A Thrust Adjustment Method, Device and Electronic Device for a Brush Driving Device

Abstract

The present invention discloses a method, device and electronic device for adjusting the thrust of a brush driving device. The method includes determining a currently driven brush of a target vehicle and determining first thrust information of the currently driven brush; obtaining a preset thrust threshold corresponding to the currently driven brush, and comparing the first thrust information with the preset thrust threshold; when the first thrust information is less than the preset thrust threshold, sending a first control instruction to a lifting control motor corresponding to the currently driven brush. The present invention realizes adjusting the thrust exerted by the brush on the vehicle by adjusting the lifting height of the brush, realizes timely adjustment of the thrust when the brush has problems such as hair loss and the thrust drops, prolongs the service life of each brush, and saves the cost of brush replacement.

Description

Technical Field

[0001] The present application relates to the technical field of automatic control, and in particular, to a method, device and electronic device for adjusting the thrust of a brush driving device. Background Art

[0002] In a hanging production system, the hanging carriers on the production line are generally driven to move by bird hooks arranged on the track. Due to the certain length of the bird hook structure, the bird hook cannot be fully matched with the track structure at the track turning point, making it difficult to pass through the track turning point, which in turn affects the transportation of the hanging carriers. For the above reasons, a brush driving device is generally arranged beside the track turning structure at present, so that a plurality of brushes move in a cycle on the device, and the plastic hard hairs on the brushes are used to push the hanging carriers through the track turning structure. It can be seen that such a driving method completely depends on the pushing action of the brushes on the hanging carriers. As the usage time increases, the hairs in the brushes will wear and fall off, which in turn affects the pushing force on the hanging carriers. In severe cases, the brush driving device cannot smoothly drive the hanging carriers through the track turning point. At present, in order to ensure the pushing effect of the brushes, regardless of the actual wear condition of the brushes, the entire brush will be directly replaced after it is found that the pushing effect of the brush is not good, resulting in frequent replacement of the brushes and relatively high additional costs. Summary of the Invention

[0003] To solve the above problems, the embodiments of the present application provide a method, device and electronic device for adjusting the thrust of a brush driving device.

[0004] In a first aspect, the embodiments of the present application provide a method for adjusting the thrust of a brush driving device, the method comprising:

[0005] Determine the current driving brush of the target carrier, and determine the first thrust information of the current driving brush;

[0006] Obtain the preset thrust threshold corresponding to the current driving brush, and compare the first thrust information with the preset thrust threshold;

[0007] When the first thrust information is less than the preset thrust threshold, send a first control instruction to the lifting control motor corresponding to the current driving brush, and the first control instruction is used to control the current driving brush to move a first preset distance in a first direction, and the first direction is the opposite direction of the brush root of the current driving brush.

[0008] Preferably, the determining the current driving brush of the target carrier includes:

[0009] Obtain the operation record data of the brush driving device, and determine the current positions of the driving brushes based on the operation record data;

[0010] Determine the driving brush whose current position is within the driving range of the vehicle as the current driving brush of the target vehicle.

[0011] Preferably, the determining the first thrust information of the current driving brush includes:

[0012] Obtain the initial pressure information and driving pressure information of the current driving brush based on a pressure sensor, where the initial pressure information is the pressure information when the current driving brush does not push against the target vehicle, and the driving pressure information is the pressure information when the current driving brush pushes against the target vehicle;

[0013] Determine the first thrust information of the current driving brush based on the difference between the driving pressure information and the initial pressure information.

[0014] Preferably, after sending the first control instruction to the lifting control motor corresponding to the current driving brush, it further includes:

[0015] Obtain the second thrust information of the current driving brush and obtain the standard thrust range of the current driving brush;

[0016] When the second thrust information is greater than the maximum value of the standard thrust range, calculate the first thrust difference between the second thrust information and the maximum value, determine a second preset distance based on the difference interval corresponding to the first thrust difference, and send a second control instruction to the lifting control motor, where the second control instruction is used to control the current driving brush to move the second preset distance in a second direction, and the second direction is the direction of the brush root of the current driving brush;

[0017] When the second thrust information is less than the minimum value of the standard thrust range, calculate the second thrust difference between the second thrust information and the minimum value, determine a third preset distance based on the difference interval corresponding to the second thrust difference, and send a third control instruction to the lifting control motor, where the third control instruction is used to control the current driving brush to move the third preset distance in the first direction.

[0018] Preferably, the method further includes:

[0019] Calculate the relative moving distance of the current driving brush relative to the initial position of the brush;

[0020] When the relative moving distance exceeds a preset limit distance, generate replacement information and send the replacement information to a preset target terminal.

[0021] In a second aspect, an embodiment of the present application provides a thrust adjustment device for a brush driving device, and the device includes:

[0022] A determination module, configured to determine a current driving brush of a target vehicle and determine first thrust information of the current driving brush;

[0023] A comparison module, configured to obtain a preset thrust threshold corresponding to the current driving brush, and compare the first thrust information with the preset thrust threshold;

[0024] A sending module, configured to send a first control instruction to a lifting control motor corresponding to the current driving brush when the first thrust information is less than the preset thrust threshold, where the first control instruction is used to control the current driving brush to move a first preset distance in a first direction, and the first direction is the opposite direction of the brush root of the current driving brush.

[0025] In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the method provided in the first aspect or any possible implementation manner of the first aspect are implemented.

[0026] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method provided in the first aspect or any possible implementation manner of the first aspect is implemented.

[0027] The beneficial effects of the present invention are as follows: By adjusting the lifting height of the brush to adjust the thrust exerted by the brush on the vehicle, it is possible to timely adjust the thrust when the brush has problems such as hair loss and the thrust decreases, extend the service life of each brush, and save the cost of brush replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0029] Figure 1 It is a schematic flowchart of a method for adjusting the thrust of a brush driving device provided by an embodiment of the present application;

[0030] Figure 2 It is a schematic structural diagram of a device for adjusting the thrust of a brush driving device provided by an embodiment of the present application;

[0031] Figure 3 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0032] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application.

[0033] In the following description, the terms "first" and "second" are only for the purpose of description and cannot be construed as indicating or implying relative importance. The following description provides multiple embodiments of the present application, and different embodiments can be replaced or combined. Therefore, the present application can also be considered to include all possible combinations of the same and / or different embodiments described. Thus, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present application should also be considered to include embodiments containing all other possible combinations of A, B, C, and D, even though such embodiments may not be explicitly described in the following content.

[0034] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes can be made to the functions and arrangements of the described elements without departing from the scope of the content of the present application. Each example can appropriately omit, substitute, or add various processes or components. For example, the described method can be performed in a different order than the described order, and various steps can be added, omitted, or combined. In addition, the features described in some examples can be combined into other examples.

[0035] See Figure 1 , Figure 1 is a schematic flow chart of a method for adjusting the thrust of a brush driving device provided in an embodiment of the present application. In the embodiment of the present application, the method includes:

[0036] S101. Determine the current driving brush of the target vehicle and determine the first thrust information of the current driving brush.

[0037] The execution subject of the present application can be a cloud server.

[0038] In the embodiment of the present application, the brush driving device includes multiple brushes, and the brushes will move in a circular cycle under the operation control of the brush driving device. Each brush does not continuously apply thrust to the vehicle. Only during the circular movement, the brush that is in direct contact with the vehicle at the current moment will apply thrust to the vehicle. Therefore, before judging whether there is hair loss and wear of the brush according to the thrust, it is first necessary to determine the current driving brush that is applying thrust to the target vehicle passing through the track turning point, and determine the first thrust information applied by the current driving brush to the target vehicle.

[0039] In an implementable manner, the determining the current driving brush of the target vehicle includes:

[0040] Obtain the operation record data of the brush driving device, and determine the current positions of the driving brushes based on the operation record data;

[0041] Determine the driving brushes of the target vehicle at the current time as the driving brushes whose current positions are within the vehicle driving range.

[0042] In the embodiments of the present application, during the operation of the brush driving device, operation record data will be continuously generated, and each brush can be preset with a different number. According to the operation record data, the current positions of the driving brushes at the current moment can be determined based on the numbers. Since the target vehicle runs on the track and the brush driving device is arranged beside the track, in fact, only the brushes within a certain area can contact the target vehicle. This area will be used as the vehicle driving range, and the driving brushes within the vehicle driving range are the current driving brushes.

[0043] In an implementable manner, the determining the first thrust information of the current driving brush includes:

[0044] Obtain the initial pressure information and driving pressure information of the current driving brush based on a pressure sensor, where the initial pressure information is the pressure information when the current driving brush does not push against the target vehicle, and the driving pressure information is the pressure information when the current driving brush pushes against the target vehicle;

[0045] Determine the first thrust information of the current driving brush based on the difference between the driving pressure information and the initial pressure information.

[0046] In the embodiments of the present application, since it is difficult to measure the actual thrust at the contact position between the bristles of the brush and the vehicle, and because of the interaction of forces, the brush will also receive a reverse thrust when pushing the vehicle, which will generate pressure on the brush. Therefore, a pressure sensor will be used to collect the initial pressure information and driving pressure information of the current driving brush, and then the difference between the two will be used to represent the reverse force received when pushing the vehicle, so as to determine the first thrust information of the current driving brush.

[0047] Among them, the pressure sensor is generally arranged at the brush head of the brush, rather than the contact point between the bristles and the vehicle. Therefore, there may be a deviation between the pressure difference calculated according to the pressure sensor and the reaction force at the contact point. However, since the present application does not need to measure the specific value of the thrust, only the change in the thrust value is used to represent the thrust change during the hair loss process of the brush, so it will not be affected by the deviation. In addition, through the previous test process of the brush, the pressure mapping relationship between the brush contact point and the brush head can also be determined, so as to reasonably represent the first thrust information.

[0048] S102. Obtain the preset thrust threshold corresponding to the current driving brush, and compare the first thrust information with the preset thrust threshold.

[0049] In the embodiment of the present application, a thrust threshold is preset for the driving brush. The preset thrust threshold can be regarded as the critical value that can push the vehicle to run normally. If it is lower than this critical value, the thrust of the brush may be insufficient and unable to push the vehicle normally. Therefore, after obtaining the preset thrust threshold, the first thrust information will be compared with the preset thrust threshold to determine whether there is a problem of insufficient thrust.

[0050] S103. When the first thrust information is less than the preset thrust threshold, send a first control instruction to the lifting control motor corresponding to the current driving brush. The first control instruction is used to control the current driving brush to move a first preset distance in a first direction, and the first direction is the opposite direction of the brush root of the current driving brush.

[0051] In the embodiment of the present application, a lifting control motor is correspondingly arranged for each brush. Through the drive of the lifting control motor, the brush can be driven to lift relative to the initial position, thereby adjusting the position of the force-bearing point in the bristles that contacts the vehicle. Due to the different distances of different force-bearing point positions from the brush root, that is, the fixed point of the bristles, the magnitudes of the forces generated by the action are also different, thereby realizing the adjustment of the thrust. Specifically, the cloud server will send a first control instruction to the lifting control motor to control the lifting of the current driving brush, so that the contact position between the brush and the vehicle is closer to the brush root, thereby increasing the thrust.

[0052] In an implementable manner, after sending the first control instruction to the lifting control motor corresponding to the current driving brush, it further includes:

[0053] Obtain the second thrust information of the current driving brush, and obtain the standard thrust range of the current driving brush;

[0054] When the second thrust information is greater than the maximum value of the standard thrust range, calculate the first thrust difference between the second thrust information and the maximum value, determine a second preset distance based on the difference interval corresponding to the first thrust difference, and send a second control instruction to the lifting control motor. The second control instruction is used to control the current driving brush to move the second preset distance in a second direction, and the second direction is the direction of the brush root of the current driving brush;

[0055] When the second thrust information is less than the minimum value of the standard thrust range, calculate the second thrust difference between the second thrust information and the minimum value, determine the third preset distance based on the difference interval corresponding to the second thrust difference, and send a third control instruction to the lifting control motor. The third control instruction is used to control the current driving brush to move the third preset distance in the first direction.

[0056] In an embodiment of the present application, after adjusting the position of the brush, the second thrust information of the brush will also be obtained to determine whether the current second thrust information of the adjusted brush is within the standard thrust range. If it is within the range, it means that the thrust generated by the adjusted brush meets the requirements. If it is not within the range, the brush needs to be adjusted again. Specifically, since the second thrust information may be too large or too small, and the adjustment directions for the two situations are opposite, it is necessary to first judge the magnitude of the second thrust information. Taking the case of excessive thrust as an example, calculate the first thrust difference between the second thrust information and the maximum value, and determine the difference interval where the first thrust difference is located. Second preset distances are preset for different difference intervals. Generally speaking, the larger the difference interval, the larger the second preset distance. According to the second preset distance, a second control instruction will be generated to control the motor to drive the brush to move and adjust again. The same applies to the case of too small thrust.

[0057] In an implementable manner, the method further includes:

[0058] Calculate the relative moving distance of the current driving brush relative to the initial position of the brush;

[0059] When the relative moving distance exceeds the preset limit distance, generate replacement information and send the replacement information to a preset target terminal.

[0060] In an embodiment of the present application, when the contact point between the bristles and the vehicle is too close to the root of the bristles, it will be difficult for the bristles to deform, which is not conducive to pushing the vehicle. Moreover, being too close to the root of the brush also means that the brush sheds a lot of hair. Therefore, a limit distance will be preset in advance. If the relative moving distance of the brush exceeds the preset limit distance, it is considered that the brush can no longer be used by adjustment and must be replaced. The replacement information will be sent to the target terminal of the maintenance and replacement personnel. The target terminal can be a mobile terminal or a computer terminal.

[0061] Next, the thrust adjustment device of the brush driving device provided in the embodiments of the present application will be introduced in detail. It should be noted that the Figure 2 thrust adjustment device of the brush driving device shown is used to execute the present application Figure 2 Figure 1 ​For the method of the illustrated embodiment, for the sake of convenience of description, only the parts related to the embodiments of the present application are shown. For the specific technical details not disclosed, please refer to the present application Figure 1 the illustrated embodiment.

[0062] Please refer to Figure 2 , Figure 2 which is a schematic structural diagram of a thrust adjustment device of a brush driving device provided by an embodiment of the present application. As Figure 2 shown, the device includes:

[0063] A determination module 201, configured to determine the current driving brush of the target vehicle and determine the first thrust information of the current driving brush;

[0064] A comparison module 202, configured to obtain a preset thrust threshold corresponding to the current driving brush and compare the first thrust information with the preset thrust threshold;

[0065] A sending module 203, configured to, when the first thrust information is less than the preset thrust threshold, send a first control instruction to the lifting control motor corresponding to the current driving brush, where the first control instruction is used to control the current driving brush to move a first preset distance in a first direction, and the first direction is the opposite direction of the brush root of the current driving brush.

[0066] In an implementable manner, the determination module 201 includes:

[0067] A first acquisition unit, configured to acquire the operation record data of the brush driving device and determine the current positions of the driving brushes based on the operation record data;

[0068] A first determination unit, configured to determine the driving brush whose current position is within the driving range of the vehicle as the current driving brush of the target vehicle.

[0069] In an implementable manner, the determination module 201 further includes:

[0070] A second acquisition unit, configured to acquire the initial pressure information and driving pressure information of the current driving brush based on a pressure sensor, where the initial pressure information is the pressure information when the current driving brush does not push against the target vehicle, and the driving pressure information is the pressure information when the current driving brush pushes against the target vehicle;

[0071] A second determination unit, configured to determine the first thrust information of the current driving brush based on the difference between the driving pressure information and the initial pressure information.

[0072] In an implementable manner, the sending module 203 further includes:

[0073] A third acquisition unit, configured to acquire second thrust information of the current driving brush and acquire a standard thrust range of the current driving brush;

[0074] A first determination unit, configured to, when the second thrust information is greater than the maximum value of the standard thrust range, calculate a first thrust difference between the second thrust information and the maximum value, determine a second preset distance based on a difference interval corresponding to the first thrust difference, and send a second control instruction to the lifting control motor, where the second control instruction is used to control the current driving brush to move the second preset distance in a second direction, and the second direction is the brush root direction of the current driving brush;

[0075] A second determination unit, configured to, when the second thrust information is less than the minimum value of the standard thrust range, calculate a second thrust difference between the second thrust information and the minimum value, determine a third preset distance based on a difference interval corresponding to the second thrust difference, and send a third control instruction to the lifting control motor, where the third control instruction is used to control the current driving brush to move the third preset distance in the first direction.

[0076] In an implementable manner, the device further includes:

[0077] A calculation module, configured to calculate a relative movement distance of the current driving brush relative to an initial brush position;

[0078] A generation module, configured to generate replacement information when the relative movement distance exceeds a preset limit distance, and send the replacement information to a preset target terminal.

[0079] Those skilled in the art can clearly understand that the technical solutions of the embodiments of the present application can be implemented by means of software and / or hardware. The "units" and "modules" in this specification refer to software and / or hardware that can independently complete or cooperate with other components to complete specific functions, where the hardware can be, for example, a Field-Programmable Gate Array (FPGA), an Integrated Circuit (IC), etc.

[0080] Each processing unit and / or module of the embodiments of the present application can be implemented by an analog circuit that implements the functions of the embodiments of the present application, or can be implemented by software that executes the functions of the embodiments of the present application.

[0081] See Figure 3 , which shows a structural schematic diagram of an electronic device related to the embodiments of the present application. This electronic device can be used to implement the method in the embodiment shown in Figure 1 As shown in Figure 3As shown, the electronic device 300 may include: at least one central processing unit 301, at least one network interface 304, a user interface 303, a memory 305, and at least one communication bus 302.

[0082] Among them, the communication bus 302 is used to enable connection and communication between these components.

[0083] Among them, the user interface 303 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 303 may further include a standard wired interface and a wireless interface.

[0084] Among them, the network interface 304 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0085] Among them, the central processing unit 301 may include one or more processing cores. The central processing unit 301 uses various interfaces and lines to connect various parts within the entire electronic device 300, and by running or executing instructions, programs, code sets, or instruction sets stored in the memory 305, as well as calling data stored in the memory 305, it executes various functions of the terminal 300 and processes data. Optionally, the central processing unit 301 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The central processing unit 301 may integrate one or a combination of several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem, etc. Among them, the CPU mainly processes the operating system, user interface, and application programs, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communication. It can be understood that the above modem may not be integrated into the central processing unit 301 and may be implemented separately through a single chip.

[0086] Among them, the memory 305 may include a Random Access Memory (RAM), or may also include a Read-Only Memory. Optionally, the memory 305 includes a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, codes, code sets, or instruction sets. The memory 305 may include a program storage area and a data storage area. Among them, the program storage area can store instructions for implementing the operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area can store the data involved in the above-mentioned various method embodiments. Optionally, the memory 305 may also be at least one storage device located far from the aforementioned central processing unit 301. As Figure 3 shown, the memory 305 as a computer storage medium may include an operating system, a network communication module, a user interface module, and program instructions.

[0087] In Figure 3 the electronic device 300 shown, the user interface 303 is mainly used to provide an input interface for the user and obtain the data input by the user; while the central processing unit 301 can be used to call the thrust adjustment application program of the brush driving device stored in the memory 305 and specifically perform the following operations:

[0088] Determine the currently driven brush of the target vehicle and determine the first thrust information of the currently driven brush;

[0089] Obtain the preset thrust threshold corresponding to the currently driven brush, and compare the first thrust information with the preset thrust threshold;

[0090] When the first thrust information is less than the preset thrust threshold, send a first control instruction to the lifting control motor corresponding to the currently driven brush, and the first control instruction is used to control the currently driven brush to move a first preset distance in a first direction, and the first direction is the opposite direction of the brush root of the currently driven brush.

[0091] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the steps of the above method are implemented. Among them, the computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, microdrives, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0092] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, certain steps can be adopted in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0093] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0094] In several embodiments provided by the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some service interfaces. The indirect couplings or communication connections of the devices or units can be in electrical or other forms.

[0095] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0096] In addition, in each embodiment of the present application, the functional units can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0097] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a memory and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned memory includes: USB flash drives, read-only memory (ROM), random access memory (RAM), mobile hard disks, magnetic disks, or optical discs, etc., all of which can store program codes.

[0098] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable memory, and the memory can include: flash drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs, etc.

[0099] The above are only exemplary embodiments of the present disclosure, and the scope of the present disclosure cannot be limited thereby. That is, any equivalent changes and modifications made in accordance with the teachings of the present disclosure still fall within the scope covered by the present disclosure. After considering the specification and practicing the present disclosure herein, those skilled in the art will readily think of other embodiments of the present disclosure. The present application aims to cover any variations, uses, or adaptive changes of the present disclosure, which follow the general principles of the present disclosure and include common general knowledge or conventional technical means in the technical field not recorded in the present disclosure. The specification and embodiments are only regarded as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A method for adjusting the thrust of a brush driving device, characterized in that, the method includes: Determine the current driving brush of the target vehicle and determine the first thrust information of the current driving brush; Obtain the preset thrust threshold corresponding to the current driving brush, and compare the first thrust information with the preset thrust threshold; When the first thrust information is less than the preset thrust threshold, send a first control instruction to the lifting control motor corresponding to the current driving brush, and the first control instruction is used to control the current driving brush to move a first preset distance in a first direction, and the first direction is the opposite direction of the brush root of the current driving brush.

2. The method according to claim 1, characterized in that, the determination of the current driving brush of the target vehicle includes: Obtain the operation record data of the brush driving device, and determine the current positions of the driving brushes based on the operation record data; Determine the driving brushes whose current positions are within the driving range of the vehicle as the current driving brushes of the target vehicle.

3. The method according to claim 1, characterized in that, the determination of the first thrust information of the current driving brush includes: Obtain the initial pressure information and driving pressure information of the current driving brush based on a pressure sensor, where the initial pressure information is the pressure information when the current driving brush does not push against the target vehicle, and the driving pressure information is the pressure information when the current driving brush pushes against the target vehicle; Determine the first thrust information of the current driving brush based on the difference between the driving pressure information and the initial pressure information.

4. The method according to claim 1, characterized in that, after sending the first control instruction to the lifting control motor corresponding to the current driving brush, it further includes: Obtain the second thrust information of the current driving brush and obtain the standard thrust range of the current driving brush; When the second thrust information is greater than the maximum value of the standard thrust range, calculate the first thrust difference between the second thrust information and the maximum value, determine a second preset distance based on the difference interval corresponding to the first thrust difference, and send a second control instruction to the lifting control motor, and the second control instruction is used to control the current driving brush to move the second preset distance in a second direction, and the second direction is the brush root direction of the current driving brush; When the second thrust information is less than the minimum value of the standard thrust range, calculate the second thrust difference between the second thrust information and the minimum value, determine a third preset distance based on the difference interval corresponding to the second thrust difference, and send a third control instruction to the lifting control motor, and the third control instruction is used to control the current driving brush to move the third preset distance in the first direction.

5. The method according to claim 1, characterized in that, the method further includes: Calculate the relative moving distance of the current driving brush relative to the initial brush position; When the relative moving distance exceeds the preset limit distance, generate replacement information and send the replacement information to a preset target terminal.

6. A thrust adjustment device for a brush driving device, characterized in that, The device includes: a determination module, configured to determine a current driving brush of a target vehicle and determine first thrust information of the current driving brush; a comparison module, configured to obtain a preset thrust threshold corresponding to the current driving brush, and compare the first thrust information with the preset thrust threshold; a sending module, configured to send a first control instruction to a lifting control motor corresponding to the current driving brush when the first thrust information is less than the preset thrust threshold, where the first control instruction is used to control the current driving brush to move a first preset distance in a first direction, and the first direction is the opposite direction of the brush root of the current driving brush.

7. An electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein, when the processor executes the computer program, the steps of the method according to any one of claims 1-5 are implemented.

8. A computer-readable storage medium, on which a computer program is stored, wherein, when the computer program is executed by a processor, the steps of the method according to any one of claims 1-5 are implemented.

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