A bi-directional overrun clutch comprises a driving shaft, a driven wheel and a pin roller. A poking block rotating along with the driving shaft is arranged at the end of the driving shaft, and an arc groove is formed in a concave inner ring of the poking block. The clutch is characterized in that the pin roller is cylindrical. The arc groove is a circular arc matched with the pin roller shape. When the pin roller is located in the arc groove, a normal plane of tangent lines formed by tangency of a working lateral side of the poking block and the pin roller periphery intersects with a circular arc plane of the arc groove. A separation control method is that when the driving shaft is controlled to rotate reversely, the state of the driven wheel is detected until the driven wheel stops rotating reversely. The problem in the prior art that coupling is not reliable, impact is large, and separation is hard to control under the condition that the driven wheel rotates reversely is solved.