CN217729151U - Line and collision avoidance system are produced to pay-off cloth - Google Patents

Abstract

The utility model relates to a line and collision avoidance system are produced to pay-off cloth. The collision avoidance system includes a sensor, a barrier, and a controller. The sensor is configured on the feeding car and used for sensing the barrier in the advancing direction of the feeding car. The blocking member is controlled to be switched between a first state and a second state, wherein the first state is configured to block a traveling route of the feeding car advancing towards the cleaning area, and the second state is configured to exit the traveling route. The controller is in communication connection with the sensor and is used for controlling the starting and stopping of the feeding car according to whether the sensor senses the barrier or not. Above-mentioned collision avoidance system responds to the carriage place ahead through the inductor and whether has the barrier, and the control carriage of controller stops when having, realizes electric anticollision. The barrier is controlled to block the travel path, on the one hand as a sensor to sense the identification and on the other hand as a mechanical collision avoidance. The electric anticollision of inductor forms dual guarantee jointly with blockking piece mechanical anticollision, greatly reduced because of single equipment failure leads to the probability that collision avoidance system thoroughly became invalid.

Description

Line and collision avoidance system are produced to pay-off cloth

Technical Field

The utility model relates to an assembly type structure technical field especially relates to a line and collision avoidance system are produced to pay-off cloth.

Background

At present, in the field of fabricated building, a feeding trolley is widely used for conveying concrete mortar to a distributing station, a track is erected between a mixing station and a distributing system, the feeding trolley moves along the track and unloads materials to the distributing system, and a set of feeding and distributing production line is formed.

Because the material distributor often needs to be manually cleaned by standing on the cleaning platform, the traveling track of the cleaning platform and the feeding trolley of the material distributor often has a crossing region. Thus, there are the following problems: the condition that cleaning operators are accidentally injured by collision can happen to the feeding trolley in the feeding process, and great potential safety hazards exist; the cleaning operation can not be carried out in time, and the operation efficiency of a factory is influenced.

In order to solve the problems, the current PC (Precast Concrete) factory adopts a method of manually judging time-sharing operation or a method of additionally arranging a photoelectric sensor on a feeding trolley to avoid collision. The manual mode needs to arrange a specially-assigned person for supervision, which not only wastes manpower, but also has poor reliability. Although the method of adding the photoelectric sensor on the feeding trolley is more efficient than manual work, certain failure possibility exists.

SUMMERY OF THE UTILITY MODEL

In view of the above, there is a need to provide an efficient and reliable collision avoidance system.

A collision avoidance system comprising:

the sensor is arranged on the feeding car and used for sensing an obstacle positioned in the advancing direction of the feeding car, and the feeding car moves to the cleaning area when advancing along the advancing direction;

a blocking member controlled to switch between a first state configured to block a travel route of the carriage advancing toward the cleaning zone and a second state configured to retreat from the travel route, the sensor being capable of sensing the blocking member in the first state; and

and the controller is in communication connection with the sensor and is used for controlling the starting and stopping of the feeding car according to whether the sensor senses the barrier.

Above-mentioned collision avoidance system responds to the place ahead that the stack pallet marchd through the inductor and whether has the barrier, and when sensing the barrier, the stack pallet then stops advancing under the control of controller, reaches the effect that prevents the collision. When the operating personnel need carry out the operation in the washing district, only need control to stop to block and make it stop on the route of travel of pay-off car, so, advance to this moment when the pay-off car, stop to block and can regard as the barrier naturally and by the inductor perception, the pay-off car then stops under the control of controller, reaches the purpose that the washing district was washd in the anticollision. The blocking member can be used as a sensing identification object reliably and certainly determined by the sensor, and the blocking member can be used for leaving enough response distance for the feeding trolley to stop by sensing before the cleaning area. On the other hand, on the premise that the blocking piece blocks, even if devices such as an inductor and the like fail, the feeding car is also blocked by the blocking piece, so that the feeding car is prevented from colliding to the cleaning area. Similarly, when the blocking part fails or forgets to be started, the sensor can also independently sense and work to identify whether other blocking parts such as operators and cleaning equipment exist in front so as to avoid collision. The electric anticollision of inductor forms dual guarantee jointly with blockking piece mechanical anticollision, greatly reduced because of single equipment failure leads to the probability that collision avoidance system thoroughly became invalid.

In one embodiment, the collision avoidance system further comprises a control switch, wherein the control switch is in communication with the blocking member and controls the blocking member to switch between the first state and the second state.

In one embodiment, the blocking member includes a movement blocking portion that is controlled to switch between the first state and the second state when moved in a direction perpendicular to the travel path.

In one embodiment, the blocking member further comprises a guide portion, and the movement blocking portion is slidably provided to the guide portion.

In one embodiment, the feed carriage travels along a track; the blocking member is arranged outside the rail, and when the blocking member is in the first state, the movement blocking portion is at least partially located above the rail.

In one embodiment, the movement blocking part is configured with an avoidance gap, and the rail is accommodated in the avoidance gap when the blocking part is in the first state.

In one embodiment, the feed carriage travels along a track; in the vertical direction, the orthographic projection of the sensor is located within the range of the orthographic projection of the rail.

In one embodiment, the sensor is a laser anti-collision sensor.

The utility model provides a pay-off cloth is produced line which characterized in that includes:

the cloth system is provided with a cleaning area for cleaning cloth equipment;

a feed carriage moving forward along its own travel direction to approach the cleaning zone; and

the anti-collision system is described above.

In one embodiment, the material distributing system further comprises a cleaning switch, wherein the cleaning switch is used for controlling whether the material distributing device enters a cleaning mode;

the cleaning switch is in communication connection with the blocking piece, the cleaning switch controls the blocking piece to be switched to the first state when the cloth equipment is controlled to enter the cleaning mode, and the cleaning switch controls the blocking piece to be switched to the second state when the cloth equipment is controlled to exit the cleaning mode.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic view of a feeding and distributing line in an embodiment of the present invention;

FIG. 2 is an enlarged schematic view of the feeding and distributing line A shown in FIG. 1;

FIG. 3 is an enlarged view of the feeding and distributing line B shown in FIG. 1;

FIG. 4 is a schematic view of a portion of the feed fabric production line shown in FIG. 1 including a collision avoidance system;

FIG. 5 is a schematic view of the bumper system of FIG. 4 in a first state;

fig. 6 is a schematic structural view of the barrier in the collision avoidance system of fig. 4 in a second state.

100. A feeding and distributing production line; 10. a material distribution system; 11. a material distribution device; 13. a cleaning table; 30. a feeding car; 50. a track; 51. a guide rail; 70. an anti-collision system; 71. an inductor; 73. a blocking member; 731. a movement blocking section; 7311. a first portion; 7313. a second portion; 733. a guide portion; q, a cleaning area; C. a material distribution area; l, a travel route; x, the direction of travel; z, detection range; K. avoiding the gap.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In the present application, unless expressly stated or limited otherwise, a first feature "on" or "under" a second feature may be directly contacting the second feature or the first and second features may be indirectly contacting the second feature through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1 to 3, an embodiment of the present invention provides a feeding and distributing material production line 100 and an anti-collision system 70. The feeding and distributing production line 100 includes a distributing system 10, a feeding cart 30, and an anti-collision system 70. The distribution system 10 has a cleaning zone Q for cleaning the distribution equipment, which the carriage 30 approaches when advancing in its own direction of travel.

The entire feeder-distribution line 100 generally includes a plurality of distribution systems 10 and a plurality of feeders 30. The distribution system 10 typically also comprises a distribution area C, to which the distribution device 11 is arranged. The cloth device 11 needs to be cleaned in some cases, and therefore, a space which is occupied by a part of the area in the vicinity of the cloth system 10 for cleaning, that is, a cleaning area Q, is provided with a cleaning device such as a cleaning table 13 for cleaning the cloth device 11. The feeding and distributing production line 100 generally further includes a rail 50 for guiding the feeding cart 30 to move, and the feeding cart 30 moves along the rail 50 to convey the material to the designated station according to the set instruction, where the rail 50 is the traveling route L. The traveling path L of the carriage 30, that is, the rail 50, intersects the washing zone Q, so that it is necessary to avoid collision of the carriage 30 with workers or equipment located in the washing zone Q when performing the washing operation.

The utility model provides an anticollision system 70 is applied to above-mentioned pay-off cloth and produces line 100, and above-mentioned pay-off cloth is produced line 100 during operations, is transported the material to the uninstallation of cloth system 10 along route L of marcing by stack pallet 30, prevents during through anticollision system 70 that stack pallet 30 from colliding with the people or equipment at the work of washing district Q to avoid the emergence of accident, the operation personnel who carry out work at washing district Q also can feel at ease to wash the operation. The bumper system 70 provided by the present invention is described in detail below.

According to some embodiments of the present invention, the collision avoidance system 70 provided herein includes a sensor 71, a blocking member 73, and a controller (not shown). The sensor 71 is disposed on the feed carriage 30, and senses an obstacle located in the traveling direction X of the feed carriage 30, and the feed carriage 30 travels through the cleaning zone Q while traveling in the traveling direction X. The blocking member 73 is controlled to be switched between a first state (shown in fig. 2 and 5) configured to block the traveling path L of the carriage 30 advancing toward the cleaning zone Q and a second state (shown in fig. 3 and 6) configured to exit the traveling path L, and the sensor 71 can sense the blocking member 73 in the first state. The controller is in communication connection with the sensor 71 and is used for controlling the start and stop of the feeding car 30 according to whether the sensor 71 senses an obstacle.

The obstacle refers to an object which is located in front of the feed carriage 30 on the traveling path L of the feed carriage 30 and may obstruct the travel of the feed carriage 30 or collide with the feed carriage 30, and includes, but is not limited to, the blocking member 73 in the first state, an operator, a cleaning device, and the like. The sensor 71 for detecting the blockage in real time includes, but is not limited to, an inductive sensor such as a laser radar, a millimeter wave radar, a sonar, etc. It can be understood that the sensor 71 has a set sensing range, so that only an object generating a blockage is located in the set sensing range and is sensed by the sensor 71 to be the blockage of the feeding carriage 30, and the sensing distance of the set sensing range can be determined according to the response time required by the sensing, the braking distance of the feeding carriage 30 and the like.

The stopper 73 is provided on the side of the cleaning area Q facing away from the traveling direction X so as to stop the carriage 30 from the cleaning area Q during cleaning operation. The first state of the stopper 73 is a stopped state in which the carriage 30 is stopped from passing through the cleaning zone Q. The second state of the blocking member 73, i.e., not blocking the traveling path L of the carriage 30, allows the carriage 30 to pass through the cleaning zone Q. The specific installation position of the blocking member 73 should be determined according to the set sensing range of the sensor 71, so as to ensure that within the sensing distance, when the blocking member 73 is in the first state, the sensor 71 can accurately detect the blocking of the blocking member 73, and it is considered as an obstacle, and when the blocking member 73 is in the second state, the blocking member 73 does not generate the blocking that can be sensed by the sensor 71, and the blocking member 73 does not serve as an obstacle. The number of the sensors 71 and the blocking members 73 should be respectively adapted to the number of the material feeding carts 30 and the cleaning areas Q in the material feeding and distributing line 100, and is not particularly limited herein.

The controller receives the sensing information of the sensor 71, controls the start and stop of the feeding car 30 based on the sensing information, controls the feeding car 30 to stop advancing when the sensor 71 senses that the obstacle exists, and controls the feeding car 30 to continue advancing when the sensor 71 does not sense that the obstacle exists. The controller may be a separate module or may be provided by an existing control module of the carriage 30.

The anti-collision system 70 senses whether an obstacle exists in front of the feeding car 30 through the sensor 71, and when the obstacle is sensed, the feeding car 30 stops moving under the control of the controller, so that the effect of preventing collision is achieved. When the operator needs to work in the cleaning area Q, the operator only needs to control the blocking member 73 to block the moving path L of the feeding car 30, so that when the feeding car 30 moves to the moment, the blocking member 73 is naturally sensed by the sensor 71 as an obstacle, and the feeding car 30 stops under the control of the controller, thereby achieving the purpose of preventing collision with the cleaning area Q. Blocking member 73 serves as a reliable and positive sensing identifier for sensor 71, and it is blocked in front of cleaning zone Q to leave a sufficient response distance for carriage 30 to be stopped by sensing. On the other hand, on the premise that the blocking member 73 blocks, even if the equipment such as the sensor 71 fails, the feed carriage 30 is mechanically blocked by the blocking member 73 to avoid colliding with the cleaning area Q. Similarly, in the case where the blocking member 73 fails or forgets to be activated, the sensor 71 can also sense and operate independently to identify whether there is any other blocking member in front, such as a worker or a washing device, to avoid collision. The electric collision avoidance of the inductor 71 and the mechanical collision avoidance of the blocking piece 73 jointly form double guarantee, and the probability of complete failure of a collision avoidance system caused by single equipment failure is greatly reduced.

Further, the collision avoidance system 70 further includes a control switch (not shown) that is communicatively coupled to the blocking member 73 and controls the blocking member 73 to switch between the first state and the second state.

The control switch is used as a start switch of the blocking member 73, and can control the blocking member 73 to block on the traveling route L or retract the blocking member on the traveling route L, so that the blocking member disappears. In other words, the switch control barrier 73 is controlled to switch between the first state and the second state. The position of the control switch is convenient for cleaning operators to open before cleaning and close after cleaning is finished, such as an inlet and an outlet of the cleaning area Q. It will be appreciated that the communication link may be either a wired or wireless communication link, and when a wireless communication link is used, the control switch may also be in the form of a remote control.

When an operator needs to enter the cleaning area Q for cleaning, the operator only needs to control the blocking piece 73 to be switched to the first state through the control switch and block the feeding car 30 on the advancing route L; when the cleaning operation is finished, the blocking member 73 is controlled to be switched to the second state by the control switch, and the blocking member is retracted and blocked on the traveling route L of the feeding car 30. Therefore, the control switch can also be regarded as a switch for performing the cleaning operation, and the blocking member 73 is in the first state to block the feed carriage 30 outside the cleaning area Q when the cleaning operation is performed, and passes after the cleaning operation is completed.

It is understood that, besides an electrical switch such as a control switch, the blocking member 73 can be controlled by a mechanical control or a direct manual control, and the like, and is not limited in particular.

Further, the cloth system 10 further includes a cleaning switch (not shown) for controlling whether the cloth device 11 enters a cleaning mode. The cleaning switch is in communication connection with the blocking member 73, and when the cleaning switch controls the cloth device 11 to enter the cleaning mode, the blocking member 73 is controlled to be switched to the first state. When the cleaning switch controls the material distribution device 11 to exit the cleaning mode, the control block 73 is switched to the second state.

The cleaning switch is a switch for starting a cleaning mode of the distributing device 11, and when the distributing device 11 is cleaned, the cleaning switch needs to be turned on in advance to enable the distributing device 11 to enter a cleaning mode for receiving cleaning, and the cleaning table 13 is operable to clean the distributing device 11. Therefore, when the cleaning switch is turned on, which indicates that the operator is about to or is cleaning the material distribution device 11, accordingly, the blocking member 73 is synchronously controlled to block on the traveling path L of the feeding cart 30, so as to prevent the cleaning area Q from being bumped, and after the cleaning is finished, the blocking member 73 is retracted to allow the feeding cart 30 to pass through. Therefore, the control switch and the cleaning switch are operated synchronously, or the control switch is the cleaning switch.

Referring to fig. 4 to 6, in some embodiments, the blocking component 73 includes a moving blocking portion 731, and the moving blocking portion 731 is controlled to switch between the first state and the second state when moving along a direction perpendicular to the travel route X.

The moving blocking part 731 moves in a direction perpendicular to the traveling path L to form an effective block on the traveling path L, which is also a structure directly serving as a blocking function and sensed by the sensor. It is understood that the movement of the movement blocking part 731 may be a driving movement by a driving device, and may be a mechanical transmission, a manual operation, or the like.

Further, the stopper 73 further includes a guide portion 733, and the movement stopper 731 is slidably provided in the guide portion 733.

The guide part 733 is provided on one side of the traveling path L of the carriage 30, and is not sensed by the sensor 71 and does not obstruct the traveling path L. The movement blocking portion 731 is movable with respect to the guide portion 733 under the guidance of the guide portion 733.

In other embodiments, the blocking member 73 can be a lifting rod, a telescopic rod, or the like, and only needs to form a blocking member on the traveling path L of the feeding carriage 30 to be sensed by the sensor 71, and have sufficient mechanical strength to mechanically block the feeding carriage 30 when the sensor 71 fails, which is not particularly limited herein.

In some embodiments, feed carriage 30 travels along track 50. The blocking member 73 is disposed outside the rail 50, and the movement blocking portion 731 is at least partially located above the rail 50 when the blocking member 73 is in the first state.

The feeding carriage 30 travels along the rail 50, and the rail 50 forms a traveling route L of the feeding carriage 30. The outer sides of the rails 50 refer to the rails 50 on either side of the plane in which they lie. Specifically, the blocking member 73 is provided on one side of the rail 50 outside the edge of the cleaning area Q by its guide portion 733.

Since the entire feed carriage 30 is normally located below the rail 50 and only a part of the moving device or the like that engages with the guide rail 51 remains above the rail 50, the guide portion 733 is provided on the rail 50 side and the moving block portion 731 is directly blocked on the guide rail 51, so that the blocking effect of the feed carriage 30 can be effectively exerted.

It will be appreciated that in other embodiments, the path of travel L is not dependent upon the presence of the track 50, may naturally be formed by movement of the carriage 30, etc.

Further, the movement blocking portion 731 is configured with an escape notch K in which the rail 50 is accommodated when the blocking member 73 is in the first state (as shown in fig. 5).

The movement blocking portion 731 includes a first portion 7311 and a second portion 7313, the first portion 7311 and the second portion 7313 define an escape gap K, and when the blocking member 73 is in the first state, the first portion 7311 is located above the track 50, and the second portion is located at one side of the track 50.

Avoiding the gap K helps to move the blocking part 731 to be more closely blocked above the guide rail 51, so that the blocking and the recognition of the sensor 71 are facilitated for the feeding car 30.

In some embodiments, the sensor 71 is disposed on one side of the feeding cart 30 in the traveling direction X, and the sensing direction of the sensor 71 is the traveling direction X.

The sensing range of sensor 71 should include at least a portion of the area that needs to be swept by feeder carriage 30 as it passes through, and the range outside the area that needs to be swept by feeder carriage 30 is minimized to reduce external interference and avoid erroneous determination from affecting the operating efficiency of feeder carriage 30. The sensing distance can be determined comprehensively according to the response time required for sensing, the braking distance of the feeding car 30 and the like. When the blocking member 73 is located within the sensing distance, the moving blocking part 731 of the blocking member 73 in the first state should be at least partially located within the set sensing range of the sensor 71, and is sensed by the sensor 71 as an obstacle.

The sensor 71 is arranged on one side of the feeding car 30 in the advancing direction X, namely the front of the feeding car 30, and directly points to the advancing direction X of the feeding car 30, so that the sensor 71 is favorable for directly judging the front blockage, the sensor 71 is prevented from being blocked by the structure of the feeding car 30, the accuracy of judgment is improved, and the misjudgment probability is reduced.

Further, the carriage 30 travels along the rail 50. In the vertical direction, the orthographic projection of the sensor 71 is within the range of the orthographic projection of the rail 50.

Vertical refers to a plane that is perpendicular relative to the plane of the track 50, which is generally perpendicular to the horizontal plane because the track 50 is generally disposed along the horizontal plane.

In the vertical direction, the orthographic projection of the sensor 71 is located within the range of the orthographic projection of the track 50, so that the sensor 71 can accurately sense the obstacles located within the range of the track 50.

Specifically, the track 50 includes two guide rails 51, and the moving blocking portion 731 is at least partially located above one of the guide rails 51 when the blocking member 73 is in the first state. In the vertical direction, the sensor 71 is disposed within the range of the orthographic projection of the at least one guide rail 51.

It can be understood that, in order to ensure the basic sensing of the sensor 71 to the blocking member 73, when the sensor 71 on each of the carriages 30 is only arranged within the range of the orthographic projection of one of the guide rails 51 in the vertical direction, the blocking member 73 is in the first state, and the moving blocking portion 731 is at least partially located above the same guide rail 51. In other words, the sensor 73 is disposed in a vertical plane of one of the guide rails 51, and the movement blocking portion 731 can block at least above the guide rail 51.

The track 50 in the cleaning area Q is straight, so that the detection range Z (as shown in fig. 4) of the sensor 71 only needs to be along a straight line, and the sensor 71 can accurately determine whether an obstacle exists on the guide rail 51.

Further, the sensor 71 is a laser collision avoidance sensor.

The laser sensor has the advantages of small volume, light weight, strong anti-interference performance and the like, and the sensing angle and the sensing range are easy to control and adjust.

In the anti-collision system 70, before the cleaning operation, the operator starts the cleaning mode through the cleaning switch, the cloth dispensing device 11 starts the cleaning, and the blocking member 73 is synchronously switched to the first state and is blocked on the guide rail 51. At this time, the feeding carriage 30, which has fed the cleaning liquid, stops under the control of the controller after sensing the blocking of the blocking member 73, so as to avoid colliding into the cleaning area Q. After the cleaning operation is completed, the operator finishes the cleaning mode by closing the cleaning switch, and the blocking member 73 is synchronously switched to the second state to withdraw from the guide rail 51. At this time, after the sensor 71 senses no blockage, the controller starts the feed carriage 30 to pass through the cleaning zone Q.

All possible combinations of the technical features of the above embodiments may not be described for the sake of brevity, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the concept of the present invention, several variations and modifications can be made, which all fall within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (10)

1. A collision avoidance system, characterized in that the collision avoidance system comprises:

the sensor is arranged on the feeding car and used for sensing an obstacle positioned in the advancing direction of the feeding car, and the feeding car moves to the cleaning area when advancing along the advancing direction;

a blocking member controlled to switch between a first state configured to block a travel route of the carriage advancing toward the cleaning zone and a second state configured to retreat from the travel route, the sensor being capable of sensing the blocking member in the first state; and

and the controller is in communication connection with the sensor and is used for controlling the starting and stopping of the feeding car according to whether the sensor senses the barrier.

2. A collision avoidance system according to claim 1, further comprising a control switch in communication with the barrier and controlling the barrier to switch between the first state and the second state.

3. The collision avoidance system of claim 1, wherein the barrier comprises a moving barrier that is controlled to switch between the first state and the second state when moved in a direction perpendicular to the path of travel.

4. A collision avoidance system according to claim 3, wherein the barrier further comprises a guide portion, the movement barrier being slidably provided to the guide portion.

5. The collision avoidance system of claim 3, wherein the feed carriage travels along a track; the blocking member is arranged outside the rail, and when the blocking member is in the first state, the movement blocking portion is at least partially located above the rail.

6. The collision avoidance system according to claim 5, wherein the movement blocking portion is configured with an avoidance notch, the track being received in the avoidance notch when the blocking member is in the first state.

7. The collision avoidance system of claim 1, wherein the feed carriage travels along a track; in the vertical direction, the orthographic projection of the sensor is located within the range of the orthographic projection of the track.

8. A collision avoidance system according to claim 1, wherein the sensor is a laser collision avoidance sensor.

9. The utility model provides a pay-off cloth is produced line which characterized in that includes:

the cloth system is provided with a cleaning area for cleaning cloth equipment;

a feed carriage moving forward in a self-advancing direction to approach the cleaning zone; and

a collision avoidance system as claimed in any one of claims 1 to 8.

10. The feeding and distributing line as claimed in claim 9, wherein the distributing system further comprises a cleaning switch for controlling whether the distributing device enters a cleaning mode;

the cleaning switch is in communication connection with the blocking piece, the cleaning switch controls the blocking piece to be switched to the first state when the cloth equipment is controlled to enter the cleaning mode, and the cleaning switch controls the blocking piece to be switched to the second state when the cloth equipment is controlled to exit the cleaning mode.

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