Control method, control device, control system and computer equipment

Abstract

The present application relates to a control method, a control device, a control system and a computer device, wherein the method obtains fuselage state information that can reflect the instantaneous movement state of the fuselage, and uses the information and preset movement parameters to linearly decouple the inclination of the wiper into a movement inclination adjustment amount and a posture inclination adjustment amount to realize multi-level serial control, obtains the movement inclination adjustment amount and the posture inclination adjustment amount of the leveling device according to the fuselage state information and the preset movement parameters, and then obtains the adjustment parameters of the inclination axis according to the adjustment amount, so as to adjust the working state of the inclination axis motor so that the leveling device can maintain operation near the preset movement parameters. After setting the movement direction, speed, attitude and other parameters, the automatic movement control of the leveling device can be realized without manual operation, thereby avoiding the difference in construction effect caused by the difference in manual operation level to improve the stability of the construction effect, and also improves the accuracy of the autonomous movement operation of the leveling device.

Description

Technical Field

[0001] The present application relates to the technical field of control of trowel machines, and in particular to a control method, a control device, a control system and a computer device. Background Art

[0002] Robotic trowels are used to finish concrete surfaces after initial setting and before final setting. Machine-applied surfaces are smoother and flatter than those created manually, significantly improving the density and wear resistance of the concrete surface and increasing productivity by over five times compared to manual work. Floor trowels are widely used for slurry preparation, leveling, and finishing of concrete surfaces in high-standard factories, warehouses, parking lots, plazas, airports, and frame buildings.

[0003] Available trowels on the market are generally divided into two types of semi-automatic devices: handheld and ride-on. Both types use a propeller-shaped trowel with rotating power to smooth and finish the surface. Handheld trowels rely on a manual handle to guide movement, while ride-on trowels rely on a manual joystick to guide movement. Both require manual labor. Summary of the Invention

[0004] Based on this, it is necessary to provide a control method, control device, control system and computer equipment that can control the movement of the leveling device according to preset working parameters without manual operation to address the above technical problems.

[0005] On the one hand, the embodiment of the present application provides a control method applied to a leveling device, the leveling device comprising:

[0006] body;

[0007] Wipe plate, which is set at the bottom of the fuselage;

[0008] The main shaft is used to drive the wiping disc to level the working surface;

[0009] A spindle drive is provided inside the machine body and is mechanically connected to the spindle;

[0010] Inclination shaft, which is mechanically connected to the main shaft;

[0011] The tilt axis motor is mechanically connected to the tilt axis and is used to drive the tilt axis to move to adjust the position of the wiper;

[0012] Control methods include:

[0013] Acquiring fuselage status information, where the fuselage status information is used to represent the instantaneous movement status of the leveling device;

[0014] Obtaining the movement inclination adjustment amount and attitude inclination adjustment amount of the leveling device according to the fuselage state information and the preset movement parameters;

[0015] According to the movement tilt angle adjustment amount and the attitude tilt angle adjustment amount, the adjustment parameters of the tilt axis are obtained;

[0016] The working state of the inclination axis motor is adjusted according to the adjustment parameters so that the leveling device works with the preset movement parameters.

[0017] In one embodiment, the step of “obtaining a movement tilt adjustment amount and a posture tilt adjustment amount of the leveling device according to the fuselage state information and preset movement parameters” includes:

[0018] The fuselage state information and preset movement parameters are input into the adjustment model to obtain the movement tilt angle adjustment amount and the attitude tilt angle adjustment amount.

[0019] In one embodiment, the control method further comprises the steps of:

[0020] Get the spindle torque feedback data of the spindle drive;

[0021] According to the spindle torque feedback data, the current working surface state is estimated to obtain the working surface state estimation information;

[0022] Obtaining a movement error and an error change rate of the leveling device according to the fuselage state information and the preset movement parameters; the movement error refers to the error value between each parameter in the fuselage state information and the corresponding parameter in the preset movement parameters;

[0023] According to the movement error, error change rate and working surface state estimation information, the parameters of the regulation model are adjusted based on fuzzy rules.

[0024] In one embodiment, the fuselage state information includes fuselage position information, fuselage speed information, and fuselage attitude information.

[0025] In one embodiment, the speed information of the fuselage includes an actual moving speed of the fuselage, the preset movement parameter includes an expected moving speed of the fuselage, and the adjustment model includes a first adjustment model;

[0026] The step of “inputting the fuselage state information and the preset movement parameters into the adjustment model to obtain the movement inclination adjustment amount” includes:

[0027] If the leveling device is in the forward or backward working mode, the expected moving speed of the fuselage and the actual moving speed of the fuselage are input into the first adjustment model to obtain the moving inclination angle adjustment amount.

[0028] In one embodiment, the velocity information of the fuselage further includes an angular velocity feedback; the position information of the fuselage includes the fuselage position coordinates; the attitude information of the fuselage includes the actual attitude angle of the fuselage; and the adjustment model includes a second adjustment model and a third adjustment model;

[0029] The step of “inputting the fuselage state information and the preset movement parameters into the adjustment model to obtain the attitude tilt adjustment amount” includes:

[0030] If the leveling device is in the forward or reverse working mode, the lateral offset of the fuselage is calculated based on the fuselage position coordinates;

[0031] The desired attitude angle of the fuselage is calculated based on the lateral offset of the fuselage;

[0032] Inputting the desired attitude angle of the fuselage and the actual attitude angle of the fuselage into the second adjustment model to obtain a given angular velocity;

[0033] The angular velocity given value and the angular velocity feedback value are input into the third adjustment model to obtain the attitude inclination adjustment value.

[0034] In one embodiment, the control method further comprises the steps of:

[0035] Get the spindle position information fed back by the spindle driver;

[0036] Obtain feedforward value based on spindle position information;

[0037] The step of “inputting the angular velocity reference value and the angular velocity feedback value into the third adjustment model to obtain the attitude inclination adjustment value” includes:

[0038] The angular velocity set value, angular velocity feedback value and feedforward value are input into the third adjustment model to obtain the attitude inclination adjustment value.

[0039] In one embodiment, the preset movement parameter includes a given angular velocity, and the adjustment model includes a fourth adjustment model;

[0040] The step of “inputting the fuselage state information and the preset movement parameters into the adjustment model to obtain the attitude tilt adjustment amount” includes:

[0041] If the leveling device is in the steering working mode, the angular velocity reference value and the angular velocity feedback value are input into the fourth adjustment model to obtain the attitude inclination adjustment value.

[0042] In one embodiment, the wiper plate includes: a first wiper plate and a second wiper plate; the adjustment parameter of the inclination axis includes an inclination adjustment parameter corresponding to the first wiper plate and an inclination adjustment parameter corresponding to the second wiper plate;

[0043] The step of "obtaining the adjustment parameters of the tilt axis according to the movement tilt adjustment amount and the attitude tilt adjustment amount" includes:

[0044] According to the movement inclination adjustment amount and the posture inclination adjustment amount, the inclination adjustment parameter corresponding to the first wiper plate and the inclination adjustment parameter corresponding to the second wiper plate are obtained using the first preset model.

[0045] In one embodiment, the first preset model includes the formula:

[0046] θ R =θ1+θ2 and θ L =θ1-θ2, where θ R is the inclination adjustment parameter corresponding to the first wiper, θ L is the inclination adjustment parameter corresponding to the second wiper, θ1 is the movement inclination adjustment amount, and θ2 is the attitude inclination adjustment amount.

[0047] In one embodiment, the step of “obtaining a movement tilt adjustment amount and a posture tilt adjustment amount of the leveling device according to the fuselage state information and preset movement parameters” includes:

[0048] Filtering the fuselage status information;

[0049] The movement angle adjustment amount and attitude angle adjustment amount are obtained using the filtered fuselage state information and the preset movement parameters.

[0050] A control system, comprising: a leveling device, the leveling device comprising:

[0051] body;

[0052] Wipe plate, which is set at the bottom of the fuselage;

[0053] The main shaft is used to drive the wiping disc to level the working surface;

[0054] A spindle drive is provided inside the machine body and is mechanically connected to the spindle;

[0055] Inclination shaft, which is mechanically connected to the main shaft;

[0056] The tilt axis motor is mechanically connected to the tilt axis and is used to drive the tilt axis to move to adjust the position of the wiper;

[0057] The control system also includes:

[0058] The controller includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the following steps are implemented:

[0059] Acquiring fuselage status information, where the fuselage status information is used to represent the instantaneous movement status of the leveling device;

[0060] Obtaining the movement inclination adjustment amount and attitude inclination adjustment amount of the leveling device according to the fuselage state information and the preset movement parameters;

[0061] According to the movement tilt angle adjustment amount and the attitude tilt angle adjustment amount, the adjustment parameters of the tilt axis are obtained;

[0062] The working state of the inclination axis motor is adjusted according to the adjustment parameters so that the leveling device works with the preset movement parameters.

[0063] A control device is applied to a leveling device, the leveling device comprising:

[0064] body;

[0065] Wipe plate, which is set at the bottom of the fuselage;

[0066] The main shaft is used to drive the wiping disc to level the working surface;

[0067] A spindle drive is provided inside the machine body and is mechanically connected to the spindle;

[0068] Inclination shaft, which is mechanically connected to the main shaft;

[0069] The tilt axis motor is mechanically connected to the tilt axis and is used to drive the tilt axis to move to adjust the position of the wiper;

[0070] The control device includes:

[0071] An information acquisition module is used to acquire fuselage status information, where the fuselage status information is used to represent the instantaneous movement status of the leveling device;

[0072] A setting amount acquisition module is used to obtain the movement inclination setting amount and attitude inclination setting amount of the leveling device according to the fuselage state information and preset movement parameters;

[0073] An adjustment parameter acquisition module is used to obtain the adjustment parameters of the tilt axis according to the movement tilt adjustment amount and the attitude tilt adjustment amount;

[0074] The adjustment execution module is used to adjust the working state of the inclination axis motor according to the adjustment parameters so that the leveling device works with preset movement parameters.

[0075] A computer device includes a memory and a processor, wherein the memory stores a computer program and the processor implements the steps of the above control method when executing the computer program.

[0076] A computer-readable storage medium stores a computer program, which implements the steps of the above control method when executed by a processor.

[0077] The above-mentioned control method, control device, control system and computer equipment, one or more embodiments of which have at least the following beneficial effects: the control method, by obtaining fuselage state information that can reflect the instantaneous movement state of the fuselage, uses the information and the preset movement parameters to linearly decouple the inclination of the wiper into a moving inclination adjustment amount and a posture inclination adjustment amount to achieve multi-level serial control, and obtains the adjustment parameters of the inclination axis according to the adjustment amount to adjust the working state of the inclination axis motor so that the leveling device can maintain operation near the preset movement parameters. On the one hand, after setting the movement direction, speed, posture and other parameters, the method can realize automatic movement control of the leveling device without manual operation, thereby improving work efficiency. In addition, there will be no difference in construction effect due to differences in manual operation levels, thereby improving the stability of the construction effect. In addition, the method realizes multi-level serial control by linearly decoupling the inclination of the wiper into a moving inclination adjustment amount and a posture inclination adjustment amount, and can also improve the accuracy of the autonomous movement operation of the leveling device. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the conventional technology, the following briefly introduces the drawings required for use in the embodiments or the conventional technology descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0079] Figure 1 is a schematic structural diagram of a leveling device in one embodiment;

[0080] Figure 2 In one embodiment Figure 1 A schematic diagram of a partial structure inside the leveling device shown;

[0081] Figure 3 In one embodiment Figure 2 Equivalent schematic diagram of the structure to illustrate the definition of the tilt axis motor angle and the tilt axis inclination angle;

[0082] Figure 4 A top view of a leveling device in one embodiment;

[0083] Figure 5 1 is a flow chart of a control method in one embodiment;

[0084] Figure 6 is a flow chart of a control method in another embodiment;

[0085] Figure 7 FIG1 is a flow chart of the steps of inputting fuselage state information and preset movement parameters into an adjustment model to obtain a movement tilt adjustment amount and an attitude tilt adjustment amount in a control method according to an embodiment;

[0086] Figure 8 A schematic diagram of the structure of a control system in one embodiment;

[0087] Figure 9 is a schematic structural diagram of a control device in one embodiment;

[0088] Figure 10 FIG. 1 is a block diagram of the internal structure of a computer device in one embodiment.

[0089] Description of reference numerals:

[0090] 1. Leveling device; 10. Body; 20. Spindle driver; 30. Spindle; 40. Wiping plate; 41. First wiping plate; 42. Second wiping plate; 50. Tilt axis; 60. Tilt axis motor; 70. GPS module; 80. IMU; 2. Controller. DETAILED DESCRIPTION

[0091] To facilitate understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The accompanying drawings provide embodiments of the present application. However, the present application may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of the present application more thorough and comprehensive.

[0092] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application.

[0093] It will be understood that the terms "first," "second," etc. used herein may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish a first element from another element.

[0094] It should be noted that when an element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intervening element. In addition, the "connection" in the following embodiments should be understood as "electrical connection", "communication connection", etc., if there is transmission of electrical signals or data between the connected objects.

[0095] As used herein, the singular forms "a," "an," and "the" may also include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include," "comprising," "having," and the like specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof. Furthermore, the term "and / or" as used in this specification includes any and all combinations of the relevant listed items.

[0096] As described in the background, existing trowels rely on manual traction and are unable to perform autonomous, precise movements. The inventors discovered that this problem stems from the fact that the ground environment constantly changes during trowel construction. The control system is a nonlinear, time-varying system, making it difficult to precisely and automatically control its position, attitude, speed, acceleration, and other parameters. This system also suffers from poor anti-interference capabilities, resulting in poor robustness. Consequently, current trowels primarily rely on semi-automatic control, employing the handheld or riding semi-automatic trowels described in the background.

[0097] Based on the above reasons, the present invention provides a control method, wherein the application object of the control method is a leveling device on the market, which is used to control the movement of the leveling device, which can be as follows Figure 1-4 The leveling device shown in the figure comprises: a body 10; a wiper plate 40, a spindle 30, a spindle driver 20, a tilt shaft 50, and a tilt shaft motor 60. The wiper plate 40 is disposed at the bottom of the body; the spindle 30 is used to drive the wiper plate 40 to level the work surface; the spindle driver 20 is disposed within the body and is mechanically connected to the spindle 30; the tilt shaft 50 is mechanically connected to the spindle 30; and the tilt shaft motor 60 is mechanically connected to the tilt shaft 50 and is used to drive the tilt shaft 50 to move to adjust the position of the wiper plate 40.

[0098] The body is a carrier that can carry the electrical components and mechanical transmission parts that the leveling device relies on. The wiper 40 is a device that can apply pressure to evenly smooth and polish the material on the working surface. The wiper 40 can be a solid round disk or a Figure 1The structure shown in the figure includes multiple fan blades, and the shape of the wiping disc 40 is not limited here. The main shaft 30 refers to a structure that can drive the wiping disc 40 to rotate under the action of the main shaft driver 20 to realize the smoothing and polishing operations of the material on the working surface. Its specific shape may have physical differences according to different types of leveling devices, but the main shaft 30 and the main shaft driver 20 structures in the leveling device that realizes this function are all objects applicable to the control method of this application. Similarly, other leveling device structures can be selected according to the actual application scenario. In addition to including the above-mentioned components, the leveling device is also allowed to include other components. This application does not specifically limit the shape and model of the specific components of the leveling device. That is, the leveling device to which the control method proposed in the embodiment of the application is applicable only needs to have the above-mentioned object of action.

[0099] The tilt shaft 50 is a mechanical shaft that can change the angle between the plane where the wiper 40 is located and the working surface. When the tilt shaft motor 60 is working, its output end is mechanically connected to the tilt shaft 50, thereby driving the tilt shaft 50 to move. Under the action of mechanical transmission, the tilt shaft 50 changes the angle between the wiper 40 and the working surface to adjust the direction of the force exerted by the wiper 40 on the working surface (or the material on the working surface). Among them, the mechanical transmission structure between the tilt shaft 50 and the wiper 40 may vary according to the actual product model and is not limited to Figure 2 In the structure shown in , the above-mentioned transmission effect can also be achieved between the inclination shaft 50 and the wiper plate 40 structure through other transmission members, that is, the inclination shaft 50 and the wiper plate 40 can be directly mechanically connected or indirectly mechanically connected.

[0100] like Figure 5 As shown, the control method includes:

[0101] S20: Acquire fuselage state information, where the fuselage state information is used to represent the instant movement state of the leveling device.

[0102] Considering that the movement state of the leveling device during operation plays a decisive role in the final leveling effect, the body state information of the leveling device plays a very important role in realizing the automatic control of the movement of the leveling device. Therefore, the body state information is first obtained. The body state information may include the real-time movement state of the leveling device as a whole or each component, and may also include the mechanical parameters of the components of the leveling device, such as the length and model of the tilt axis 50. The body state information may include information such as the position, attitude, speed, acceleration, etc. of the leveling device. Among them, the position of the leveling device can be collected by installing a GPS (Global Positioning System, which can provide accurate geographic location, movement speed and precise time information) module 70 on the leveling device, and the attitude information can be collected by installing an IMU 80 (Inertial Measurement Unit, a sensor used to detect and measure acceleration and rotational movement) on the leveling device.

[0103] S40: Obtaining a movement inclination adjustment amount and a posture inclination adjustment amount of the leveling device according to the fuselage state information and preset movement parameters.

[0104] Among them, the preset movement parameters refer to the parameters that the user wants the leveling device to operate with the movement parameters, which can be set in advance, for example, they can be set in the execution body of the control method or input into the execution body through an external device.

[0105] S60: Obtain adjustment parameters of the tilt axis 50 according to the movement tilt adjustment amount and the attitude tilt adjustment amount.

[0106] To ensure that the leveling device can accurately move according to the preset desired movement parameters, the control method provided in the embodiments of the present application maps the leveling device's movement and attitude control values ​​to the movement tilt adjustment value and attitude tilt adjustment value of the tilt axis 50. The final output tilt axis 50 can be a linear superposition of these two values. Therefore, the adjustment parameters of the tilt axis 50 can be further obtained based on the movement tilt adjustment value and the attitude tilt adjustment value. The adjustment parameters of the tilt axis 50 are used to guide the adjustment of the operating parameters of the tilt axis motor 60 to adjust the movement and steering of the leveling device. The movement tilt adjustment value is used to control the movement of the leveling device, while the attitude tilt adjustment value is used to control the steering of the leveling device.

[0107] S80: Adjusting the working state of the tilt axis motor 60 according to the adjustment parameters, so that the leveling device works with the preset movement parameters.

[0108] Specifically, the fuselage status information that can reflect the movement status of the leveling device is first obtained. According to the difference between the fuselage status information and the preset movement parameters, the movement amount and attitude amount that need to be adjusted for the leveling device to reach the preset movement parameters can be further adjusted, that is, the movement inclination adjustment amount and attitude inclination adjustment amount of the leveling device are obtained according to the fuselage status information and the preset movement parameters. According to the above description of the working process of the leveling device, it can be seen that there is a functional relationship between the movement inclination adjustment amount and the attitude inclination adjustment amount and the adjustment parameters of the inclination axis 50, and the specific functional relationship can be determined according to the specific structural structure of the leveling device. Therefore, according to the obtained moving inclination angle adjustment amount and posture inclination angle adjustment amount, the adjustment parameters of the inclination axis 50 can be further converted, and then the working state of the inclination axis motor 60 can be controlled and adjusted according to the parameters (the adjustment parameters of the inclination axis 50 can be used to first calculate and convert them into the corresponding rotation angle adjustment parameters of the inclination axis motor 60, and then the output of the inclination axis motor 60 is controlled). By adjusting the working parameters such as the rotation angle of the inclination axis motor 60, the adjusted leveling device can work with the preset moving parameters, and can independently realize movement control while ensuring the leveling effect of the leveling device. During the working process, there is no need to rely on manual operation. On the one hand, it can liberate labor, and on the other hand, it can avoid the difference in leveling effect caused by differences in manual operation level, thereby improving the smoothing and leveling effect of the leveling device.

[0109] The control method provided in the embodiment of the present application addresses the problem that the current leveling device relies on manual assisted traction and cannot perform autonomous and precise movement operations. By linearly decoupling the inclination angle of the leveling device's wiping plate control, the movement and posture control quantities of the leveling device are mapped to the movement inclination adjustment amount and the posture inclination adjustment amount of the inclination axis 50, so as to obtain the parameters that need to be adjusted for the inclination axis 50, thereby realizing automatic control of the leveling device without relying on manual operation. Moreover, because the control method fully considers the movement state of the leveling device during operation, it can not only obtain the difference between the current movement state and the preset movement parameters, but also obtain the reaction force of the surrounding environment on the current leveling device. By integrating various information, it can perform precise control of the movement of the leveling device to improve the anti-interference and robustness of the control method.

[0110] In one embodiment, Figure 6 As shown, step S40 "obtaining the movement inclination adjustment amount and the attitude inclination adjustment amount of the leveling device according to the fuselage state information and the preset movement parameters" includes:

[0111] S42: Inputting the fuselage state information and the preset movement parameters into the adjustment model to obtain the movement tilt angle adjustment amount and the attitude tilt angle adjustment amount.

[0112] The regulation model refers to a model that can realize the self-tuning vector determination of the leveling device. For example, the regulation model can be a PID control model. In process control, the fuselage state information and the preset movement parameters are input into the regulation model. The PID control model performs self-tuning PID control according to the proportion (P, Proportional), integral (I, Integral) and differential (D, Differential) of the deviation between the fuselage state information and the corresponding preset movement parameters, and outputs the movement inclination adjustment amount and the attitude inclination adjustment amount to guide the determination of the adjustment parameters of the leveling device. Among them, the regulation model can be determined according to the specific model and structure of the leveling device. The specific PID control model is not limited here. The embodiment of the application provides a control method. By adopting a regulation model such as a PID control model, multi-stage serial PID closed-loop control of the movement direction, attitude and speed of the leveling device can be realized, and it has strong anti-interference ability. Among them, the execution carrier of the regulation model can be a hardware circuit or a control terminal with program processing capability. In the control terminal, the regulation model realizes data processing when the program is executed.

[0113] In one embodiment, Figure 6 As shown, the control method further includes the steps of:

[0114] S10: Obtaining the torque feedback data of the spindle 30 of the spindle driver 20.

[0115] S30: Based on the torque feedback data of the spindle 30, the current working surface state is estimated to obtain working surface state estimation information. The working surface state estimation information refers to working surface environment information that can reflect the operation of the leveling device, such as the flatness of the working surface and the viscosity of the material to be leveled on the working surface.

[0116] S50: The movement error and error change rate of the leveling device are obtained based on the machine state information and preset movement parameters. The movement error refers to the difference between each parameter in the machine state information and the corresponding parameter in the preset movement parameters. The error change rate refers to the rate of change of the movement error over time. When the motor operating parameters remain unchanged, changes in the error magnitude and error rate can also reflect changes in the ground environment.

[0117] S70: Adjust the parameters of the adjustment model based on fuzzy rules according to the movement error, the error change rate and the work surface state estimation information.

[0118] During operation, the surface being worked on by the leveling device is affected by the preceding process, weather, and wetness, resulting in a constantly changing ground environment. Upon sensing these changes, the leveling device automatically adjusts the parameters of the mediation model to adapt the control system or device equipped with this control method to the changes, maintaining the stability of the leveling device's movement.

[0119] Specifically, in order to achieve more accurate movement control of the leveling device, the control method provided in the embodiment of the present application also obtains the spindle driver 20 parameters on the spindle 30 (which can be the load rate feedback parameters of the driver) to sense the torque impact of the ground environment changes on the spindle 30. When determining the setting vector, the influence of the ground and other working surface environments on the movement state of the leveling device is fully considered, and the feedback data is used to guide the parameter adjustment of the adjustment model. For example, the coefficients of each PID control model are adjusted. The process of adjusting the parameters of the adjustment model based on fuzzy rules according to the movement error, error change rate and working surface state estimation information can be the process of determining the PID control model coefficients. If the PID coefficients of each PID control loop in the PID control model are set to k p 、k i and k d In the case of (here are three loops, and the coefficients of each loop are different, which is only used as an example and does not limit the actual protection scope of this application), the PID parameter change can be expressed as Δk p ,Δk i ,Δk d =F(e,Δe,η), and the fuzzy rule F can be obtained by conducting construction experiments on different working surfaces.

[0120] In the subsequent work, considering the amount of calculation, the online adjustment process of the parameters of the PID control model can be implemented using an incremental PID algorithm to improve the calculation speed. The output calculation formula can be as follows:

[0121] Δu(k)=k p (error(k)-error(k-1))+k i error(k)+k d (error(k)-2error(k-1)+error(k-2))

[0122] Where error(k) is the difference between the expected value and the actual data for the kth tuning cycle, and Δu(k) is the output increment. Using this increment, we can quickly determine the adjustment amount for the PID control model, improving calculation speed.

[0123] The control method provided in the embodiment of the present application finally determines the moving inclination angle adjustment amount and the attitude inclination angle adjustment amount, which fully takes into account the influencing factors of the working surface environment. Fuzzy rules are formulated through tests on different ground surfaces. The leveling device will autonomously select appropriate PID parameters for real-time adjustment in the ever-changing ground environment. It has strong robustness and greatly improves the adaptability of the leveling device equipped with this control method to various application environments.

[0124] In one embodiment, the fuselage state information includes fuselage position information, fuselage speed information, and fuselage attitude information.

[0125] For example, before operation, the desired moving speed V of the leveling device can be set. d and the desired attitude angle φ of the fuselage d Then, the fuselage status information is obtained, which may include the position coordinates (x q ,y q ), moving speed V q 、Attitude angle φ q and angular velocity ω q , and then obtain the load rate from the spindle driver 20 to calculate the working surface state estimation information (for example, the equivalent friction torque τ currently exerted on the spindle 30 m ). According to the expected moving speed V d , desired attitude angle φ d and the actual moving speed V q , actual attitude angle φ q , calculating the movement error e and the error change rate Δe. Referring to the above embodiment, based on the movement error, error change rate, and estimated working surface state information, fuzzy rules are used to adjust the PID control model parameters. This allows the leveling device's movement control process to fully consider the impact of the working surface environment, ensuring that the leveling device equipped with this control method can achieve precise movement control in various application scenarios.

[0126] In one embodiment, Figure 7 As shown, the speed information of the fuselage includes the actual moving speed of the fuselage, the preset moving parameters include the expected moving speed of the fuselage, and the adjustment model includes the first adjustment model;

[0127] Step S42, "inputting the fuselage state information and the preset movement parameters into the adjustment model to obtain the movement tilt adjustment amount and the attitude tilt adjustment amount," includes:

[0128] S421: If the leveling device is in the forward or backward working mode, the expected moving speed of the fuselage and the actual moving speed of the fuselage are input into the first adjustment model to obtain the moving inclination angle adjustment amount.

[0129] The adjustment model includes multiple cascade adjustment models, such as a multi-stage PID control model. When the leveling device is in the forward or reverse working mode, the difference between the expected movement speed of the fuselage and the actual movement speed of the fuselage can reflect the amount of movement that needs to be adjusted for the leveling device. The adjustment of the movement of the leveling device is then carried out based on the specific structure of the leveling device and the difference. For example, the first adjustment model can be a first PID adjustment model, which sets the expected movement speed V dand the actual moving speed V q Perform PID algorithm processing, that is, input into the first PID adjustment model to obtain the moving inclination angle setting value θ1 (the inclination angle setting value has a mathematical relationship with the acceleration, h1 is the calibration coefficient, so we can first calculate the expected moving speed V of the fuselage. d and the actual moving speed V q PID algorithm processing is performed to obtain the expected acceleration, and then the positive amount of the moving inclination angle is further obtained based on the relationship between the expected acceleration and the positive amount of the moving inclination angle).

[0130] In one embodiment, the velocity information of the fuselage further includes an angular velocity feedback; the position information of the fuselage includes the fuselage position coordinates; the attitude information of the fuselage includes the actual attitude angle of the fuselage; the adjustment model includes a second adjustment model; and the adjustment model includes a second adjustment model and a third adjustment model;

[0131] The step of “inputting the fuselage state information and the preset movement parameters into the adjustment model to obtain the attitude tilt adjustment amount” includes:

[0132] S422: If the leveling device is in the forward or backward working mode, the lateral offset of the fuselage is calculated based on the fuselage position coordinates;

[0133] S423: Calculate the desired fuselage attitude angle based on the fuselage lateral offset;

[0134] S424: Inputting the desired attitude angle of the fuselage and the actual attitude angle of the fuselage into the second adjustment model to obtain a given angular velocity;

[0135] S425: Input the angular velocity reference value and the angular velocity feedback value into the third adjustment model to obtain the attitude inclination adjustment value.

[0136] Specifically according to the fuselage position coordinate x q with y q , calculate the lateral offset of the fuselage on the current moving route of the leveling device, and then based on the lateral offset of the fuselage, the attitude angle used to correct the forward direction of the leveling device can be obtained and set as the desired attitude φ of the fuselage d According to the desired attitude angle φ of the fuselage d and the actual attitude angle φ of the fuselage q Perform PID algorithm, that is, input the desired fuselage attitude angle and the actual fuselage attitude angle into the second adjustment model, and the angular velocity given value ω can be obtained. d Then the angular velocity is given by ω d and angular velocity feedback ω q As the input of the third adjustment model, the attitude inclination adjustment quantity θ2 is obtained. If the third adjustment model is a PID control model, the angular velocity given quantity ω will be dand angular velocity feedback ω q Perform PID algorithm to obtain the attitude inclination adjustment value θ2.

[0137] In one embodiment, the control method further comprises the steps of:

[0138] Obtaining spindle position information fed back by the spindle driver 20;

[0139] Obtain feedforward value based on spindle position information;

[0140] The step of “inputting the angular velocity reference value and the angular velocity feedback value into the third adjustment model to obtain the attitude inclination adjustment value” includes:

[0141] The angular velocity set value, angular velocity feedback value and feedforward value are input into the third adjustment model to obtain the attitude inclination adjustment value.

[0142] Before operation, the user can also set the initial speed v0 of the spindle 30 and the different direction coefficients k0 for forward and backward movement (for example, k0 is 1 when forward and -1 when backward), and the spindle speed v m =k0v0, the spindle 30 drives the wiper 40 to rotate. When the wiper 40 is a blade type, the spindle 30 drives the blade to rotate, so the blade speed is determined by the spindle speed (determined according to the reduction ratio), and the rotation position of the spindle 30 determines the current rotation position of the blade. Therefore, the spindle position parameter is also of great reference significance for the control of the wiper 40. Therefore, the control method provided in the embodiment of the present application obtains the spindle position information fed back by the spindle driver 20, and obtains the feedforward value based on the spindle position information, and obtains the feedforward value based on the spindle 30 position feedback α. m , get the feedforward amount, and according to the feedforward amount and the angular velocity feedback ω fed back by the sensor q , angular velocity given value ω d The three are subjected to PID algorithm (i.e., the three parameters are used as input of the third adjustment model) to obtain the expected value of angular acceleration. Then, similar to the relationship between the moving inclination adjustment amount and the acceleration in the above embodiment, the expected value of angular acceleration can be converted into the attitude inclination adjustment amount θ2 according to the functional relationship between the inclination adjustment amount and the angular acceleration.

[0143] In one embodiment, Figure 7 As shown, the adjustment model includes a fourth adjustment model. In this method, the step of "inputting the fuselage state information and the preset movement parameters into the adjustment model to obtain the attitude tilt adjustment amount" includes:

[0144] S426: If the leveling device is in the steering working mode, the angular velocity reference value and the angular velocity feedback value are input into the fourth adjustment model to obtain the attitude inclination adjustment value.

[0145] When the moving speed of the leveling device is set to 0, the leveling device only turns and does not move, so it is necessary to set the moving inclination angle setting amount θ1 and the angular velocity setting amount ω d , to guide the leveling device to work in the desired moving state. d and angular velocity feedback ω q As the input of the fourth regulation model, the attitude angle adjustment value θ2 is obtained. When the fourth regulation model is a PID regulation model, this step is to perform a PID algorithm on the angular velocity reference value and the angular velocity feedback value to obtain the attitude angle adjustment value θ2.

[0146] In one embodiment, Figure 2 、 Figure 8 As shown, the wiper plate 40 includes: a first wiper plate 41 and a second wiper plate 42; the adjustment parameters of the inclination axis 50 include the inclination adjustment parameters corresponding to the first wiper plate 41 and the inclination adjustment parameters corresponding to the second wiper plate 42;

[0147] The step S60 of obtaining the adjustment parameters of the tilt axis 50 according to the movement tilt adjustment amount and the attitude tilt adjustment amount includes:

[0148] According to the movement inclination adjustment amount and the posture inclination adjustment amount, the inclination adjustment parameters corresponding to the first wiper plate 41 and the inclination adjustment parameters corresponding to the second wiper plate 42 are obtained using the first preset model.

[0149] When the leveling device includes two wiper plates 40, the inclination adjustment parameters corresponding to the movement inclination adjustment amount and the posture inclination adjustment amount can be obtained according to the first preset model that can reflect the movement relationship between the inclination axis 50 and each wiper plate 40.

[0150] In one embodiment, the first preset model includes the formula:

[0151] θ R =θ1+θ2 and θ L =θ1-θ2, where θ R is the inclination adjustment parameter corresponding to the first wiper plate 41, θ L is the inclination adjustment parameter corresponding to the second wiper plate 42, θ1 is the movement inclination adjustment amount, and θ2 is the posture inclination adjustment amount.

[0152] by Figure 2 and Figure 8 As shown in the control method under the illustrated structure, the inclination adjustment parameter θ corresponding to the first wiper 41 R The θ in the first preset model can be used R =θ1+θ2, and accordingly, the inclination adjustment parameter θ corresponding to the second wiper 42 is L The θ in the first preset model can be used L =θ1-θ2 is calculated.

[0153] In one embodiment, after obtaining the inclination adjustment parameters corresponding to the first wiper plate 41 and the inclination adjustment parameters corresponding to the second wiper plate 42 using the first preset model, the inclination adjustment parameters corresponding to the first wiper plate 41 are converted into the corresponding motor adjustment angle of the inclination axis motor 60. The tilt adjustment parameter corresponding to the second wiper plate 42 is converted into the corresponding motor adjustment angle of the tilt axis motor 60 So that the subject executing the control method adjusts the angle according to the motor ( and ) to adjust the output of the corresponding inclination axis motor 60 so that the inclination angle of the first wiper plate 41 reaches θ R , the inclination angle of the second wiper plate 42 reaches θ L , that is, the fuselage state information matches the preset movement parameters. Figure 3 As shown, the motor adjusts the angle (the inclination axis motor rotates 60 degrees ) and the tilt adjustment parameter θ. Based on this mathematical relationship, the required rotation angle of the tilt axis motor 60 can be quickly determined, thereby achieving rapid control. This mathematical relationship is determined by the kinematic model between the tilt axis 50, the wiper plate 40, and other components of the leveling device that affect tilt adjustment.

[0154] In one embodiment, step S40 of "obtaining a movement tilt adjustment amount and a posture tilt adjustment amount of the leveling device according to the fuselage state information and preset movement parameters" includes:

[0155] Filtering the fuselage status information;

[0156] The movement angle adjustment amount and attitude angle adjustment amount are obtained using the filtered fuselage state information and the preset movement parameters.

[0157] By filtering the collected data, the data validity can be improved and the control accuracy of the control method can be improved. Specifically, the fuselage status information can be subjected to low-pass filtering and notch filtering. The low-pass filtering can be implemented using a first-order low-pass digital filter as a carrier, and the notch filtering can be implemented using a second-order notch filter. The filtering implementation model can be set according to the actual scenario and is not limited here.

[0158] It should be understood that although Figure 5-Figure 7 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 5-Figure 7At least part of the steps may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The order of execution of these steps or stages is not necessarily one by one, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0159] The above-mentioned control method, and one or more embodiments thereof have at least the following beneficial effects: the control method, by acquiring fuselage state information that can reflect the instantaneous movement state of the fuselage, utilizes the information and the preset movement parameters to linearly decouple the inclination of the wiper plate 40 into a movement inclination setting value and a posture inclination setting value to realize multi-level serial control, and obtains the adjustment parameters of the inclination axis 50 according to the setting value, so as to adjust the working state of the inclination axis motor 60, so that the leveling device can maintain operation near the preset movement parameters. On the one hand, after setting the movement direction, speed, posture and other parameters, the method can accurately control the movement direction, posture and speed of the fuselage, get rid of the dependence on manual labor, and improve work efficiency; on the other hand, there will be no difference in construction effect due to differences in manual operation level, thereby improving the stability of the construction effect; in addition, the method realizes multi-level serial PID control by linearly decoupling the inclination of the wiper plate 40 into a movement inclination setting value and a posture inclination setting value, and can also improve the accuracy of the autonomous movement operation of the leveling device.

[0160] In addition, fuzzy control is used to automatically adjust the model parameters or the PID coefficients of the PID control model to adapt to environmental changes on different ground surfaces, which has strong robustness.

[0161] Furthermore, this control method eliminates the need for kinematic and dynamic modeling of the screed and eliminates complex calculations. This allows the screed to respond quickly to control commands to adjust its movement parameters while also adapting to changes in complex ground conditions. This method eliminates the need for manual assistance, reduces the difficulty and intensity of screed construction, and improves efficiency.

[0162] On the other hand, Figure 8 As shown, a control system includes: Figure 1 The leveling device 1 and the controller 2 shown. The leveling device 1 includes:

[0163] fuselage 10;

[0164] The wiper plate 40 is arranged at the bottom of the fuselage;

[0165] The main shaft 30 is used to drive the wiper plate 40 to level the work surface;

[0166] The spindle driver 20 is disposed inside the body and is mechanically connected to the spindle 30;

[0167] The tilt shaft 50 is mechanically connected to the main shaft 30;

[0168] The tilt axis motor 60 is mechanically connected to the tilt axis 50 and is used to drive the tilt axis 50 to move to adjust the position of the wiper plate 40;

[0169] The controller 2 includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the following is achieved: Figure 1 The method steps shown are:

[0170] S20: Acquire fuselage state information, where the fuselage state information is used to represent the instant movement state of the leveling device 1;

[0171] S40: Obtaining a movement inclination adjustment amount and a posture inclination adjustment amount of the leveling device 1 according to the fuselage state information and preset movement parameters;

[0172] S60: Obtaining adjustment parameters of the tilt axis 50 according to the movement tilt adjustment amount and the attitude tilt adjustment amount;

[0173] S80: Adjusting the working state of the tilt axis motor 60 according to the adjustment parameters, so that the leveling device 1 works with the preset movement parameters.

[0174] The controller 2 can be a device independent of the leveling device 1, or it can be embedded within the leveling device 1, i.e., a control device disposed on the leveling device 1. The definitions of the various components of the control system and the method steps executed by the controller 2 are the same as those in the above-described method embodiment and are not further described here. It should be noted that the controller in the control system can also execute other method steps in the above-described method embodiment and achieve corresponding beneficial effects, which are not further described here.

[0175] The control system further includes a sensor module for collecting fuselage status information. For example, the sensor module may include the GPS module 70 and the IMU 80 described in the above embodiment, for collecting fuselage position information, fuselage speed information, and fuselage attitude information.

[0176] In addition, an embodiment of the present application further provides a control device applied to a leveling device, the leveling device comprising:

[0177] fuselage 10;

[0178] The wiper plate 40 is arranged at the bottom of the fuselage;

[0179] The main shaft 30 is used to drive the wiper plate 40 to level the work surface;

[0180] The spindle driver 20 is disposed inside the body and is mechanically connected to the spindle 30;

[0181] The tilt shaft 50 is mechanically connected to the main shaft 30;

[0182] The tilt axis motor 60 is mechanically connected to the tilt axis 50 and is used to drive the tilt axis 50 to move to adjust the position of the wiper plate 40;

[0183] like Figure 9 As shown, the control device includes:

[0184] An information acquisition module 200 is used to acquire fuselage status information, where the fuselage status information is used to represent the instantaneous movement status of the leveling device;

[0185] The adjustment amount acquisition module 400 is used to obtain the movement inclination adjustment amount and the attitude inclination adjustment amount of the leveling device according to the fuselage state information and the preset movement parameters;

[0186] An adjustment parameter acquisition module 600 is used to obtain an adjustment parameter of the tilt axis 50 according to the movement tilt adjustment amount and the attitude tilt adjustment amount;

[0187] The adjustment execution module 800 is used to adjust the working state of the tilt axis motor 60 according to the adjustment parameters, so that the leveling device works with preset movement parameters.

[0188] The definitions of the various components of the leveling device 1 and the meanings of terms such as the fuselage status information are the same as those in the above-described method embodiment and are not further elaborated here. The control device acquires fuselage status information via the information acquisition module 200. Then, the control device utilizes the setting value acquisition module 400 to obtain the movement tilt setting value and attitude tilt setting value of the leveling device 1 based on the fuselage status information and preset movement parameters. The control device then utilizes the adjustment parameter acquisition module 600 to obtain the adjustment parameters of the tilt axis 50 based on the movement tilt setting value and attitude tilt setting value. Finally, the control device utilizes the adjustment execution module 800 to adjust the operating state of the tilt axis motor 60 based on the adjustment parameters, so that the leveling device 1 operates according to the preset movement parameters.

[0189] For the specific definition of the control device, please refer to the definition of the above-mentioned control method above, which will not be repeated here. The various modules in the above-mentioned control device for driving the movement of the leveling device can be implemented in whole or in part by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0190] It should be noted that each method step in the above-mentioned embodiment of the control method for driving the leveling device to move can be performed by a functional module in the control device for driving the leveling device to move that can realize the function of the method step to perform corresponding operations and achieve corresponding beneficial effects, which will not be elaborated here.

[0191] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 10 As shown. The computer device includes a processor, a memory and a network interface connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data such as preset movement parameters, initial PID parameters of the adjustment model, and a PID model. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a control method is implemented.

[0192] Those skilled in the art will understand that Figure 10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0193] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0194] S20: Acquire fuselage state information, where the fuselage state information is used to represent the instant movement state of the leveling device;

[0195] S40: Obtaining a movement inclination adjustment amount and a posture inclination adjustment amount of the leveling device according to the fuselage state information and preset movement parameters;

[0196] S60: Obtain adjustment parameters of the tilt axis 50 according to the movement tilt adjustment amount and the attitude tilt adjustment amount;

[0197] S80: Adjusting the working state of the tilt axis motor 60 according to the adjustment parameters, so that the leveling device works with the preset movement parameters.

[0198] In the computer device provided in the embodiment of the present application, the processor also implements other steps in the above method embodiment when executing the computer program and achieves corresponding beneficial effects, which will not be repeated here.

[0199] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0200] S20: Acquire fuselage state information, where the fuselage state information is used to represent the instant movement state of the leveling device;

[0201] S40: Obtaining a movement inclination adjustment amount and a posture inclination adjustment amount of the leveling device according to the fuselage state information and preset movement parameters;

[0202] S60: Obtain adjustment parameters of the tilt axis 50 according to the movement tilt adjustment amount and the attitude tilt adjustment amount;

[0203] S80: Adjusting the working state of the tilt axis motor 60 according to the adjustment parameters, so that the leveling device works with the preset movement parameters.

[0204] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0205] In the description of this specification, reference to the terms "in one embodiment" or "other embodiments" 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 invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.

[0206] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0207] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A control method, applied to a leveling device, characterized in that: The leveling device comprises: body; a wiper plate, the wiper plate being arranged at the bottom of the fuselage; A main shaft, the main shaft is used to drive the wiper disc to work to level the working surface; A spindle driver, the spindle driver being disposed inside the fuselage and mechanically connected to the spindle; a tilt shaft, the tilt shaft being mechanically connected to the main shaft; A tilt axis motor, the tilt axis motor being mechanically connected to the tilt axis and configured to drive the tilt axis to move so as to adjust the position of the wiper; The control method includes: Acquiring fuselage state information, where the fuselage state information is used to represent the instantaneous movement state of the leveling device; Obtaining a movement inclination adjustment amount and a posture inclination adjustment amount of the leveling device according to the fuselage state information and preset movement parameters; Obtaining an adjustment parameter of the tilt axis according to the movement tilt adjustment amount and the attitude tilt adjustment amount; Adjusting the working state of the tilt axis motor according to the adjustment parameters so that the leveling device operates at preset movement parameters; The step of "obtaining the movement inclination adjustment amount and the attitude inclination adjustment amount of the leveling device according to the fuselage state information and the preset movement parameters" includes: Inputting the fuselage state information and the preset movement parameters into an adjustment model to obtain the movement tilt angle adjustment amount and the attitude tilt angle adjustment amount; The fuselage status information includes fuselage position information, fuselage speed information and fuselage attitude information; The speed information of the fuselage includes the actual moving speed of the fuselage, the preset movement parameter includes the expected moving speed of the fuselage, and the adjustment model includes a first adjustment model; The step of "inputting the fuselage state information and the preset movement parameters into the adjustment model to obtain the movement inclination adjustment amount" includes: If the leveling device is in a forward or backward working mode, the expected moving speed of the fuselage and the actual moving speed of the fuselage are input into a first adjustment model to obtain a moving inclination angle adjustment amount; The velocity information of the fuselage further includes an angular velocity feedback; the position information of the fuselage includes the fuselage position coordinates, the attitude information of the fuselage includes the actual attitude angle of the fuselage, and the adjustment model includes a second adjustment model and a third adjustment model; The step of "inputting the fuselage state information and the preset movement parameters into the adjustment model to obtain the attitude inclination adjustment amount" includes: If the leveling device is in a forward or backward working mode, the lateral offset of the fuselage is calculated according to the fuselage position coordinates; Calculating a desired fuselage attitude angle according to the fuselage lateral offset; Inputting the desired attitude angle of the fuselage and the actual attitude angle of the fuselage into a second adjustment model to obtain a given angular velocity; Inputting the angular velocity given value and the angular velocity feedback value into a third adjustment model to obtain the attitude inclination adjustment value; The wiper plate includes: a first wiper plate and a second wiper plate; the adjustment parameter of the inclination axis includes the inclination adjustment parameter corresponding to the first wiper plate and the inclination adjustment parameter corresponding to the second wiper plate; The step of "obtaining the adjustment parameter of the tilt axis according to the movement tilt adjustment amount and the attitude tilt adjustment amount" includes: Obtaining, according to the movement tilt adjustment amount and the posture tilt adjustment amount, a tilt adjustment parameter corresponding to the first wiper plate and a tilt adjustment parameter corresponding to the second wiper plate using a first preset model; The first preset model includes the formula: θ R =θ1+θ2 and θ L =θ1-θ2, where θ R is the tilt adjustment parameter corresponding to the first wiper, θ L is the inclination adjustment parameter corresponding to the second wiper, θ1 is the movement inclination adjustment amount, and θ2 is the posture inclination adjustment amount.

2. The control method according to claim 1, characterized in that: The control method further comprises the steps of: Obtaining spindle torque feedback data of the spindle driver; estimating the current working surface state according to the spindle torque feedback data to obtain working surface state estimation information; Obtaining a movement error and an error change rate of the leveling device according to the fuselage state information and the preset movement parameters; the movement error refers to an error value between each parameter in the fuselage state information and a corresponding parameter in the preset movement parameters; According to the movement error, the error change rate and the work surface state estimation information, the parameters of the adjustment model are adjusted based on fuzzy rules.

3. The control method according to claim 1, wherein: Also includes: Obtaining spindle position information fed back by the spindle driver; Obtaining a feedforward amount according to the spindle position information; The step of "inputting the angular velocity set value and the angular velocity feedback value into a third adjustment model to obtain the attitude inclination adjustment value" includes: The angular velocity set value, the angular velocity feedback value and the feedforward value are input into the third adjustment model to obtain the attitude inclination adjustment value.

4. The control method according to claim 1, wherein: The preset movement parameters include a given angular velocity, and the adjustment model includes a fourth adjustment model; The step of "inputting the fuselage state information and the preset movement parameters into the adjustment model to obtain the attitude inclination adjustment amount" includes: If the leveling device is in the steering working mode, the angular velocity set value and the angular velocity feedback value are input into the fourth adjustment model to obtain the attitude inclination adjustment value.

5. The control method according to claim 1, 2, 3 or 4, characterized in that: The step of "obtaining the movement inclination adjustment amount and the attitude inclination adjustment amount of the leveling device according to the fuselage state information and the preset movement parameters" includes: performing filtering processing on the fuselage status information; The movement tilt angle adjustment amount and the attitude tilt angle adjustment amount are obtained by using the filtered fuselage state information and preset movement parameters.

6. A control system, characterized in that: include: A leveling device, comprising: body; a wiper plate, the wiper plate being arranged at the bottom of the fuselage; A main shaft, the main shaft is used to drive the wiper disc to work to level the working surface; A spindle driver, the spindle driver being disposed inside the fuselage and mechanically connected to the spindle; a tilt shaft, the tilt shaft being mechanically connected to the main shaft; A tilt axis motor, the tilt axis motor being mechanically connected to the tilt axis and configured to drive the tilt axis to move so as to adjust the position of the wiper; The control system further comprises: A controller comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps according to any one of claims 1 to 5 when executing the computer program.

7. A control device, applied to a leveling device, characterized in that: The leveling device comprises: body; a wiper plate, the wiper plate being arranged at the bottom of the fuselage; A main shaft, the main shaft is used to drive the wiper disc to work to level the working surface; A spindle driver, the spindle driver being disposed inside the fuselage and mechanically connected to the spindle; a tilt shaft, the tilt shaft being mechanically connected to the main shaft; A tilt axis motor, the tilt axis motor being mechanically connected to the tilt axis and configured to drive the tilt axis to move so as to adjust the position of the wiper; The control device comprises: An information acquisition module, configured to acquire fuselage status information, wherein the fuselage status information is used to represent the instantaneous movement status of the leveling device; A setting amount acquisition module, configured to obtain a movement inclination setting amount and a posture inclination setting amount of the leveling device according to the fuselage state information and preset movement parameters; An adjustment parameter acquisition module, configured to obtain an adjustment parameter of the tilt axis according to the movement tilt adjustment amount and the attitude tilt adjustment amount; an adjustment execution module, configured to adjust the working state of the tilt axis motor according to the adjustment parameters, so that the leveling device operates with preset movement parameters; The step of "obtaining the movement inclination adjustment amount and the attitude inclination adjustment amount of the leveling device according to the fuselage state information and the preset movement parameters" includes: Inputting the fuselage state information and the preset movement parameters into an adjustment model to obtain the movement tilt angle adjustment amount and the attitude tilt angle adjustment amount; The fuselage status information includes fuselage position information, fuselage speed information and fuselage attitude information; The speed information of the fuselage includes the actual moving speed of the fuselage, the preset movement parameter includes the expected moving speed of the fuselage, and the adjustment model includes a first adjustment model; The step of "inputting the fuselage state information and the preset movement parameters into the adjustment model to obtain the movement inclination adjustment amount" includes: If the leveling device is in a forward or backward working mode, the expected moving speed of the fuselage and the actual moving speed of the fuselage are input into a first adjustment model to obtain a moving inclination angle adjustment amount; The velocity information of the fuselage further includes an angular velocity feedback; the position information of the fuselage includes the fuselage position coordinates, the attitude information of the fuselage includes the actual attitude angle of the fuselage, and the adjustment model includes a second adjustment model and a third adjustment model; The step of "inputting the fuselage state information and the preset movement parameters into the adjustment model to obtain the attitude inclination adjustment amount" includes: If the leveling device is in a forward or backward working mode, the lateral offset of the fuselage is calculated according to the fuselage position coordinates; Calculating a desired fuselage attitude angle according to the fuselage lateral offset; Inputting the desired attitude angle of the fuselage and the actual attitude angle of the fuselage into a second adjustment model to obtain a given angular velocity; Inputting the angular velocity given value and the angular velocity feedback value into a third adjustment model to obtain the attitude inclination adjustment value; The wiper plate includes: a first wiper plate and a second wiper plate; the adjustment parameter of the inclination axis includes the inclination adjustment parameter corresponding to the first wiper plate and the inclination adjustment parameter corresponding to the second wiper plate; The step of "obtaining the adjustment parameter of the tilt axis according to the movement tilt adjustment amount and the attitude tilt adjustment amount" includes: Obtaining, according to the movement tilt adjustment amount and the posture tilt adjustment amount, a tilt adjustment parameter corresponding to the first wiper plate and a tilt adjustment parameter corresponding to the second wiper plate using a first preset model; The first preset model includes the formula: θ R =θ1+θ2 and θ L =θ1-θ2, where θ R is the tilt adjustment parameter corresponding to the first wiper, θ L is the inclination adjustment parameter corresponding to the second wiper, θ1 is the movement inclination adjustment amount, and θ2 is the posture inclination adjustment amount.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the control method according to any one of claims 1 to 5 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the control method according to any one of claims 1 to 5 are implemented.

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