passing through the work station, the lateral offset and warping of the structural transition components are read, and the relative motion state is output along with the structural dimensions, lateral offset and warping of the structural transition components; the missing duration of the position detection signal of the structural transition component is compared with the preset detection failure duration. If the missing duration is greater than the preset detection failure duration, a structural transition component detection failure alarm is output to the production line monitoring end for manual confirmation of the recovery status of the position detection of the structural transition component.

[0065] S2: Receives the relative motion state, structural dimensions of structural transition components, lateral offset, tilting amount, and pre-stored outer dimensions of the operation execution mechanism. Constructs the application state operation envelope, the avoidance state operation envelope, and the spatial occupancy. Performs spatial interference judgment on the operation envelope and spatial occupancy and outputs the spatial interference flag. When spatial interference is established, calculates the arrival time margin and outputs the spatial interference flag, minimum spacing, and arrival time margin.

[0066] Further, step S2 includes: S21: Using the dimensional components of the outer contour of the work execution mechanism in the three directions of the production line coordinate system as the outer contour dimensions of the bounding box in the corresponding directions, the center coordinates of the bounding box are determined according to the position and state of the work execution mechanism, generating the application state work envelope and the avoidance state work envelope. The three-dimensional outer contour dimensions of the two types of work envelopes are the same, and only the center coordinates of the bounding box change with the pose of the work execution mechanism; the center coordinates and outer contour dimensions of the space occupancy are determined by the position of the structural transition component, the structural dimensions of the structural transition component, the lateral offset and the warp, and the bounding box of the space occupancy of the structural transition component is generated; when the measured values ​​of the lateral offset and the warp are not available, the preset envelope magnification factor is read to magnify the outer contour dimensions of the space occupancy in the three directions.

[0067] S22: Compare the longitudinal relative distance with the preset judgment trigger distance. If the longitudinal relative distance is greater than the preset judgment trigger distance, set the spatial interference flag to interference not established and skip the gap component calculation. Otherwise, calculate the gap components of the operation envelope and spatial occupancy in each direction and take the minimum value as the minimum gap. Compare the minimum gap with the preset safe gap threshold. If the minimum gap is less than the preset safe gap threshold, set the spatial interference flag to interference established; otherwise, set it to interference not established. The overlap state of the width direction of the continuous substrate and the height direction of the production line is characterized by the horizontal overlap and the vertical overlap. When the corresponding direction overlaps, the gap component in that direction takes a value not greater than zero. When no overlap occurs, the gap component in that direction does not participate in the minimum value selection.

[0068] S23: When the spatial interference flag indicates that interference is not established, the margin calculation is not performed and the arrival time margin output at the previous sampling time is maintained. When the spatial interference flag indicates that interference is established, the difference between the longitudinal relative distance and half of the spatial occupancy and the outer dimension of the working envelope in the continuous substrate travel direction is taken as the remaining travel distance. The arrival time margin is obtained by dividing the remaining travel distance by the relative travel speed involved in the calculation. When the relative travel speed is lower than the preset minimum relative travel speed lower limit, the preset minimum relative travel speed lower limit is taken as the speed value involved in the calculation.

[0069] S3: Receives spatial interference flag and arrival time margin. When spatial interference is established and the arrival time margin is not greater than the sum of the preset avoidance action duration and the preset safety time margin, it outputs an avoidance command and drives the work execution mechanism to move from the work position to the avoidance position. During the avoidance period, it maintains material tension or performs material cutting and extraction. After the structural transition component passes the work position, it drives the work execution mechanism to reset to the work position and resumes material application. It performs continuous avoidance judgment on the adjacent subsequent structural transition component and outputs the avoidance start time and the resumption of application completion time.

[0070] Further, step S3 includes: S31: Compare the arrival time margin with the sum of the preset avoidance action duration and the preset safety time margin. If the arrival time margin is not greater than the sum of the two, set the avoidance trigger flag to true and generate an avoidance command containing the target lift height, target retreat amount, execution time and command sequence number; otherwise, set it to false and output the monitoring flag. When the work execution mechanism is in the avoidance position and is ready to perform a reset, calculate the arrival time margin of the adjacent subsequent structural transition component and compare it with the sum of the two. If the margin is not greater than the sum of the two, set the continuous avoidance flag to true and do not generate a reset command; otherwise, set it to false and generate a reset command. The avoidance command, avoidance trigger flag, monitoring flag and continuous avoidance flag are output.

[0071] S32: In response to the avoidance command, first output the displacement of the target lifting height to the lifting axis of the work execution mechanism. After the lifting amount to be fed back reaches the target lifting height, output the displacement of the target retreat amount to the transverse axis, drive the work execution mechanism to move from the work position to the avoidance position. During the avoidance, maintain the material tension or perform material cutting and extraction. After the structural transition component passes the work position, return to the work position from the avoidance position according to the reset condition establishment mark and the continuous avoidance mark. During the return process, gradually increase the application pressure to the preset application pressure according to the preset application pressure increase time, and overlap with the already applied section according to the preset overlap length, restore the material application operation, and record the avoidance start time and the restoration application completion time.

[0072] S33: Switch the state of the work execution mechanism between the application state, warning state, avoidance state, reset state, and subsidy state according to the state transition conditions. Record the transition event and transition time of each state transition as a state transition record and output it. The application state refers to the state in which the work execution mechanism is in the working position and applies material to the edge of the continuous substrate. The warning state refers to the state before the work execution mechanism starts to perform avoidance action after the avoidance trigger flag is set. The avoidance state refers to the state in which the work execution mechanism is in the avoidance position and suspends the material application operation. The reset state refers to the state in which the work execution mechanism returns from the avoidance position to the working position and performs the application pressure gradually increasing and material overlap. The subsidy state refers to the state during the subsidy treatment of the unapplied section. The avoidance start time is the time when the application state switches to the warning state, and the reset state switches back to the application state.

[0073] S4: Based on the continuous substrate travel position corresponding to the avoidance start time and the recovery application completion time, mark the start and end positions and length of the unapplied segment, apply the patch to the unapplied segment, and correct the preset safety gap threshold and preset safety time margin based on the avoidance event statistics.

[0074] Further, step S4 includes: S41: Read the avoidance start time, the recovery application completion time, and the continuous substrate travel position in the state transition record. Take the continuous substrate travel position corresponding to the avoidance start time as the start position of the unapplied segment and the continuous substrate travel position corresponding to the recovery application completion time as the end position of the unapplied segment. Use the difference between the end position and the start position as the length of the unapplied segment and write it into the continuous substrate length coordinate table. Compare the length of the unapplied segment with the preset allowable unapplied length threshold. If the length of the unapplied segment is greater than the preset allowable unapplied length threshold, set the quality alarm flag to true and write the quality mark of the unapplied segment into the continuous substrate length coordinate table.

[0075] S42: Select the subsidy method according to the continuous substrate travel status indicator. When the continuous substrate can pause or slow down, drive the operation actuator back to the starting position of the unapplied section and reapply the unapplied section according to the preset subsidy application parameters. When the continuous substrate travels continuously and cannot slow down, send the starting and ending positions of the unapplied section to the subsidy station downstream of the operation station to perform positioning subsidy. After the subsidy is completed, write the subsidy completion mark in the continuous substrate length coordinate table and output the subsidy execution mark.

[0076] S43: Establish the sliding statistical window using avoidance events as statistical units and accumulate the avoidance event count, the cumulative value of the unapplied segment length, and the false avoidance count. For each new avoidance event entering the window at a new sliding step length, and when the avoidance event count within the window is not less than the preset statistical sample size, calculate the average unapplied segment length and the false avoidance rate within the window. Then, slide the sliding statistical window forward one sliding step length along the avoidance event sequence, and remove avoidance events that have slid out of the window from the statistics. The average unapplied segment length is greater than the product of a preset allowed unapplied segment length threshold and a preset correction trigger ratio. If the error avoidance rate exceeds the preset error avoidance rate upper limit, the preset safety gap threshold and preset safety time margin are reduced by the preset gap step size and preset time step size; if an avoidance event occurs in the sliding statistics window where the horizontal overlap and the vertical overlap are both greater than zero while the work execution mechanism is in the avoidance position, the preset safety gap threshold and preset safety time margin are increased by the preset gap step size and preset time step size; if the correction result exceeds the corresponding interval, the value is taken according to the interval boundary value, and the corrected threshold is written into the subsequent batch production for the gap determination sub-step and the avoidance decision sub-step to call.

[0077] Working principle and its effects: This invention uses the same production line coordinate system as a unified benchmark, and calculates the relative motion state of the structural transition component position, the continuous substrate travel position, and the work execution mechanism pose. Based on the outer dimensions and position of the work execution mechanism, it constructs the application state work envelope and the avoidance state work envelope, as well as the spatial occupancy of the structural transition component. By performing spatial interference judgment on the above envelope and spatial occupancy and calculating the arrival time margin, the triggering time of the avoidance command is directly related to the actual position and travel speed of the structural transition component. After the structural transition component passes, it is reset and the unapplied section is marked for application. Thus, under the same benchmark, it realizes the coordinated avoidance of spatial interference between the structural transition component and the work execution mechanism and the corrective management of the unapplied section.

[0078] Specifically, relative motion state calculation ensures that the positional relationship between the structural transition component and the work execution mechanism falls within the same coordinate frame. The construction of envelope and spatial occupancy transforms the geometric outer edges of the two into comparable gap quantities. Spatial interference judgment and arrival time margin calculation ensure that the avoidance action is completed within the required time before the structural transition component reaches the interference boundary, and the application is resumed after the structural transition component passes. This simultaneously converges two types of improper situations: collision due to excessively late avoidance and excessively long unapplied sections due to excessively early avoidance. During the avoidance period, material continuity is maintained by maintaining material tension or cutting out the material. The position of the continuous substrate corresponding to the start and end times of avoidance is marked to define the unapplied section and perform application. The unapplied section is located and corrected. The safety gap threshold and safety time margin are adaptively corrected according to the avoidance event statistics. The avoidance parameters are thus dynamically adjusted with the production line rhythm and the rhythm of the structural transition component, ensuring that the avoidance timing continuously matches the actual operation of the production line.

[0079] In summary, this invention, through the coherent processing of position calculation, envelope and spatial occupancy construction, spatial interference determination and margin calculation, and compensation for unattached sections under the same benchmark, correlates the avoidance timing with the actual position and travel speed of the structural transition components, incorporates the unattached sections into quantitative calibration and compensation, and adaptively corrects the avoidance parameters based on avoidance statistics during operation. Overall, it achieves coordinated avoidance of spatial interference between structural transition components and operating mechanisms while taking into account material continuity and the compensability of unattached sections.

[0080] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A job avoidance control system based on relative position perception, characterized in that, include: The pose perception module collects the position of the structural transition component, the travel position of the continuous substrate, and the pose of the work execution mechanism and calculates them to the production line coordinate system to obtain the relative motion state, and obtains the structural dimensions, lateral offset, and warping of the structural transition component. The interference determination module constructs the operation envelope based on the outer dimensions and position of the operation execution mechanism, and constructs the spatial occupancy based on the position of the structural transition component, the structural dimensions of the structural transition component, the lateral offset and the warping amount. It performs spatial interference determination on the operation envelope and the spatial occupancy, and calculates the arrival time margin when spatial interference is established. The avoidance control module outputs an avoidance command when spatial interference is established and the arrival time margin is not greater than the time required to complete the avoidance action. It drives the work execution mechanism to move from the work position to the avoidance position. After the structural transition component passes, it drives the work execution mechanism to reset to the work position and records the avoidance start time and the restoration application completion time. The job compensation module marks the start and end positions of the unapplied section according to the continuous substrate travel position corresponding to the avoidance start time and the restoration completion time, and applies subsidies to the unapplied section and outputs the subsidy execution flag.

2. The operation avoidance control system based on relative position perception as described in claim 1, characterized in that, The interference determination module includes an envelope occupancy construction unit, a spacing determination unit, and a margin calculation unit. The envelope occupancy construction unit constructs a work envelope according to the position and outer dimensions of the work execution mechanism. The work envelope includes an application state work envelope and an avoidance state work envelope. The space occupancy is constructed according to the position of the structural transition component, the structural dimensions of the structural transition component, the lateral offset, and the warping amount. The spacing determination unit calculates the gap components between the working envelope and the spatial occupancy in each direction and takes the minimum value as the minimum spacing. It then compares the minimum spacing with a preset safety gap threshold and outputs a spatial interference flag. The margin calculation unit calculates the arrival time margin according to the relative motion state when spatial interference is established.

3. The operation avoidance control system based on relative position perception as described in claim 1, characterized in that, The avoidance control module includes an avoidance decision unit, an avoidance execution unit, and a state transition recording unit; The avoidance decision unit reads the arrival time margin. If the arrival time margin is not greater than the sum of the preset avoidance action duration and the preset safety time margin, the avoidance trigger flag is set to true and an avoidance command is generated; otherwise, the avoidance trigger flag is set to false. When the work execution mechanism is in the avoidance position and is ready to perform a reset, a continuous avoidance judgment is performed on the adjacent subsequent structural transition component. If the arrival time margin of the subsequent structural transition component is not greater than the sum of the preset avoidance action duration and the preset safety time margin, the continuous avoidance flag is set to true and no reset command is generated; otherwise, the continuous avoidance flag is set to false and a reset command is generated. The avoidance execution unit responds to the avoidance command and drives the work execution mechanism to move from the work position to the avoidance position. The time when the work execution mechanism reaches the avoidance position is recorded as the avoidance arrival time. After the structural transition component passes, the work execution mechanism is driven to reset to the work position and the material application operation is resumed. The reset condition establishment flag is set to established. The state transition recording unit switches the state of the work execution mechanism between the application state, warning state, avoidance state, reset state and subsidy state according to the state transition conditions, and records the transition events and transition times as state transition records and outputs them.

4. The operation avoidance control system based on relative position perception as described in claim 1, characterized in that, The operation compensation module includes an unapplied section calibration unit, a subsidy execution unit, and a threshold correction unit; The unapplied segment calibration unit calibrates the start position, end position, and length of the unapplied segment according to the continuous substrate travel position corresponding to the avoidance start time and the recovery application completion time, and writes them into the continuous substrate length coordinate table. When the length of the unapplied segment exceeds the preset allowable unapplied length threshold, a quality alarm flag is output. The subsidy execution unit selects the subsidy method according to the continuous substrate travel status flag, performs subsidy on the unapplied segment, and outputs the subsidy execution flag. The threshold correction unit adjusts the preset safety gap threshold and preset safety time margin by using the statistics of the unapplied section length and the error avoidance rate in the sliding statistics window.

5. The operation avoidance control system based on relative position perception as described in claim 2, characterized in that, The relative motion state includes longitudinal relative distance, lateral overlap, vertical overlap, and relative travel speed; The steps for obtaining the relative motion state include: Collect the positions of structural transition components, the travel position of continuous substrate, and the pose of the work execution mechanism; The longitudinal relative distance is the difference between the coordinates of the workstation in the longitudinal direction of the production line coordinate system and the position of the structural transition component. The overlap dimension between the structural transition member and the work execution mechanism in the outer contour boundary of the continuous substrate width direction is taken as the lateral overlap amount; The vertical overlap is defined as the overlap between the structural transition component and the work execution mechanism at the outer boundary in the height direction of the production line. The relative travel speed is obtained by dividing the difference in longitudinal relative distance between two adjacent sampling times by a preset sampling control period.

6. The operation avoidance control system based on relative position perception as described in claim 2, characterized in that, Both the application state operation envelope and the avoidance state operation envelope are bounding boxes. The dimensional components of the outer dimensions of the operation execution mechanism in the three directions of the vertical axis, horizontal axis and vertical axis of the production line coordinate system are used as the outer dimensions of the bounding box in the corresponding directions. When the work execution mechanism is in the work position, the center of the enclosure box is taken as the longitudinal axis coordinate of the work position, the position of the edge of the continuous substrate in the horizontal axis direction, and the position of the surface of the continuous substrate in the vertical axis direction. When the work execution mechanism is in the avoidance position, the center of the enclosure box is superimposed with the retreat amount in the horizontal axis direction and the lifting amount in the vertical axis direction; Wherein, the enclosing box refers to a cuboid space region with the vertical, horizontal and vertical axes of the production line coordinate system as its outer edges; the lifting amount refers to the lifting displacement of the work execution mechanism relative to the work position along the height direction of the production line; and the retraction amount refers to the retraction displacement of the work execution mechanism relative to the edge of the continuous substrate along the width direction of the continuous substrate.

7. The operation avoidance control system based on relative position perception as described in claim 2, characterized in that, The steps to construct a space placeholder include: The coordinates of the spatial occupant center in the vertical axis of the production line coordinate system are taken as the position of the structural transition component. The coordinates of the continuous substrate centerline in the horizontal axis of the production line coordinate system, superimposed with the lateral offset, are taken as the coordinates of the spatial occupant center in the horizontal axis. The coordinates of the spatial occupant center in the vertical axis are taken as half the structural thickness of the structural transition component plus the warping amount. The structural length of the structural transition component is taken as the outer dimension of the spatial occupant in the vertical axis. The structural width of the structural transition component is taken as the outer dimension of the spatial occupant in the horizontal axis. The structural thickness of the structural transition component is taken as the outer dimension of the spatial occupant in the vertical axis. The spatial occupant is generated according to the center coordinates and outer dimensions.

8. The operation avoidance control system based on relative position perception as described in claim 5, characterized in that, The steps for outputting spatial interference symbols include: The longitudinal relative distance is compared with the preset determination trigger distance. If the longitudinal relative distance is greater than the preset determination trigger distance, the spatial interference flag is set to interference not established; otherwise, the gap component calculation is performed. The gap component in the continuous substrate travel direction is the difference between the longitudinal relative distance minus half of the space occupied in the continuous substrate travel direction outline dimension and the working envelope in the continuous substrate travel direction outline dimension. When the horizontal overlap or the vertical overlap is greater than zero, the gap component in the corresponding direction is recorded as a value not greater than zero. When the minimum spacing is less than the preset safety gap threshold, the spatial interference flag is set to interference.

9. The operation avoidance control system based on relative position perception as described in claim 8, characterized in that, The arrival time margin is calculated based on the relative motion state, including: The spatial interference indicator is that the arrival time margin calculation is not performed when the interference does not occur; When the spatial interference indicator is established, the remaining travel distance is the difference between the longitudinal relative distance minus half of the spatial occupancy in the continuous substrate travel direction outline dimension and the working envelope in the continuous substrate travel direction outline dimension. The arrival time margin is obtained by dividing the remaining travel distance by the relative travel speed.

10. The operation avoidance control system based on relative position perception as described in claim 3, characterized in that, The status of the switching operation execution mechanism includes: Monitor the avoidance trigger sign, avoidance completion time, reset condition establishment sign, continuous avoidance sign, and subsidy execution sign; When the avoidance trigger flag is set to true, the state is switched from the application state to the warning state. When the avoidance is completed, the state is switched from the warning state to the avoidance state. When the continuous avoidance flag is set to true, the avoidance state remains unchanged. When the reset condition flag is set to true, the state is switched from the avoidance state to the reset state, and when the restoration application is completed, the state is switched back from the reset state to the application state. The subsidy execution flag indicates that the state is switched to the subsidy state when the subsidy is executed, and the state is switched back to the subsidy application state when the subsidy is completed.

11. The operation avoidance control system based on relative position perception as described in claim 4, characterized in that, The correction of the preset safety gap threshold and preset safety time margin includes: The sliding statistics window accumulates the number of avoidance events, the cumulative value of the unapplied section length, and the number of erroneous avoidances. When the number of avoidance events reaches the preset statistical sample size, the average value of the unapplied section length is obtained by dividing the cumulative value of the unapplied section length by the number of avoidance events, and the erroneous avoidance rate is obtained by dividing the number of erroneous avoidances by the number of avoidance events. When the average length of the unapplied segment exceeds the product of the preset allowable unapplied length threshold and the preset correction trigger ratio, or when the false avoidance rate is greater than the preset false avoidance rate upper limit, the preset safety gap threshold is reduced by a preset gap step and the preset safety time margin is reduced by a preset time step. When an avoidance event occurs in the sliding statistics window where the lateral overlap and vertical overlap of the work execution mechanism are both greater than zero during the avoidance position, the preset safety gap threshold is increased by the preset gap step size, and the preset safety time margin is increased by the preset time step size.

12. A job avoidance control method based on relative position perception, implemented based on the job avoidance control system based on relative position perception as described in any one of claims 1-11, characterized in that, include: The positions of structural transition components, the travel positions of continuous substrates, and the poses of the work execution mechanism are collected and converted to the production line coordinate system to obtain the relative motion state, and the structural dimensions, lateral offset, and warping of the structural transition components are obtained. The operation envelope is constructed based on the outer dimensions and position of the operation execution mechanism. The spatial occupancy is constructed based on the position of the structural transition component, the structural dimensions of the structural transition component, the lateral offset and the warping amount. Spatial interference judgment is performed on the operation envelope and spatial occupancy. When spatial interference is established, the arrival time margin is calculated. When spatial interference is established and the arrival time margin is not greater than the time required to complete the avoidance action, an avoidance command is output, driving the work execution mechanism to move from the work position to the avoidance position. After the structural transition component passes, the work execution mechanism is driven to reset to the work position, and the avoidance start time and the restoration application completion time are recorded. The start and end positions of the unapplied segment are marked according to the continuous substrate travel position corresponding to the avoidance start time and the restoration completion time, and the unapplied segment is coated and a coating execution mark is output.

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