CN115571611A - Avoidance control method of common rail multi-truss system and common rail multi-truss system - Google Patents

Abstract

The application provides an avoidance control method of a common rail multi-truss system and the multi-truss system, and solves the technical problems that the operation efficiency of a plurality of trusses cannot be met simultaneously and the plurality of trusses cannot be interfered and collided when grabbing and obtaining are carried out based on a truss manipulator in the prior art. The application provides an avoidance control method of a common rail multi-truss system, in the multi-truss operation process, a motion mode is determined according to the current working state of two adjacent trusses in the plurality of trusses in real time, whether interference collision can occur to the two trusses is determined according to the motion mode and the current working state, when the interference collision cannot occur to the two trusses, the current motion state is maintained to continue working, when the interference collision can occur, the working state of at least one truss in the two trusses is regulated and controlled, so that the two trusses can operate simultaneously, collision does not occur, and the operation efficiency of the multi-truss system is improved.

Description

Avoidance control method of common rail multi-truss system and common rail multi-truss system

Technical Field

The application relates to the field of intelligent control, in particular to an avoidance control method of a common rail multi-truss system and the common rail multi-truss system.

Background

In the heavy equipment manufacturing industry, goods stacking and transferring in a storage yard need operations such as goods handling, and handling equipment is required to have high working frequency, production efficiency and economy.

The handling equipment who uses at present adopts the part of truss manipulator to snatch the goods usually, uses the truss manipulator to snatch the part from the transfer chain and places appointed buttress position. Usually, in order to improve the gripping efficiency, two trusses are arranged in one direction. However, when a plurality of trusses are operated simultaneously, it is generally considered whether interference collision occurs in the plurality of trusses, and therefore, it is not possible to satisfy both the operation efficiency of the plurality of trusses and the avoidance of interference collision in the plurality of trusses.

Disclosure of Invention

In view of this, the application provides an avoidance control method for a common rail multi-truss system and the common rail multi-truss system, which solve or improve the technical problems that the operation efficiency of multiple trusses cannot be simultaneously met and the multiple trusses do not interfere and collide when grabbing and obtaining based on a truss manipulator in the prior art.

According to an aspect of the present application, there is provided an avoidance control method for a common rail multi-truss system, which is applicable to a common rail multi-truss, and includes: the truss type robot comprises two guide supports arranged in parallel and a plurality of trusses parallel to each other, wherein the trusses can move along the length directions of the two guide supports; the avoidance control method is characterized by comprising the following steps: determining motion modes of two trusses according to current working states of two adjacent trusses in the trusses, wherein the motion modes comprise a far mode, a near mode and a static mode, the current working states comprise target position information, current motion speed and current position information of the guide support, the near mode is a motion mode moving towards a near reference object, and the far mode is a motion mode moving away from the reference object; determining whether the two trusses are interfered and collided according to the motion modes of the two trusses and the current working state; and when the two trusses are interfered and collided, regulating and controlling the working state of at least one truss in the two trusses according to the current working states of the two trusses.

In a possible implementation manner, a position sensor is arranged on the truss and used for detecting the position information of the truss on the guide bracket; determining the motion modes of two trusses according to the current working states of two adjacent trusses in the plurality of trusses, wherein the determining the motion modes of the two trusses comprises the following steps: determining the current distance between the truss and the reference object according to the current position information of the truss on the guide support at the current moment; determining a reference distance between the truss and the reference object according to reference position information of the truss on the guide support at the previous moment, wherein the time length between the previous moment and the current moment is equal to the detection period of the position sensor; when the current distance is smaller than the reference distance, determining that the movement mode of the truss is a proximity mode; when the current distance is greater than the reference distance, determining that the movement mode of the truss is a far mode; and determining the movement mode of the truss as a stationary mode when the current distance is equal to the reference distance.

In one possible implementation manner, determining the motion mode of two trusses according to the current working state of two adjacent trusses in the plurality of trusses includes: a plane coordinate system is established by taking a central point in the length direction of the guide support as an origin, the Y axis of the plane coordinate system is parallel to the length of the guide support, the X axis of the plane coordinate system is parallel to the length of the truss, and the central point is the reference object; when the current movement speed of the truss is equal to 0, determining that the movement mode of the truss is a static mode; when the current movement speed of the truss is greater than 0, acquiring current coordinate information of the truss on the guide support and target coordinate information of the truss; when the target coordinate information and the current coordinate information of the truss are both located on a positive Y axis or a negative Y axis, and the absolute value of the target coordinate information of the truss is greater than the absolute value of the current coordinate information, determining that the movement mode of the truss is a far mode; when the target coordinate information and the current coordinate information of the truss are both located on a positive Y axis or a negative Y axis, and the absolute value of the target coordinate information of the truss is smaller than the absolute value of the current coordinate information, determining that the movement mode of the truss is a proximity mode; and when the target coordinate information and the current coordinate information of the truss are respectively positioned on a positive Y axis and a negative Y axis, determining that the movement mode of the truss is a proximity mode.

In one possible implementation manner, the two trusses are a first truss and a second truss respectively;

determining whether the two trusses are interfered and collided according to the motion modes and the current working state of the two trusses, wherein the method comprises the following steps: when the motion mode of the first truss is a proximity mode, the motion mode of the second truss is a static mode, and the target coordinate information of the first truss is larger than the current coordinate information of the second truss, determining that the first truss and the second truss can generate interference collision; or when the motion mode of the first truss is a proximity mode, the motion mode of the second truss is a static mode, the target coordinate information of the first truss is smaller than the current coordinate information of the second truss, and the absolute value of the difference between the target coordinate information of the first truss and the current coordinate information of the second truss is smaller than a preset safety distance, determining that the first truss and the second truss can generate interference collision; when the two trusses are interfered and collided, the working state of at least one truss in the two trusses is regulated and controlled according to the current working state of the two trusses, and the method comprises the following steps: regulating and controlling the second truss to move to a position of regulating and controlling coordinate information, wherein the absolute value of the difference between the regulating and controlling coordinate information and the target coordinate information of the first truss is greater than or equal to the preset safety distance; and regulating and controlling the first truss to continuously move in the current working state.

In a possible implementation manner, determining whether two trusses will generate interference collision according to the motion modes and the current working state of the two trusses further includes: when the motion mode of the first truss is a proximity mode, the motion mode of the second truss is a static mode, the target coordinate information of the first truss is smaller than the current coordinate information of the second truss, and the absolute value of the difference between the target coordinate information of the first truss and the current coordinate information of the second truss is larger than or equal to the preset safety distance, it is determined that the first truss and the second truss cannot generate interference collision.

In a possible implementation manner, the two trusses are respectively a first truss and a second truss;

determining whether the two trusses are interfered and collided according to the motion modes and the current working state of the two trusses, wherein the method comprises the following steps: when the motion mode of the first truss is a close mode and the second truss is a far mode, the target coordinate information of the first truss is smaller than that of the second truss, and the absolute value of the difference between the target coordinate information of the first truss and the target coordinate information of the second truss is smaller than the preset safety distance, it is determined that the first truss and the second truss can generate interference collision; or when the motion mode of the first truss is a close mode, the second truss is a far mode, and the target coordinate information of the first truss is greater than that of the second truss, determining that the first truss and the second truss are subjected to interference collision; when the two trusses are interfered and collided, the working state of at least one truss in the two trusses is regulated and controlled according to the current working states of the two trusses, and the method comprises the following steps: regulating and controlling the first truss to move to a position of regulating and controlling coordinate information, wherein the regulating and controlling coordinate information is smaller than the target coordinate information of the second truss, and the absolute value of the difference between the regulating and controlling coordinate information and the target coordinate information of the second truss is larger than or equal to the preset safety distance; when the first truss moves to the position of the regulation and control coordinate information, regulating and controlling the movement speed of the first truss to be 0; regulating and controlling the second truss to continuously move to the target coordinate information of the second truss; when the second truss continues to move to the target coordinate information of the second truss, regulating the movement speed of the second truss to be 0; and regulating the first truss to move continuously.

In a possible implementation manner, when the motion mode of the first truss is a close mode and the second truss is a far mode, and the target coordinate information of the first truss is smaller than the target coordinate information of the second truss, and an absolute value of a difference between the target coordinate information of the first truss and the target coordinate information of the second truss is greater than or equal to the preset safe distance, it is determined that the first truss and the second truss do not generate interference collision.

In one possible implementation manner, the two trusses are a first truss and a second truss respectively;

determining whether the two trusses are interfered and collided according to the motion modes and the current working state of the two trusses, wherein the method comprises the following steps: when the motion mode of the first truss is an approach mode and the motion mode of the second truss is an approach mode, and the absolute value of the difference between the target coordinate information of the first truss and the target coordinate information of the second truss is smaller than the preset safety distance, determining that the first truss and the second truss are subjected to interference collision; when the two trusses are interfered and collided, the working state of at least one truss in the two trusses is regulated and controlled according to the current working state of the two trusses, and the method comprises the following steps: determining an absolute value of a first movement distance according to the current coordinate information of the first truss and the target coordinate information of the first truss; determining an absolute value of a second movement distance according to the current coordinate information of the second truss and the target coordinate information of the second truss; when the absolute value of the first movement distance is smaller than the absolute value of the second movement distance, regulating and controlling the first truss to continuously move to the target coordinate information of the first truss in a proximity movement mode; regulating and controlling the second truss to move continuously to a position of regulating and controlling coordinate information and then to be static, wherein the absolute value of the difference between the regulating and controlling coordinate information of the second truss and the target coordinate information of the first truss is greater than or equal to the preset safety distance; and when the first truss continues to move to the target coordinate information of the first truss in the approaching movement mode, regulating the movement speed of the first truss to be 0, and regulating the second truss to move from the regulated coordinate information to the target coordinate information of the second truss.

In a possible implementation manner, determining whether two trusses will generate interference collision according to the motion mode of the two trusses and the current working state further includes: and when the motion mode of the first truss is an approach mode and the motion mode of the second truss is an approach mode, and the absolute value of the difference between the target coordinate information of the first truss and the target coordinate information of the second truss is greater than or equal to the preset safety distance, determining that the first truss and the second truss do not generate interference collision.

As a second aspect of the present application, there is also provided a common rail multi-truss system, including:

a common rail multi-truss, the common rail multi-truss comprising: two guide brackets which are arranged in parallel; the included angle between the guide bracket and the truss is more than 0; the truss can move along the length direction of the two guide brackets through the moving assembly; the position sensor is used for detecting the position information of the truss on the guide bracket; the speed sensor is used for detecting the movement speed of the truss on the guide bracket; the motion controller is used for controlling the working state of the truss on the guide bracket; and an avoidance control device of the common rail multi-truss system; the avoidance control device of the common rail multi-truss system is in communication connection with the position sensor, the speed sensor and the motion controller respectively, and is used for executing the avoidance control method of the common rail multi-truss system.

The application provides an avoidance control method of a common rail multi-truss system, in the multi-truss operation process, a motion mode is determined according to the current working states of two adjacent trusses in real time, whether two trusses can generate interference collision or not is determined according to the motion mode and the current working states, when the two trusses can not generate interference collision, the current motion state is maintained to continue working, when the two trusses can generate interference collision, the working state of at least one truss in the two trusses is regulated and controlled, so that the two trusses can operate simultaneously, collision does not occur, and the operation efficiency of the multi-truss system is improved.

Drawings

The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally indicate like parts or steps.

Fig. 1 is a schematic structural diagram of a common rail multi-truss according to an embodiment of the present application;

fig. 2 is a schematic flow chart of an avoidance control method for a common rail multi-truss according to an embodiment of the present disclosure;

fig. 3 shows the approaching mode and the departing mode of two trusses when the fixing rod at the middle position is taken as a reference object according to an embodiment of the present application;

fig. 4 shows the approaching mode and the departing mode of two trusses when the fixing rod at the left end position is taken as a reference object according to an embodiment of the present application;

fig. 5 shows the approaching mode and the departing mode of two trusses when the fixing rod at the right end position is taken as a reference object according to an embodiment of the present application;

fig. 6 is a schematic flow chart illustrating an avoidance control method for a common rail multi-truss according to another embodiment of the present application;

fig. 7 is a schematic flow chart of an avoidance control method for a common rail multi-truss according to another embodiment of the present disclosure;

fig. 8 illustrates a plane coordinate system constructed with the midpoint of the fixing rod as the origin and the movement patterns of the two trusses in different working states according to an embodiment of the present disclosure;

fig. 9 illustrates a plane coordinate system constructed with the midpoint of the fixing rod as the origin and movement patterns of two trusses in different working states according to another embodiment of the present disclosure; (ii) a

Fig. 10 illustrates a plane coordinate system constructed with the midpoint of the fixing rod as the origin and the movement patterns of two trusses in different working states according to an embodiment of the present disclosure;

fig. 11 is a schematic flow chart illustrating a method for controlling avoidance of a common rail multi-truss according to another embodiment of the present application;

fig. 12 shows a control mode of the common rail multi-truss corresponding to the control method shown in fig. 11;

fig. 13 shows a control mode of the common rail multi-truss corresponding to the control method shown in fig. 11;

fig. 14 is a schematic flow chart illustrating an avoidance control method for a common rail multi-truss according to another embodiment of the present application;

fig. 15 shows a control mode of the common rail multi-truss corresponding to the control method shown in fig. 14;

fig. 16 shows a control mode of the common rail multi-truss corresponding to the control method shown in fig. 14;

fig. 17 is a schematic flow chart illustrating an avoidance control method for a common rail multi-truss according to another embodiment of the present application;

fig. 18 shows a control mode of the common rail multi-truss corresponding to the control method shown in fig. 17;

fig. 19 is an operational schematic diagram of a common rail multi-truss avoidance control device according to an embodiment of the present disclosure;

fig. 20 is a schematic diagram illustrating the operation of a common rail multi-truss system according to an embodiment of the present application;

fig. 21 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Reference numerals:

1-common rail multi-truss; 10-a first guide bracket; 11-a second guide bracket; 12-a first truss; 13-a second truss; 14-a reference; 15-fixing the rod;

20-a position sensor; 21-a speed sensor;

300-avoidance control means; 400-a motion mode determination unit; 500-a judgment unit; 700-a regulatory unit; 800-motion controller.

Detailed Description

In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise. All directional indicators in the embodiments of the present application (such as up, down, left, right, front, back, top, bottom \8230;) are only used to explain the relative positional relationship between the components in a particular pose (as shown in the figures), the motion, etc., and if the particular pose is changed, the directional indicator is correspondingly changed. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

Summary of the application

The handling equipment who uses at present adopts the part of truss manipulator to snatch the goods usually, uses the truss manipulator to snatch the part from the transfer chain and places appointed buttress position. Usually, in order to improve the gripping efficiency, two trusses are arranged in one direction. However, when two trusses work simultaneously, the two trusses may generate interference collision, and the inventor finds a method for preventing interference collision when studying whether the two trusses may generate interference collision: whether interference collision occurs or not is determined according to the task tracks executed by the two trusses, then if interference collision occurs, one truss executes the task first, and after the task is completed, the other truss executes the task again. However, although this method can prevent interference collision, the two trusses do not collide during the whole execution process although they interfere collision, and the two trusses can completely have a space for executing tasks together, so if only the task tracks are overlapped, one truss executes the task first, and after the task is finished, the other truss starts executing the task, although interference collision can be prevented, the operation efficiency is not high.

Therefore, according to the avoidance control method of the common rail multi-truss system, in the multi-truss operation process, the motion mode is determined according to the current working states of the two adjacent trusses in real time, whether the two trusses are interfered and collided or not is determined according to the motion mode and the current working states, when the two trusses are not interfered and collided, the current motion state is maintained to continue to work, and when the interfered and collided, the working state of at least one truss in the two trusses is regulated and controlled, so that the two trusses can work simultaneously, collision does not occur, and the operation efficiency of the multi-truss system is improved.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Exemplary System

An embodiment of the application provides a rail many trusses altogether includes: two guide brackets which are arranged in parallel and a plurality of trusses which are parallel to each other, the trusses can move along the length direction of the two guide brackets.

Specifically, the number of the trusses included in the common rail multi-truss may be 2 or 3, and the number of the trusses included in the common rail multi-truss is not limited in the present application.

Specifically, fig. 1 is a schematic structural diagram of a common rail multi-truss according to an embodiment of the present application, and as shown in fig. 1, the number of trusses in the common rail multi-truss is 2, that is, the common rail multi-truss is a common rail double-truss, and the common rail double-truss 1 includes: a first guide bracket 10, a second guide bracket 11, a first truss 12 and a second truss 13. The first guide support 10 and the second guide support 11 are parallel to each other, two ends of the first truss 12 and two ends of the second truss 13 are respectively installed on the first guide support 10 and the second guide support 11, and both the first truss 12 and the second truss 13 can move along the length direction of the first guide support 10 and the second guide support 11. First truss 12 and second truss 13 are parallel to each other, and first truss 12 and first guide bracket 10 are perpendicular to each other.

Specifically, the first truss 12 and the second truss 13 can be moved along the length direction along the first guide bracket 10 and the second guide bracket 11 by the moving assembly. For example: first guide way is seted up to first guide bracket 10 up the up end, and the second guide way is seted up to second guide bracket 11 up the up end, and the length extending direction of first guide way is parallel with the length extending direction of first guide bracket 10, and the length extending direction of second guide way is parallel with the length extending direction of second guide bracket 11. Wheels are arranged at two ends of the first truss 12, the two wheels at the two ends are respectively located in the first guide groove and the second guide groove, and the two wheels respectively slide in the first guide groove and the second guide groove, so that the first truss 12 can move along the first guide support 10 and the second guide support 11. Similarly, the movement of the second girder 13 along the first and second guide brackets 10 and 11 may be implemented in the same manner as the movement of the first girder 12 along the first and second guide brackets 10 and 11 described above.

When the first truss 12 and the second truss 13 actually execute tasks, a grabbing device is fixed below the first truss 12, and a grabbing device is fixed below the second truss 13; after the grasping apparatus grasps the goods, the first girder 12 moves along the first guide bracket 10 and the second guide bracket 11 so that the goods can be transported to the destination and then dropped. However, the first truss 12 and the second truss 13 both move on the first guide bracket 10 and the second guide bracket 11, and therefore, an interference collision phenomenon may occur, and thus, the present application provides an avoidance control method for a common rail multi-truss system.

Exemplary method

Fig. 2 is a schematic flow chart of an avoidance control method for a common rail multi-truss according to an embodiment of the present application, and as shown in fig. 2, the avoidance control method for a common rail multi-truss includes the following steps:

step S10: determining the motion mode of two trusses according to the current working state of two adjacent trusses in the plurality of trusses;

because two adjacent trusses can move along the length direction of the first guide support 10 and the second guide support 11, in the moving process of the trusses, the avoidance of the whole common rail trusses can be regulated and controlled by regulating and controlling the avoidance of the two adjacent trusses.

Specifically, taking the common rail double truss shown in fig. 1 as an example, step S10 is: in the process of executing tasks by the first truss 12 and the second truss 13, determining the motion mode of the first truss 12 according to the current working state of the first truss 12 in real time, and determining the motion mode of the second truss 13 according to the current working state of the second truss 13;

specifically, the current operating state includes, but is not limited to: target position information, current movement speed, current position information on the first guide bracket 10 (i.e., the current specific position where the first girder 12 moves to the first guide bracket 10). The target location information is then: when the current task executed by the grabbing device corresponding to the first truss 12 is to grab the goods, the target position information is the position of the goods to be grabbed by the current task; when the current task of the gripping device corresponding to first truss 12 is to deliver the gripped goods to the shelf, the target position information is the position of the shelf.

Specifically, the motion mode includes a close mode, a distant mode, and a still mode. The static mode refers to a static state, for example, the first truss 12 is currently in a static state, and the second truss 13 is currently in a static state.

Specifically, taking the common rail double truss shown in fig. 1 as an example, the approach mode and the distance mode may be determined in the following manner: the approaching mode is a motion mode gradually approaching the reference object 14, and the departing mode is a motion mode gradually departing from the reference object 14. The reference object 14 is different in the close mode and the far mode, as shown in fig. 3 to 5: the common rail double truss further comprises a plurality of fixing rods 15, the fixing rods 15 are fixed below the first guide bracket and the second guide bracket, and the length extending direction of the fixing rods 15 is perpendicular to the length extending direction of the first guide bracket and the length extending direction of the first truss 12. Fig. 3 shows a specific expression of the distance mode and the approach mode of the first truss 12 and the second truss 13, when the fixing rod 15 at the intermediate position is used as the reference object 14. Referring to the fixing rod 15 at the left end position as a reference 14, the first truss 12 and the second truss 13 are embodied in a distant mode and an approaching mode as shown in fig. 4. A specific expression of the distance mode and the approach mode of the first girder 12 and the second girder 13 when the fixing rod 15 at the right end position is used as the reference 14 is shown in fig. 5.

Step S20: determining whether the two trusses are interfered and collided according to the motion modes of the two trusses and the current working state; when the two trusses are determined to generate interference collision, executing the step S30; when it is determined that the two trusses do not have an interference collision, step S40 is performed.

Step S30: when the two trusses are interfered and collided, the working state of at least one truss in the two trusses is regulated and controlled according to the current working state of the two trusses.

Specifically, taking the common rail double truss shown in fig. 1 as an example, the working states may include: target position information, movement speed; when the first truss 12 and the second truss 13 may have an interference collision, the operating state of the first truss 12 and/or the second truss 13 is controlled, for example, the moving speed of the first truss 12 and/or the second truss 13 is controlled to be 0 (i.e., stationary), or the target position information of the first truss 12 and/or the second truss 13 is controlled.

Namely, when the first truss 12 and the second truss 13 are interfered and collided, the working state of one truss or two trusses of the two trusses is adjusted in real time, so that the first truss 12 and the second truss 13 are not interfered and collided, the first truss 12 and the second truss 13 can work simultaneously, collision does not occur, and the operating efficiency of the double-truss system is improved.

Step S40: and maintaining the two trusses to work continuously in the current working state.

Namely, when the two trusses are determined not to generate interference collision, the movement state of any truss is not required to be regulated and controlled, and the task is continuously executed according to the original movement speed and the target position information.

The application provides a control method for avoiding a common rail multi-truss system, in the running process of a plurality of trusses, a motion mode is determined according to the current working states of two adjacent trusses in real time, whether interference collision can occur between the two trusses is determined according to the motion mode and the current working states, when the interference collision cannot occur between the two trusses, the current motion state is maintained to continue working, when the interference collision can occur, the working state of at least one truss in the two trusses is regulated and controlled, so that the two trusses can work simultaneously, collision does not occur, and the running efficiency of the multi-truss system is improved.

Because the plurality of trusses can move along the length direction of the first guide support 10 and the second guide support 11, in the moving process of the plurality of trusses, the avoidance of the whole common rail multi-truss can be regulated and controlled by regulating and controlling the avoidance of two adjacent trusses. Taking the common rail double trusses shown in fig. 1 as an example, the avoidance control method of two trusses in the common rail double trusses is described in detail below. When the multiple trusses comprise at least 3 trusses, the avoidance control method between two adjacent trusses is the same as the avoidance control method of two trusses in the common rail double trusses.

In one possible implementation manner, as shown in fig. 6, the specific determination method of the motion modes of the two trusses may be determined by: that is, step S10 (determining the motion mode of the two trusses according to the current working states of the two trusses) specifically includes the following steps:

step S101: determining the current distance between the truss and the reference object 14 according to the current position information of the truss on the guide bracket at the current moment;

the position information of the girder on the guide bracket can be detected according to the position sensor arranged on the girder.

Step S102: determining a reference distance between the truss and the reference object 14 according to reference position information of the truss on the guide support at the previous moment, wherein the time length between the previous moment and the current moment is equal to the detection period of the position sensor;

for example, the detection period of the position sensor is 1 second, and the reference position information at the previous time is the reference position information of the truss on the guide bracket before 1 second.

The time interval is set as the detection period of the position sensor, and the time interval of the position sensor is usually counted in seconds, such as 1 second, 0.5 second and the like, so that in one detection period, the truss does not complete one execution task, the movement distance is not too far, and the accuracy of the movement mode judgment is improved.

Step S103: judging whether the current distance is equal to the reference distance or not;

when the determination result in step S103 is yes, that is, when the current distance is equal to the reference distance, it indicates that there is no change in distance between the truss and the reference object 14, that is, the truss is at rest at this time, that is, the movement mode of the truss is the rest mode, and step S104 is performed.

If the result of the determination in step S103 is no, it means that the distance between the truss and the reference object 14 is gradually changing, and step S105 is executed.

Step S105: judging whether the current distance is greater than a reference distance;

when the determination result in step S105 is yes, that is, when the current distance is greater than the reference distance, it indicates that the truss gradually moves away from the reference object 14, that is, the movement mode of the truss is a away mode, and step S106 is performed.

When the determination result in step S105 is no, that is, when the current distance is smaller than the reference distance, it indicates that the truss gradually approaches the reference object 14, that is, the movement mode of the truss is the approach mode, and step S107 is performed.

Step S106: and determining the movement mode of the truss as a far mode.

Step S107: a motion pattern of the truss is determined to be proximate to the pattern.

In another possible implementation manner, as shown in fig. 7, the specific determination method of the motion modes of the two trusses may also be determined by: that is, step S10 (determining the motion mode of the two trusses according to the current working states of the two trusses) specifically includes the following steps:

step S11: constructing a plane coordinate system by taking the central point in the length direction of the guide support as an original point O, wherein as shown in FIG. 8, the Y axis of the plane coordinate system is parallel to the length of the guide support, and the X axis of the plane coordinate system is parallel to the length of the truss; the right end of the origin O is taken as a positive Y axis, and the left end of the origin O is taken as a negative Y axis.

The reference object 14 is the center point O, and when a fixing rod 15 is fixed just below the center point, the fixing rod 15 can also be the reference object 14.

Step S12: and judging whether the current speed of the truss is 0 or not, and when the current speed of the truss is 0, indicating that the movement mode of the truss is a static mode. I.e. step S13 is performed.

Specifically, the moving speed of the truss may be detected by a speed sensor provided on the truss.

Step S13: determining the movement mode of the truss as a static mode;

when the judgment in step S12 is not 0, it indicates that the truss is moving. Step S14 is performed.

Step S14: acquiring current coordinate information of the truss on the guide support and target coordinate information of the truss;

the current coordinate information specifically refers to current Y-axis coordinate information of the truss on the guide support.

Specifically, the current coordinate information of the truss on the guide bracket may be determined as follows: and a position sensor is arranged on the truss, and when the truss moves on the guide support, the position sensor detects the current position information of the truss on the guide support in real time, and then the current position information is converted by using a coordinate system, so that the current coordinate information of the truss is determined.

Step S15: judging whether the target coordinate information and the current coordinate information of the truss are both positioned on a positive Y axis or a negative Y axis;

when the determination result in the step S15 is yes, that is, whether the target coordinate information and the current coordinate information of the truss are both located on the positive Y axis or the negative Y axis, that is, the target coordinate information and the current coordinate information of the truss are both located on the same side of the origin O, at this time, the motion mode of the truss may be determined according to the sizes of the target coordinate information and the current coordinate information. I.e. steps S16-S18 are performed.

When the determination result in step S15 is negative, that is, the target coordinate information and the current coordinate information of the truss are located on the positive Y axis and the negative Y axis, respectively, at this time, when the truss performs the task, the truss gradually approaches the origin O, that is, the current motion mode of the truss is an approach mode, that is, step S18 is performed. However, when the truss performs the task, the truss is close to the origin O and then gradually moves away from the origin O. For example, as shown in fig. 9, the current coordinate information of first girder 12 is located on the negative Y-axis, and the target coordinate information is located on the positive Y-axis, and at this time, first girder 12 needs to be close to origin O in order to complete the task, and thus the current movement pattern of first girder 12 is the approach pattern. However, during the process of continuing to perform the task on first truss 12, first truss 12 gradually gets closer to point O and then gradually gets farther from point O, that is, after first truss 12 moves to the right end of point O, the movement pattern of first truss 12 is the far pattern, as shown in fig. 10.

Step S16: judging whether the absolute value of the target coordinate information is larger than the absolute value of the current coordinate information;

when the determination result of step S16 is yes, that is, the target coordinate information is farther from the origin O with respect to the current coordinate information, the truss will be farther from the origin O, and therefore, the movement mode of the truss is the distant mode, that is, step S17 is performed.

When the determination result of step S16 is no, that is, the target coordinate information is closer to the origin O with respect to the current coordinate information, the truss will be closer to the origin O and thus the movement pattern of the truss is the approach pattern, that is, step S18 is performed.

Step S17: determining the movement mode of the truss as a far mode;

step S18: determining the movement mode of the truss as a proximity mode;

for example, as shown in fig. 8, the target coordinate information and the current coordinate information of the first girder 12 are both located on the negative Y-axis, and the absolute value of the target coordinate information is larger than that of the current coordinate information, so that the movement mode of the first girder 12 is the distant mode.

The target coordinate information and the current coordinate information of the second truss 13 are both located on the positive Y-axis, and the absolute value of the target coordinate information is smaller than the absolute value of the current coordinate information, so the motion mode of the second truss 13 is the approach mode.

It should be noted that, during the process of executing a task, the movement mode of one truss is not only one, and the movement mode of the truss is determined according to the current position, the reference object 14 and the target position, as shown in fig. 8 and 9.

In a possible implementation manner, after determining the movement patterns of first truss 12 and second truss 13 by using the manner of determining the movement patterns of the trusses shown in fig. 7, it is determined whether an interference collision occurs between first truss 12 and second truss 13, and if an interference collision occurs, the specific control manner may be as follows:

(1) As shown in fig. 11, step S20 (determining whether the two trusses will have an interference collision according to the motion mode and the current working state of the two trusses) may specifically include the following steps:

step S201: determining the motion mode of the first truss 12 as a proximity mode and the motion mode of the second truss 13 as a static mode;

step S202: judging whether the target coordinate information Y4 of the first truss 12 is larger than the current coordinate information Y2 of the second truss 13;

when the determination result in step S202 is yes, as shown in fig. 12, that is, the target coordinate information Y4 of the first truss 12 is greater than the current coordinate information Y2 of the second truss 13, that is, it is explained that the destination of the first truss 12 is located at the right end of the second truss 13, and therefore, the first truss 12 and the second truss 13 may have an interference collision, that is, step S203 is performed.

When the judgment result of step S202 is no, as shown in fig. 13, that is, the target coordinate information Y4 of the first girder 12 is less than or equal to the current coordinate information Y2 of the second girder 13, step S204 is performed.

Step S203: determining that an interference collision will occur between first truss 12 and second truss 13;

step S204: judging whether the absolute value of the difference between the target coordinate information Y4 of the first truss 12 and the current coordinate information Y2 of the second truss 13 is smaller than a preset safety distance; namely, it is determined whether the distance L2 between the target coordinate information of the first truss 12 and the current coordinate information of the second truss 13 is smaller than the preset safety distance L.

When the determination result in step S204 is yes, that is, the absolute value of the difference between the target coordinate information Y4 of the first truss 12 and the current coordinate information Y2 of the second truss 13 is smaller than the preset safe distance, that is, L2 < L, it indicates that the process of moving the first truss 12 to the destination does not pass through the current position of the second truss 13, but because the distance between the current positions of the second trusses 13 in the destination area of the first truss 12 is smaller than the preset safe distance, because inertia exists during the movement of the first truss 12, when the first truss 12 is in operation at the destination, an interference collision may still occur with the second truss 13, and therefore, it is determined that the interference collision occurs between the first truss 12 and the second truss 13, that is, step S203 is performed.

When the determination result in step S204 is no, that is, the absolute value of the difference Y2 between the target coordinate information Y4 of the first truss 12 and the current coordinate information of the second truss 13 is greater than or equal to the preset safe distance, that is, L2 is greater than or equal to L, it indicates that even if there is inertia in the movement of the first truss 12, there is still enough distance for buffering when the first truss 12 is in operation and the destination is reached, so that the first truss 12 and the second truss 13 do not collide with each other, that is, step S205 is performed.

Step S205: it is determined that first truss 12 and second truss 13 will not collide in an interference manner.

When step S203 determines that the first truss 12 and the second truss 13 are in interference collision, step S30 (adjusting and controlling the working state of at least one of the two trusses according to the current working states of the two trusses) specifically includes the following steps:

step S301: the second truss 13 is regulated and controlled to move to the position of the regulation and control coordinate information, and the absolute value of the difference between the regulation and control coordinate information Y3 and the target coordinate information Y4 of the first truss 12 is greater than or equal to the preset safety distance;

that is, as shown in fig. 12 and 13, a distance L1 between the target coordinate information and the regulation coordinate information is greater than or equal to the preset safety distance L.

Because the second truss 13 is in the static mode, the second truss 13 executes a specific avoidance mode, gives back to the coordinate information for regulation and control, and gives enough running space to the first truss 12, so that the first truss 12 does not interfere and collide with the second truss 13 in the task execution process, the working state of each truss is utilized to the maximum extent, and the running efficiency is improved.

Step S302: and (3) controlling the first truss 12 to continue to move in the current movement state, namely, the first truss 12 continues to maintain the original movement speed to move to the destination.

(2) As shown in fig. 14, the step S20 (determining whether the two trusses will have interference collision according to the motion mode and the current working state of the two trusses) may specifically include the following steps:

step S21: determining the movement mode of the first truss 12 as a close mode and the movement mode of the second truss 13 as a far mode;

step S22: judging whether the target coordinate information Y4 of the first truss 12 is smaller than the target coordinate information Y5 of the second truss 13;

when the judgment result of step S22 is yes, i.e., Y4 < Y5, as shown in fig. 15; step S23 is performed.

When the judgment result in step S22 is no, that is, Y4 is greater than or equal to Y5, as shown in fig. 16, that is, first truss 12 passes through the destination of second truss 13 in the process of executing the task, at this time, it is determined that interference collision occurs between first truss 12 and second truss 13, and step S24 is executed.

Step S23: judging whether the absolute value of the difference between the target coordinate information of the first truss 12 and the target coordinate information of the second truss 13 is smaller than a preset safety distance or not;

if the result of the determination in step S23 is yes, that is, | Y4-Y5| = L3 < L, that is, if the first truss 12 and the second truss 13 normally perform tasks, since both the first truss 12 and the second truss 13 have inertia during the movement, even if the first truss 12 and the second truss 13 reach the destination, an interference collision may still occur due to the inertia of each other. Thus, step S24 is performed.

When the interpretation result in step S23 is no, that is, | Y4-Y5| ≧ L, that is, when first truss 12 and second truss 13 normally perform a task, even if both first truss 12 and second truss 13 have inertia during movement, there is sufficient buffer space when first truss 12 and second truss 13 reach the destination, and therefore, interference collision does not occur between first truss 12 and second truss 13, and step S25 is performed.

Step S24: it is determined that the first truss 12 and the second truss 13 will have an interference collision.

Step S25: it is determined that the first truss 12 and the second truss 13 do not have an interference collision.

When it is determined in step S24 that the first truss 12 and the second truss 13 are subjected to interference collision, step S30 (controlling the motion state of at least one of the two trusses according to the current working states of the two trusses) specifically includes the following steps:

step S31: the first truss 12 is regulated and controlled to move to the regulation and control coordinate information Y3, the regulation and control coordinate information Y3 is smaller than the target coordinate information Y5 of the second truss 13, that is, Y3 is smaller than Y5, and an absolute value of a difference between the regulation and control coordinate information Y3 and the target coordinate information Y5 of the second truss 13 is greater than or equal to a preset safe distance L, that is, | Y3-Y5| = L1 is greater than or equal to L, as shown in fig. 15 and fig. 16;

that is, when the first truss 12 and the second truss 13 are subjected to interference collision, the first truss 12 is controlled to move to the control coordinate information.

Step S32: when the first truss 12 moves to the position of the regulation and control coordinate information Y3, regulating and controlling the movement speed of the first truss 12 to be 0;

step S33: regulating and controlling the second truss 13 to continuously move to the target coordinate information Y5 of the second truss 13;

step S34: when the second truss 13 continues to move to the target coordinate information position Y5 of the second truss 13, regulating the movement speed of the second truss 13 to be 0; and

step S35: the first truss 12 is regulated to continue moving.

(3) As shown in fig. 17, the step S20 (determining whether the two trusses will have interference collision according to the motion mode and the current working state of the two trusses) may specifically include the following steps:

step S26: determining the motion mode of the first truss 12 as an approach mode and the motion mode of the second truss 13 as an approach mode;

i.e. the direction of movement of first girder 12 and second girder 13 is identical.

Step S27: judging that the absolute value of the difference between the target coordinate information Y4 of the first truss 12 and the target coordinate information Y5 of the second truss 13 is smaller than a preset safety distance L;

as shown in fig. 18, when the determination result in step S27 is yes, that is, | Y4-Y5| = L3 < L, after the first truss 12 and the second truss 13 move to the respective destinations, the safe distance is insufficient, so that the first truss 12 and the second truss 13 still have an interference collision, that is, step S28 is performed.

If the determination result in step S27 is no, that is, | Y4-Y5| = L3 ≧ L, after the respective moving destinations of first truss 12 and second truss 13, since the safety distance is sufficient, interference collision does not occur between first truss 12 and second truss 13, that is, step S29 is performed.

Step S28: it is determined that the first truss 12 and the second truss 13 will have an interference collision.

Step S29: it is determined that the first truss 12 and the second truss 13 do not have an interference collision.

When it is determined that the first truss 12 and the second truss 13 are interfered and collided, the step S30 (controlling the motion state of at least one of the two trusses according to the current working states of the two trusses) specifically includes the following steps:

step S36: determining an absolute value of a first movement distance L1 according to current coordinate information Y1 of the first truss 12 and target coordinate information Y4 of the first truss 12;

step S37: determining an absolute value of a second movement distance L2 according to the current coordinate information Y2 of the second truss 13 and the target coordinate information Y5 of the second truss 13;

step S38: judging whether the first movement distance is smaller than the second movement distance;

when the judgment result of step S38 is yes, i.e., the first movement distance is smaller than the second movement distance, i.e., L1 < L2, steps S39 to S391 are performed.

When the determination result of step S38 is no, that is, the first movement distance is greater than or equal to the second movement distance, that is, L1 is greater than L2, step S392 is performed.

Step S39: regulating and controlling the first truss 12 to continuously move to the target coordinate information of the first truss 12 in a proximity movement mode;

step S391: the second truss 13 is regulated and controlled to move continuously to the regulation and control coordinate information Y3 and then to be stationary, the absolute value of the difference between the regulation and control coordinate information Y3 of the second truss 13 and the target coordinate information Y4 of the first truss 12 is greater than or equal to the preset safe distance L, that is, | Y4-Y3| = L1 is greater than or equal to L, as shown in fig. 18;

when the first truss 12 reaches the destination, the first truss 12 stops, and the second truss 13 moves to the destination from the control coordinate information Y3.

Step S392: and controlling the first truss 12 to continuously move to the position of the control coordinate information Y3 and then to be static, and controlling the second truss 13 to continuously move to the position of the target coordinate information of the second truss 13.

Namely, which truss of the first truss 12 and the second truss 13 is close to the destination is determined, the truss farthest from the destination performs avoidance first, moves to the position where the control coordinate information is static first, and the truss closest to the destination moves to the destination first.

Exemplary devices

As a second aspect of the present application, there is also provided an avoidance control device of a common rail multi-truss system, as shown in fig. 19, the avoidance control device 300 including:

a motion mode determining unit 400, configured to determine motion modes of two trusses according to current working states of two adjacent trusses of the multiple trusses, where the motion modes include a far mode, a near mode, and a still mode, the current working state includes a current motion state and target position information, and the current motion state includes a current motion speed and current position information on the guide bracket; i.e. the movement pattern determination unit 400 is adapted to perform step S10 in the above-described avoidance control method.

The judging unit 500 is configured to determine whether the two trusses are interfered and collided according to the motion modes of the two trusses and the current working state; that is, the determination unit 500 is configured to execute step S20 in the avoidance control method.

The control unit 700 is configured to control a motion state of at least one truss of the two trusses according to a current working state of the two trusses when the two trusses are subjected to interference collision; namely, the control unit 700 is configured to execute step S30 in the avoidance control method.

The application provides a control device dodges of many trusses of rail system, in many trusses operation process, the current operating condition according to adjacent two trusses in many trusses in real time confirms the motion pattern, and confirm whether two trusses can take place to interfere the collision according to motion pattern and current operating condition, when two trusses can not take place to interfere the collision, maintain current motion state and continue work, when can taking place to interfere the collision, the operating condition of at least one truss in two trusses is regulated and control, so that two trusses work simultaneously, and do not collide, the operating efficiency of many trusses system has been improved.

Exemplary System

As a third aspect of the present application, there is also provided a common rail multi-truss system, including:

a common rail multi-truss comprising: two guide brackets arranged in parallel; the angle between the guide bracket and the truss is more than 0; the truss can move along the length directions of the two guide brackets through the moving assembly;

the position sensor is used for detecting the position information of the truss on the guide bracket;

the speed sensor is used for detecting the movement speed of the truss on the guide bracket;

the motion controller is used for controlling the working state of the truss on the guide bracket; and

the avoidance control device of the common rail multi-truss system is arranged;

the common rail multi-truss system avoidance control device is in communication connection with the position sensor, the speed sensor and the motion controller, and is used for the common rail multi-truss system avoidance control method.

Specifically, the number of the trusses included in the common rail multi-truss system may be 2 or 3.

Specifically, as shown in fig. 20, the common rail multi-truss system includes a common rail multi-truss, that is, the common rail multi-truss system is a common rail double-truss system, and as shown in fig. 20, the common rail double-truss system includes:

fig. 1 shows a common rail double truss 1, which includes two first guide brackets 10 and a second guide bracket 11 arranged in parallel; two first trusses 12 and two second trusses 13 which are parallel to each other, wherein the included angle between the first guide support 10 and the first truss 12 is larger than 0, and optionally, the included angle between the first guide support 10 and the first truss 12 is 90 degrees, namely, the first guide support 10 is perpendicular to the first truss 12; a moving assembly, by which both the first truss 12 and the second truss 13 can move along the length direction of the first guide bracket 10;

a position sensor 20, wherein one position sensor 20 is respectively arranged on the first truss 12 and the second truss 13, and the position sensor 20 is used for detecting the position information of the first truss 12 and the second truss 13 on the first guide bracket 10;

a speed sensor 21, wherein one speed sensor 21 is respectively arranged on the first truss 12 and the second truss 13, and the speed sensor 21 is used for detecting the moving speed of the first truss 12 and the second truss 13 on the first guide bracket 10;

the motion controller 800, the motion controller 800 is used for controlling the working states of the first truss 12 and the second truss 13 on the first guide bracket 10; and

the avoidance control device 300 of the common rail multi-truss system;

the avoidance control device 300 of the common rail multi-truss system is in communication connection with the position sensor 20, the speed sensor 21 and the motion controller 800 respectively.

Exemplary electronic device

Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 21. Fig. 21 is a schematic structural diagram of an electronic device according to an embodiment of the application.

As shown in fig. 21, the electronic device 600 includes one or more processors 601 and memory 602.

The processor 601 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or information execution capabilities, and may control other components in the electronic device 600 to perform desired functions.

Memory 601 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program information may be stored on the computer readable storage medium, and the processor 601 may execute the program information to implement the avoidance control method of the common rail multi-truss system according to the various embodiments of the present application described above or other desired functions.

In one example, the electronic device 600 may further include: an input device 603 and an output device 604, which are interconnected by a bus system and/or other form of connection mechanism (not shown).

The input device 603 may include, for example, a keyboard, mouse, etc.

The output device 604 can output various information to the outside. The output means 604 may comprise, for example, a display, a communication network, a remote output device connected thereto, and the like.

Of course, for the sake of simplicity, only some of the components related to the present application in the electronic device 600 are shown in fig. 21, and components such as a bus, an input/output interface, and the like are omitted. In addition, electronic device 600 may include any other suitable components depending on the particular application.

In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program information which, when executed by a processor, causes the processor to perform the steps in the avoidance control method of a common rail multi-truss system according to various embodiments of the present application described in the present specification.

The computer program product may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages, for carrying out operations according to embodiments of the present application. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.

Furthermore, embodiments of the present application may also be a computer readable storage medium having stored thereon computer program information, which, when executed by a processor, causes the processor to perform the steps of the method for avoidance control of a common rail multi-truss system according to various embodiments of the present application.

The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.

The block diagrams of devices, apparatuses, devices, systems referred to in this application are only used as illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".

It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, and any modifications, equivalents and the like that are within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (10)

1. An avoidance control method of a common rail multi-truss system is suitable for a common rail multi-truss, and the common rail multi-truss comprises the following steps: the truss type robot comprises two guide supports arranged in parallel and a plurality of trusses parallel to each other, wherein the trusses can move along the length direction of the two guide supports; the avoidance control method is characterized by comprising the following steps:

determining motion modes of two trusses according to current working states of two adjacent trusses in the trusses, wherein the motion modes comprise a far mode, a near mode and a static mode, the current working states comprise target position information, current motion speed and current position information of the guide support, the near mode is a motion mode moving towards a near reference object, and the far mode is a motion mode moving away from the reference object;

determining whether the two trusses are interfered and collided according to the motion modes of the two trusses and the current working state;

and when the two trusses are interfered and collided, regulating and controlling the working state of at least one truss in the two trusses according to the current working states of the two trusses.

2. The avoidance control method of the common rail multi-truss system according to claim 1, wherein a position sensor is provided on the truss, and the position sensor is configured to detect position information of the truss on the guide bracket;

wherein, determining the motion mode of two trusses according to the current working state of two adjacent trusses in the plurality of trusses comprises:

determining the current distance between the truss and the reference object according to the current position information of the truss on the guide bracket at the current moment;

determining a reference distance between the truss and the reference object according to reference position information of the truss on the guide support at the last moment, wherein the duration between the last moment and the current moment is equal to the detection period of the position sensor;

when the current distance is smaller than the reference distance, determining that the movement mode of the truss is a proximity mode;

when the current distance is greater than the reference distance, determining that the movement mode of the truss is a far mode; and

when the current distance is equal to the reference distance, determining that the movement mode of the truss is a static mode.

3. The avoidance control method for the common rail multi-truss system according to claim 1, wherein determining the movement pattern of two of the trusses based on the current operating state of two adjacent trusses of the plurality of trusses comprises:

a plane coordinate system is established by taking a central point in the length direction of the guide support as an origin, the Y axis of the plane coordinate system is parallel to the length of the guide support, the X axis of the plane coordinate system is parallel to the length of the truss, and the central point is the reference object;

when the current movement speed of the truss is equal to 0, determining that the movement mode of the truss is a static mode;

when the current movement speed of the truss is greater than 0, acquiring current coordinate information of the truss on the guide support and target coordinate information of the truss;

when the target coordinate information and the current coordinate information of the truss are both located on a positive Y axis or a negative Y axis, and the absolute value of the target coordinate information of the truss is greater than the absolute value of the current coordinate information, determining that the movement mode of the truss is a far mode;

when the target coordinate information and the current coordinate information of the truss are both located on a positive Y axis or a negative Y axis, and the absolute value of the target coordinate information of the truss is smaller than the absolute value of the current coordinate information, determining that the movement mode of the truss is a proximity mode;

and when the target coordinate information and the current coordinate information of the truss are respectively positioned on a positive Y axis and a negative Y axis, determining that the movement mode of the truss is a proximity mode.

4. The avoidance control method of the common rail multi-truss system according to claim 3, wherein the two trusses are a first truss and a second truss, respectively;

determining whether the two trusses are interfered and collided according to the motion modes and the current working state of the two trusses, wherein the method comprises the following steps:

when the motion mode of the first truss is a proximity mode, the motion mode of the second truss is a static mode, and the target coordinate information of the first truss is larger than the current coordinate information of the second truss, determining that the first truss and the second truss can generate interference collision; or

When the motion mode of the first truss is a proximity mode, the motion mode of the second truss is a static mode, the target coordinate information of the first truss is smaller than the current coordinate information of the second truss, and the absolute value of the difference between the target coordinate information of the first truss and the current coordinate information of the second truss is smaller than a preset safety distance, determining that the first truss and the second truss can generate interference collision;

when the two trusses are interfered and collided, the working state of at least one truss in the two trusses is regulated and controlled according to the current working states of the two trusses, and the method comprises the following steps:

regulating and controlling the second truss to move to a position of regulating and controlling coordinate information, wherein the absolute value of the difference between the regulating and controlling coordinate information and the target coordinate information of the first truss is greater than or equal to the preset safety distance; and

and regulating and controlling the first truss to continuously move in the current working state.

5. The avoidance control method of the common rail multi-truss system according to claim 4, wherein whether the two trusses are interfered and collided is determined according to the motion modes of the two trusses and the current working state, further comprising:

when the motion mode of the first truss is a proximity mode, the motion mode of the second truss is a static mode, the target coordinate information of the first truss is smaller than the current coordinate information of the second truss, and the absolute value of the difference between the target coordinate information of the first truss and the current coordinate information of the second truss is larger than or equal to the preset safety distance, it is determined that the first truss and the second truss cannot generate interference collision.

6. The avoidance control method for the common rail multi-truss system according to claim 3, wherein the two trusses are a first truss and a second truss, respectively;

determining whether the two trusses are interfered and collided according to the motion modes and the current working state of the two trusses, wherein the method comprises the following steps:

when the movement mode of the first truss is a close mode and the second truss is a far mode, the target coordinate information of the first truss is smaller than the target coordinate information of the second truss, and the absolute value of the difference between the target coordinate information of the first truss and the target coordinate information of the second truss is smaller than the preset safe distance, and the first truss and the second truss are determined to generate interference collision; or

When the motion mode of the first truss is a close mode, the second truss is a far mode, and the target coordinate information of the first truss is larger than that of the second truss, determining that the first truss and the second truss are subjected to interference collision;

wherein, when two when the truss takes place to interfere the collision, according to two of the current operating condition regulation and control of truss the operating condition of at least one in the truss includes:

regulating and controlling the first truss to move to a position of regulating and controlling coordinate information, wherein the regulating and controlling coordinate information is smaller than the target coordinate information of the second truss, and the absolute value of the difference between the regulating and controlling coordinate information and the target coordinate information of the second truss is larger than or equal to the preset safety distance;

when the first truss moves to the position of the regulation and control coordinate information, regulating and controlling the movement speed of the first truss to be 0;

regulating and controlling the second truss to continuously move to the target coordinate information of the second truss;

when the second truss continues to move to the target coordinate information of the second truss, regulating and controlling the movement speed of the second truss to be 0; and

and regulating the first truss to move continuously.

7. The common rail multi-truss system avoidance control method according to claim 6,

when the movement mode of the first truss is a close mode and the second truss is a far mode, the target coordinate information of the first truss is smaller than the target coordinate information of the second truss, and the absolute value of the difference between the target coordinate information of the first truss and the target coordinate information of the second truss is larger than or equal to the preset safe distance, and it is determined that the first truss and the second truss cannot generate interference collision.

8. The avoidance control method for the common rail multi-truss system according to claim 3, wherein the two trusses are a first truss and a second truss, respectively;

determining whether the two trusses are interfered and collided according to the motion modes and the current working state of the two trusses, wherein the method comprises the following steps:

when the motion mode of the first truss is an approach mode and the motion mode of the second truss is an approach mode, and the absolute value of the difference between the target coordinate information of the first truss and the target coordinate information of the second truss is smaller than the preset safety distance, determining that the first truss and the second truss are subjected to interference collision;

wherein, when two the truss takes place to interfere the collision, the operating condition of at least one truss in two trusses is regulated and control according to the current operating condition of two trusses, includes:

determining an absolute value of a first movement distance according to the current coordinate information of the first truss and the target coordinate information of the first truss;

determining an absolute value of a second movement distance according to the current coordinate information of the second truss and the target coordinate information of the second truss;

when the absolute value of the first movement distance is smaller than the absolute value of the second movement distance, regulating and controlling the first truss to continuously move to the target coordinate information of the first truss in a close movement mode;

regulating and controlling the second truss to move continuously to a position of regulating and controlling coordinate information and then to be static, wherein the absolute value of the difference between the regulating and controlling coordinate information of the second truss and the target coordinate information of the first truss is greater than or equal to the preset safety distance;

and when the first truss continues to move to the target coordinate information of the first truss in the approaching movement mode, regulating the movement speed of the first truss to be 0, and regulating the second truss to move from the regulated coordinate information to the target coordinate information of the second truss.

9. The common rail multi-truss system avoidance control method according to claim 8,

determining whether the two trusses are interfered and collided according to the motion modes and the current working state of the two trusses, and further comprising the following steps:

and when the motion mode of the first truss is an approach mode and the motion mode of the second truss is an approach mode, and the absolute value of the difference between the target coordinate information of the first truss and the target coordinate information of the second truss is greater than or equal to the preset safety distance, determining that the first truss and the second truss do not generate interference collision.

10. A common rail multi-truss system, comprising:

a common rail multi-truss, the common rail multi-truss comprising: two guide brackets which are arranged in parallel; the included angle between the guide support and the truss is more than 0; the truss can move along the length direction of the two guide brackets through the moving assembly;

the position sensor is used for detecting the position information of the truss on the guide bracket;

the speed sensor is used for detecting the movement speed of the truss on the guide bracket;

the motion controller is used for controlling the working state of the truss on the guide bracket; and

an avoidance control device of the common rail multi-truss system;

the avoidance control device of the common rail multi-truss system is in communication connection with the position sensor, the speed sensor and the motion controller, respectively, and is configured to execute the avoidance control method of the common rail multi-truss system according to any one of claims 1 to 9.

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