Correction method, device, equipment and storage medium for suspension equipment

Abstract

The present application discloses a method, device, equipment and storage medium for correcting the deviation of a suspension device, wherein the method comprises: when the suspension device deviates from a preset position, controlling the correction component of the suspension device to push the suspension device along a first preset direction with a first preset parameter, performing a first pushing action, and retracting the correction component with a second preset parameter to complete the first correction action; repeatedly performing the correction action until the number of executions of the correction action meets the preset number, so that the suspension device returns to the preset position. The correction method for the suspension device of the embodiment of the present application solves the problem caused by the vertical deviation of the hanging basket during climbing or descending in the related art, and achieves a better correction effect.

Description

Technical Field

[0001] The present application relates to the technical field of construction machinery, and in particular to a method, device, equipment and storage medium for correcting a suspension device. Background Art

[0002] Paint spraying on building exterior walls is usually done manually or by machine using a platform built with a hanging basket or scaffolding. Today's society pays more and more attention to people's health and safety, and spray painters perform dangerous high-altitude operations all year round and are exposed to physical damage from harmful chemicals. Therefore, the demand for using automated equipment for exterior wall construction is becoming more and more urgent. When automated spray equipment is working, the equipment needs to maintain a high enough stability to ensure the spraying quality.

[0003] However, since the spraying equipment is usually lifted to high altitude by wire ropes, factors such as high-altitude wind force, inconsistent lifting and lowering strokes of wire ropes at different hanging points, and center of gravity shift caused by movement will cause the position of the hanging basket to shift, resulting in changes in the spraying position and overlap area, and even causing the hanging basket to collide with sewer pipes and windows on the wall, affecting the spraying quality and the normal use of the equipment.

[0004] Application Contents

[0005] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0006] To this end, the first purpose of the present invention is to propose a method for correcting the deviation of a suspension device, which solves the problem caused by the vertical deviation of the hanging basket during the climbing or descending process in the related technology and achieves a better correction effect.

[0007] The second object of the present invention is to provide a deviation correcting device for a suspension device.

[0008] A third objective of the present invention is to provide an electronic device.

[0009] A fourth object of the present invention is to provide a computer-readable storage medium.

[0010] To achieve the above-mentioned purpose, the first aspect of the present application provides a method for correcting the deviation of a suspension device, comprising the following steps:

[0011] When the suspension device deviates from the preset position, the correction component of the suspension device is controlled to push the suspension device along the first preset direction with a first preset parameter to perform a first pushing action, and the correction component is retracted with a second preset parameter to complete the first correction action;

[0012] The deviation correction action is repeatedly performed until the number of executions of the deviation correction action meets the preset number of times, so that the suspension device returns to the preset position.

[0013] Optionally, the first preset parameter includes at least one of a pushing speed, a pushing acceleration and a pushing time, and the second parameter includes at least one of a retracting speed, a retracting acceleration and a retracting time.

[0014] Optionally, the pushing speed is greater than the retracting speed, the pushing acceleration is greater than the retracting acceleration, and the pushing time is greater than the retracting time.

[0015] Optionally, the repeatedly performing the deviation correction action further includes:

[0016] Each time a correction action is performed, the difference between the preset distance of the current correction action and the preset distance of the previous correction action is obtained by a decreasing formula.

[0017] Optionally, the decreasing formula is:

[0018] d n+1 =d n -C1*Δd;

[0019] Among them, d n+1 For the d n+1 The pushing distance, d n For the d n The pushing distance is adjusted by n, n is a positive integer, C1 is the number of repetitions, and Δd is the decrement of the pushing distance adjustment.

[0020] Optionally, the suspension device deviates from the preset position, comprising:

[0021] detecting a current inclination angle between the suspension device and the preset trajectory;

[0022] When it is detected that the current inclination angle is greater than a preset angle, it is determined that the suspension device deviates from the preset trajectory.

[0023] To achieve the above-mentioned purpose, the second aspect of the present application provides a correction device for a suspension device, comprising:

[0024] A control module, configured to control the correction component of the suspension device to push the suspension device along a first preset direction with a first preset parameter to perform a first pushing action when the suspension device deviates from the preset position, and to retract the correction component with a second preset parameter to complete the first correction action;

[0025] The execution module is used to repeatedly execute the deviation correction action until the execution times of the deviation correction action meet the preset times, so that the suspension device returns to the preset position.

[0026] Optionally, the first preset parameter includes at least one of a pushing speed, a pushing acceleration and a pushing time, and the second parameter includes at least one of a retracting speed, a retracting acceleration and a retracting time.

[0027] Optionally, the pushing speed is greater than the retracting speed, the pushing acceleration is greater than the retracting acceleration, and the pushing time is greater than the retracting time.

[0028] Optionally, the execution module is further used to:

[0029] Each time a correction action is performed, the difference between the preset distance of the current correction action and the preset distance of the previous correction action is obtained by a decreasing formula.

[0030] Optionally, the decreasing formula is:

[0031] d n+1 =d n -C1*Δd;

[0032] Among them, d n+1 For the d n+1 The pushing distance, d n For the d n The pushing distance is adjusted by n, n is a positive integer, C1 is the number of repetitions, and Δd is the decrement of the pushing distance adjustment.

[0033] Optionally, the control module is specifically used to:

[0034] detecting a current inclination angle between the suspension device and the preset trajectory;

[0035] When it is detected that the current inclination angle is greater than a preset angle, it is determined that the suspension device deviates from the preset trajectory.

[0036] To achieve the above-mentioned objectives, the third aspect of the present application provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are configured to execute the correction method for the suspension device as described in the above-mentioned embodiment.

[0037] To achieve the above-mentioned purpose, the fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the correction method of the suspension equipment as described in the above-mentioned embodiment.

[0038] In this way, it is possible to detect whether the paint spraying equipment moves along a preset trajectory, and when it is detected that the paint spraying equipment deviates from the preset trajectory, the correction component of the paint spraying equipment is controlled to extend a preset distance at a first preset speed and a first preset acceleration and continue for a first preset time, and the correction component is controlled to retreat to a preset position at a second preset speed and a second preset acceleration and continue for a second preset time, completing one correction action, and repeatedly performing the correction action, and the preset distance of each correction action is decreased by a preset value until the number of executions of the correction action meets the preset number, so that the paint spraying equipment returns to the preset trajectory, solving the problem caused by vertical deviation during the climbing or descending of the hanging basket in the related technology, and achieving a better correction effect.

[0039] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0041] Figure 1 A flow chart of a trajectory correction method for a paint spraying device provided according to an embodiment of the present application;

[0042] Figure 2 This is an example diagram of the overall structure of an exterior wall spraying hanging basket according to an embodiment of the present application;

[0043] Figure 3 This is an exemplary diagram of a wall-leaning wheel electric cylinder according to an embodiment of the present application;

[0044] Figure 4 It is a three-dimensional schematic diagram of an exterior wall spraying hanging basket according to one embodiment of the present application;

[0045] Figure 5 A side view of an exterior wall spraying hanging basket according to an embodiment of the present application;

[0046] Figure 6 This is an example diagram of the stress condition of the front view hanging basket according to an embodiment of the present application;

[0047] Figure 7 This is an example diagram of the force condition of a hanging basket in a side view according to an embodiment of the present application;

[0048] Figure 8 A flow chart of a trajectory correction method for a paint spraying device according to an embodiment of the present application;

[0049] Fig. 9 This is an example diagram of a trajectory correction device for a paint spraying device according to an embodiment of the present application;

[0050] Fig.10 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0052] The following describes the correction method, device, equipment and storage medium of the suspension device according to the embodiments of the present invention with reference to the accompanying drawings. First, the correction method of the suspension device according to the embodiments of the present invention will be described with reference to the accompanying drawings.

[0053] Specifically, Figure 1 A schematic flow chart of a method for correcting a suspension device provided in an embodiment of the present application.

[0054] like Figure 1 As shown, the correction method of the suspension device includes the following steps:

[0055] In step S101, when the suspension device deviates from the preset position, the correction component of the suspension device is controlled to push the suspension device along the first preset direction with the first preset parameters to perform the first pushing action, and the correction component is retracted with the second preset parameters to complete the first correction action.

[0056] Optionally, in some embodiments, the suspension device deviates from a preset position, including: detecting a current inclination angle between the suspension device and a preset trajectory; and determining that the suspension device deviates from the preset trajectory when it is detected that the current inclination angle is greater than a preset angle.

[0057] It is understandable that if Figure 2 As shown, Figure 2 The overall structure diagram of the external wall spraying hanging basket involved in the trajectory correction method of the paint spraying equipment of the embodiment of the present application is shown in FIG. The external wall spraying hanging basket mainly includes a wind speed and direction sensor, an inclination sensor, a wire rope tension sensor, a wall wheel electric cylinder (such as Figure 3 As shown), the wall wheel servo system and the PLC controller. Specifically, the suspension placed on the roof is lifted by a steel wire rope and the hanging basket is lowered to the target position for spraying. Ideally, the lifting trajectory of the hanging basket is plumb. However, if the ambient wind speed is too high or the force on the hanging point is uneven during the lifting process of the hanging basket, it is likely to cause the hanging basket to deviate in the plumb direction. Figure 3As shown, during the normal lifting or lowering of the hanging basket, the electric cylinders of the wall-supporting wheels 1, 2, 3, and 4 extend out and stick to the wall. When the lateral force on the hanging basket is greater than the friction force of the four wall-supporting wheels against the wall, the hanging basket deviates in the plumb bob direction.

[0058] Therefore, the embodiment of the present application can obtain the current inclination angle between the paint spraying equipment and the preset trajectory through the inclination sensor, and when it is detected that the current inclination angle is greater than the preset angle, it is determined that the paint spraying equipment has deviated from the preset trajectory, wherein the preset angle can be an angle pre-set by the user, or an angle obtained through a limited number of experiments, or an angle obtained through a limited number of computer simulations.

[0059] Optionally, in some embodiments, the first preset parameter includes at least one of a pushing speed, a pushing acceleration and a pushing time, and the second parameter includes at least one of a retracting speed, a retracting acceleration and a retracting time.

[0060] In some embodiments, the pushing speed is greater than the retracting speed, the pushing acceleration is greater than the retracting acceleration, and the pushing time is greater than the retracting time.

[0061] It is understandable that if Figure 3 As shown, the pushing speed can be V1, the pushing acceleration can be a1, the pushing time can be T1, the retracting speed can be V2, the retracting acceleration can be a2, and the retracting time can be T2; therefore, when the suspension device deviates from the preset trajectory, the embodiment of the present application can control 1 lower wall wheel (such as wall wheels 3, 4) to push the suspension device along the first preset direction at a pushing speed of V1 and a pushing acceleration of a1, and delay T1 ms to complete the first pushing action; at this time, the hanging basket is pushed out by the lower wall wheel and away from the wall, and at the same time, the lower wall wheel quickly retracts the correction component at a retracting speed of V2 and a retracting acceleration of a2, and delays T2 ms, thereby completing the first correction action.

[0062] It should be noted that the embodiment of the present application can also directly control the lower wall wheel to quickly retreat to the P1 position at a retreat speed V2, which is not specifically limited here.

[0063] Therefore, combined with Figure 6 and Figure 7 After the hanging basket is pushed out of the wall, it is subjected to the tension F1 of the wire rope and the gravity G. The horizontal component of force causes the hanging basket to swing in the plumb direction of the wire rope, and the vertical component of force causes the hanging basket to stick to the wall.

[0064] In step S102, the deviation correction action is repeatedly performed until the number of executions of the deviation correction action meets the preset number of times, so that the suspension device returns to the preset position.

[0065] Optionally, in some embodiments, repeatedly performing the deviation correction action further includes: each time the deviation correction action is performed, the difference between the preset distance of the current deviation correction action and the preset distance of the previous deviation correction action is obtained by a decreasing formula.

[0066] Optionally, in some embodiments, the decreasing formula is:

[0067] d n+1 =d n -C1*Δd;

[0068] Among them, d n+1 For the d n+1 The pushing distance, d n For the d n The pushing distance is the number of times, n is a positive integer, C1 is the number of repetitions, and Δd is the decrement of the pushing distance adjustment. In addition, through the multiple extension and retraction of the wall wheel, the hanging basket is pushed out of the wall, and the hanging basket is pulled back to the plumb bob direction by its own weight and wire rope, thereby effectively improving the correction effect.

[0069] In addition, the embodiment of the present application can detect the current wind speed of the environment where the suspension equipment is located through a wind speed and wind direction sensor. If the wind speed is greater than the preset wind speed, such as a wind speed greater than 5m / s, it means that the wind speed is too high at this time, and an alarm can be issued, or the lifting or lowering of the paint spraying equipment can be stopped; or an alarm can be issued and the lifting or lowering of the paint spraying equipment can be stopped at the same time. It should be noted that the alarm can be a sound alarm or a voice alarm, and the sound alarm can be a speaker, and the voice alarm can be a buzzer, etc., which are not specifically limited here.

[0070] In order to enable those skilled in the art to further understand the trajectory correction method of the paint spraying equipment in the embodiment of the present application, it is elaborated in detail below in combination with specific embodiments.

[0071] like Figure 8 As shown, the trajectory correction method of the above-mentioned paint spraying equipment includes the following steps:

[0072] S801, the basket climbs and descends.

[0073] S802, determine whether the hanging basket has gone astray, if so, execute step S803, otherwise, execute step S801.

[0074] S803, start the deviation correction action.

[0075] S804, determine whether the wind speed is greater than 5m / s, if yes, execute step S805, otherwise, execute step S806.

[0076] S805, alarm, and / or stop lifting or lowering the paint spraying equipment.

[0077] S806, wheels 3 and 4 are placed against the wall and extend rapidly at a speed of V1 by a distance of d1-C1*Δd with a delay of T1ms.

[0078] S807, wheels 3 and 4 are placed against the wall and quickly retracted to P1 at a speed of V2 with a delay of T2ms.

[0079] S808, correction times C1=C1+1.

[0080] S809, determine whether C1 is greater than or equal to C, if so, execute step S810, otherwise, execute step S806.

[0081] S810, correction is completed.

[0082] According to the correction method for suspension equipment proposed in the embodiment of the present application, when the suspension equipment deviates from the preset position, the correction component of the suspension equipment can be controlled to push the suspension equipment along the first preset direction with a first preset parameter to perform a first pushing action, and the correction component can be retracted with a second preset parameter to complete the first correction action; the correction action is repeatedly performed until the number of executions of the correction action meets the preset number, so that the suspension equipment returns to the preset position, which solves the problem caused by vertical deviation during the climbing or descending of the hanging basket in the related art and achieves a better correction effect.

[0083] Next, a trajectory correction device for a paint spraying device according to an embodiment of the present application will be described with reference to the accompanying drawings.

[0084] Fig. 9 It is a block diagram of a correction device for a suspension device according to an embodiment of the present application.

[0085] like Fig. 9 As shown, the correction device 10 of the suspension equipment includes: a control module 100 and an execution module 200.

[0086] The control module 100 is used to control the correction component of the suspension device to push the suspension device along the first preset direction with a first preset parameter to perform a first pushing action when the suspension device deviates from the preset position, and to retract the correction component with a second preset parameter to complete the first correction action;

[0087] The execution module 200 is used to repeatedly execute the correction action until the number of executions of the correction action meets the preset number, so that the suspension device returns to the preset position.

[0088] Optionally, in some embodiments, the first preset parameter includes at least one of a pushing speed, a pushing acceleration and a pushing time, and the second parameter includes at least one of a retracting speed, a retracting acceleration and a retracting time.

[0089] Optionally, in some embodiments, the pushing speed is greater than the retracting speed, the pushing acceleration is greater than the retracting acceleration, and the pushing time is greater than the retracting time.

[0090] Optionally, in some embodiments, the execution module 200 is further configured to:

[0091] Each time a correction action is performed, the difference between the preset distance of the current correction action and the preset distance of the previous correction action is obtained by a decreasing formula.

[0092] Optionally, in some embodiments, the decreasing formula is:

[0093] d n+1 =d n -C1*Δd;

[0094] Among them, d n+1 For the d n+1 The pushing distance, d n For the d n The pushing distance is adjusted by n, where n is a positive integer, C1 is the number of repetitions, and Δd is the decrement of the pushing distance adjustment.

[0095] Optionally, in some embodiments, the control module 100 is specifically used for:

[0096] Detecting the current inclination angle between the suspension device and the preset trajectory;

[0097] When it is detected that the current inclination angle is greater than a preset angle, it is determined that the suspension device deviates from the preset trajectory.

[0098] It should be noted that the above explanation of the embodiment of the correction method for the suspension device is also applicable to the correction device for the suspension device of this embodiment, and will not be repeated here.

[0099] According to the correction device for the suspension equipment proposed in the embodiment of the present application, when the suspension equipment deviates from the preset position, the correction component of the suspension equipment can be controlled to push the suspension equipment along the first preset direction with a first preset parameter to perform a first pushing action, and the correction component can be retracted with a second preset parameter to complete the first correction action; the correction action is repeatedly performed until the number of executions of the correction action meets the preset number, so that the suspension equipment returns to the preset position, which solves the problem caused by vertical deviation during the climbing or descending of the hanging basket in the related art and achieves a better correction effect.

[0100] Fig.10 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include:

[0101] A memory 1001 , a processor 1002 , and a computer program stored in the memory 1001 and executable on the processor 1002 .

[0102] When the processor 1002 executes the program, the correction method for the suspension device provided in the above embodiment is implemented.

[0103] Furthermore, the electronic device further comprises:

[0104] The communication interface 1003 is used for communication between the memory 1001 and the processor 1002 .

[0105] The memory 1001 is used to store computer programs that can be executed on the processor 1002 .

[0106] The memory 1001 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0107] If the memory 1001, the processor 1002 and the communication interface 1003 are implemented independently, the communication interface 1003, the memory 1001 and the processor 1002 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.10 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0108] Optionally, in a specific implementation, if the memory 1001, the processor 1002 and the communication interface 1003 are integrated on a chip, the memory 1001, the processor 1002 and the communication interface 1003 can communicate with each other through an internal interface.

[0109] The processor 1002 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0110] This embodiment also provides a computer-readable storage medium on which a computer program is stored, characterized in that when the program is executed by a processor, the above-mentioned method for correcting the deviation of the suspension device is implemented.

[0111] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0112] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0113] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0114] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0115] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0116] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0117] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0118] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for correcting the deviation of a suspension device, characterized in that: The suspension device is lifted and moved along a lifting track extending in a vertical direction, comprising the following steps: When the suspension device deviates from the lifting trajectory, the correction component of the suspension device is controlled to push the suspension device along the first preset direction with a first preset parameter to perform a first pushing action, and the correction component is retracted with a second preset parameter to complete the first correction action; The deviation correction action is repeatedly performed until the number of executions of the deviation correction action meets the preset number of times, so that the suspension device returns to the lifting trajectory.

2. The method according to claim 1, characterized in that The first preset parameter includes at least one of a pushing speed, a pushing acceleration and a pushing time, and the second preset parameter includes at least one of a retracting speed, a retracting acceleration and a retracting time.

3. The method according to claim 2, characterized in that The pushing speed is greater than the retracting speed, the pushing acceleration is greater than the retracting acceleration, and the pushing time is greater than the retracting time.

4. The method according to claim 1, characterized in that: The repeatedly performing the deviation correction action further includes: Each time a correction action is performed, the difference between the preset distance of the current correction action and the preset distance of the previous correction action is obtained by a decreasing formula.

5. The method according to claim 4, characterized in that The decreasing formula is: d n+1 =d n -C1*Δd; Among them, d n+1 For the d n+1 The pushing distance, d n For the d n The pushing distance is adjusted by n, n is a positive integer, C1 is the number of repetitions, and Δd is the decrement of the pushing distance adjustment.

6. The method according to claim 1, characterized in that The suspension device deviates from the lifting trajectory, including: detecting a current inclination angle between the suspension device and a preset trajectory; When it is detected that the current inclination angle is greater than a preset angle, it is determined that the suspension device deviates from the preset trajectory.

7. A correction device for a suspension device, characterized in that: The suspension device moves up and down along a lifting track extending in a vertical direction, including: A control module, configured to control the correction component of the suspension device to push the suspension device along a first preset direction with a first preset parameter to perform a first pushing action when the suspension device deviates from the lifting trajectory, and to retract the correction component with a second preset parameter to complete the first correction action; An execution module, used for repeatedly executing the deviation correction action until the execution times of the deviation correction action meet the preset times, so that the suspension device returns to the lifting track; Among them, the correction component includes: a lower wall wheel, which is connected to the lower end of the suspension device, and has an electric cylinder so that the lower wall wheel can be extended and retracted in the direction of approaching or moving away from the wall. The lower wall wheel stops at the wall and quickly retracts, so that the suspension device is pushed out and separated from the wall, completing the first correction action.

8. The device according to claim 7, characterized in that The first preset parameter includes at least one of a pushing speed, a pushing acceleration and a pushing time, and the second preset parameter includes at least one of a retracting speed, a retracting acceleration and a retracting time.

9. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for correcting the deviation of the suspension equipment as described in any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the correction method for a suspension device as described in any one of claims 1 to 6.

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