Method and apparatus for correcting vertical assembly motion position, device and storage medium

Abstract

The embodiment of the application discloses a vertical assembly motion position correction method and device, equipment and a storage medium. The vertical assembly motion position correction method of the application is applied to a sampling assembly. The sampling assembly comprises a vertical assembly and a horizontal assembly. The method comprises the following steps: acquiring a vertical motion distance and a vertical motion direction of the vertical assembly; acquiring an actual motion distance and an actual motion direction of the vertical motor after executing a motion instruction on the vertical assembly; and determining whether the motion position of the vertical assembly is correct in combination with the actual motion distance and the actual motion direction. If the motion position is incorrect, the position of the vertical assembly is corrected according to the vertical motion instruction, the actual motion distance and the actual motion direction. Through the judgment of whether the motion position of the vertical assembly is accurate and the correction of the position of the vertical assembly, the motion position offset of the vertical assembly is eliminated, the motion position of the vertical assembly is more accurate, and the system error is effectively reduced.

Description

Technical Field

[0001] This invention relates to the field of position correction technology, and more particularly to a correction method, apparatus, device, and storage medium based on the movement position of a vertical component. Background Technology

[0002] The most common sampling components in blood analyzers are rotary. Rotary sampling components mainly include vertical and horizontal components. The vertical and horizontal components are connected. During normal operation, the horizontal component rotates horizontally to move the vertical component to the target position for pipetting operations; the vertical component moves up and down to the corresponding position for sample addition or aspiration operations.

[0003] However, when the vertical component is working, it may be affected by the horizontal motor or other factors, causing positional deviation, which will affect the accuracy of the vertical component's movement and result in a large system error. Summary of the Invention

[0004] Therefore, it is necessary to propose a method, device, equipment, and storage medium for correcting the position of vertical components to address the above problems, thereby solving the issues of low accuracy and large systematic errors in the movement of vertical components.

[0005] To achieve the above objectives, a first aspect of this application provides a method for correcting the movement position of a vertical component. The method is applied to a sampling component, which includes at least a vertical component and a horizontal component, wherein the vertical component is connected to the horizontal component. The method includes:

[0006] Obtain the vertical movement command of the vertical component, the vertical movement command including vertical movement distance and vertical movement direction;

[0007] The vertical component is executed with a motion command according to the vertical motion command, and the actual motion distance and actual motion direction of the vertical motor after the motion command is executed are obtained.

[0008] Based on the vertical motion command, the actual motion distance, and the actual motion direction, it is determined whether the motion position of the vertical component is correct.

[0009] If it is determined that the vertical component's movement position is incorrect, the position of the vertical component is corrected according to the vertical movement command, the actual movement distance, and the actual movement direction.

[0010] Furthermore, the step of determining whether the movement position of the vertical component is correct based on the vertical movement command, the actual movement distance, and the actual movement direction specifically includes:

[0011] Based on the vertical direction of motion and the actual direction of motion, determine whether the actual direction of motion is consistent with the vertical direction of motion;

[0012] If it is determined that the actual direction of motion is inconsistent with the vertical direction of motion, then the position of the vertical component is incorrect.

[0013] If it is determined that the actual movement direction is consistent with the vertical movement direction, then based on the actual movement distance and the vertical movement distance, it is determined whether the actual movement distance and the vertical movement distance are the same;

[0014] If it is determined that the actual movement distance is the same as the vertical movement distance, then the movement position of the vertical component is correct;

[0015] If it is determined that the actual movement distance is not the same as the vertical movement distance, then the movement position of the vertical component is incorrect.

[0016] Furthermore, the step of executing motion commands on the vertical component according to the vertical motion command specifically includes:

[0017] If a horizontal movement command is received from the horizontal component, the horizontal movement command is acquired, and the horizontal movement command includes a horizontal rotation angle and a horizontal movement direction;

[0018] Based on the relative positional offset between the horizontal component and the vertical component, and the horizontal movement command, the compensation direction and compensation steps of the vertical component are obtained.

[0019] The vertical motion command is updated based on the compensation direction and the compensation step number to generate a target motion command. The target motion command is then executed on the vertical component. The target motion command includes a target motion direction and a target motion distance.

[0020] Furthermore, the relative relationship includes a mechanical ratio and a rotational relationship, wherein the mechanical ratio is the ratio between the unit angle of rotation of the horizontal component and the distance of positional offset of the vertical component, and the rotational relationship is the rotational relationship between the direction of movement of the horizontal component and the direction of offset of the vertical component;

[0021] The process of obtaining the compensation direction and compensation steps of the vertical component based on the relative positional offset between the horizontal component and the vertical component, and the horizontal movement command, specifically includes:

[0022] The compensation distance is calculated based on the horizontal rotation angle and the mechanical ratio.

[0023] Based on the analysis of the horizontal rotation direction and the rotation relationship, the compensation direction is obtained.

[0024] Furthermore, the process of obtaining the compensation direction based on the horizontal rotation direction and the rotational relationship analysis specifically includes:

[0025] When the horizontal component rotates clockwise, and the vertical component is offset in the direction perpendicular to the horizontal surface upwards, the compensation direction is perpendicular to the horizontal surface downwards;

[0026] When the horizontal component rotates clockwise, and the vertical component is offset in the direction perpendicular to the horizontal surface downwards, the compensation direction is perpendicular to the horizontal surface upwards.

[0027] Furthermore, updating the vertical motion command based on the compensation direction and the number of compensation steps to generate a target motion command, and executing the target motion command on the vertical component, specifically includes:

[0028] If the vertical movement direction is the same as the compensation direction, then the target movement direction is determined to be the vertical movement direction, and the target movement distance is determined to be the sum of the vertical movement steps and the compensation steps;

[0029] If the vertical movement direction is different from the compensation direction, then determine the magnitude of the vertical movement steps and the compensation steps;

[0030] If the number of vertical movement steps is greater than the number of compensation steps, then the target movement direction is determined to be the vertical movement direction, and the target movement distance is determined to be the difference between the number of vertical movement steps and the number of compensation steps;

[0031] If the number of vertical movement steps is less than the number of compensation steps, then the target movement direction is determined to be the compensation direction, and the target movement distance is determined to be the difference between the number of compensation steps and the number of vertical movement steps;

[0032] If the vertical movement steps are the same as the compensation steps, then the target movement direction is determined to be any direction, and the target movement distance is determined to be zero.

[0033] The vertical motion command is executed on the vertical component based on the target motion direction and the target motion distance.

[0034] Furthermore, after determining whether the movement position of the vertical component is correct based on the vertical movement command, the actual movement distance, and the actual movement direction, the method further includes:

[0035] If it is determined that the vertical component is in an incorrect position, a system malfunction warning will be issued.

[0036] To achieve the above objectives, a second aspect of this application provides a device for correcting the movement position of a vertical component, the device comprising: an instruction acquisition unit, an instruction execution unit, and a position control unit;

[0037] The instruction acquisition unit is used to acquire the vertical movement instruction of the vertical component, the vertical movement instruction including vertical movement distance and vertical movement direction;

[0038] The instruction execution unit is used to execute motion instructions on the vertical component according to the vertical motion instructions, and to obtain the actual motion distance and actual motion direction of the vertical motor after the motion instructions are executed;

[0039] The position control unit is used to determine whether the movement position of the vertical component is correct based on the vertical movement command, the actual movement distance, and the actual movement direction.

[0040] If it is determined that the vertical component's movement position is incorrect, the position of the vertical component is corrected according to the vertical movement command, the actual movement distance, and the actual movement direction.

[0041] To achieve the above objectives, a third aspect of this application provides a computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, the processor performs the steps of the method described in the first aspect.

[0042] To achieve the above objectives, a fourth aspect of this application provides a computer device including a memory and a processor, characterized in that the memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the method described in the first aspect.

[0043] The embodiments of the present invention have the following beneficial effects:

[0044] The vertical component motion position correction method of the present invention is applied to a sampling component. First, the vertical motion command of the vertical component is obtained, which includes the vertical motion distance and the vertical motion direction. The motion command is executed on the vertical component according to the vertical motion command, and the actual motion distance and actual motion direction of the vertical motor after the motion command is executed are obtained. Based on the vertical motion command, the actual motion distance, and the actual motion direction, it is judged whether the motion position of the vertical component is correct. If it is determined that the motion position of the vertical component is incorrect, the position of the vertical component is corrected according to the vertical motion command, the actual motion distance, and the actual motion direction. By judging whether the motion position of the vertical component is accurate through the actual motion direction, the actual motion distance, the vertical motion distance, and the vertical motion direction, and correcting the position of the vertical component, the position offset of the vertical component is eliminated, making the motion position of the vertical component more accurate and effectively reducing system error. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] in:

[0047] Figure 1 This is a flowchart illustrating the method for correcting the movement position of a vertical component according to an embodiment of the present invention.

[0048] Figure 2 This is a schematic diagram of the sampling component in an embodiment of the present invention;

[0049] Figure 3 This is a structural block diagram of the compensation device for vertical component movement in an embodiment of the present invention;

[0050] Figure 4 This is a diagram showing the internal structure of a computer device in an embodiment of this application. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] In this embodiment of the invention, a method for correcting the movement position of a vertical component is provided. This correction method is applied to a sampling component, which includes at least a vertical component and a horizontal component, and the vertical component and the horizontal component are connected. The correction method can be found in [reference needed]. Figure 1 , Figure 1 This is a flowchart illustrating a method for correcting the movement position of a vertical component according to an embodiment of the present invention, specifically including:

[0053] Step 100: Obtain the vertical motion command of the vertical component. The vertical motion command includes the vertical motion distance and the vertical motion direction.

[0054] Specifically, after receiving a work instruction from the operator or terminal device, the sampling component performs normal operation. This work instruction can be "liquid retrieval". In the scenario of receiving the "liquid retrieval" work instruction, it will receive a vertical movement instruction, including the vertical movement distance and vertical movement direction, based on the "liquid retrieval" instruction and the actual application scenario.

[0055] Step 200: Execute motion commands on the vertical component according to the vertical motion commands, and obtain the actual motion distance and actual motion direction of the vertical motor after executing the motion commands.

[0056] After receiving the vertical motion command, the vertical component is executed according to the vertical motion distance and direction specified in the command, so that it reaches the expected position. However, in actual operation, the vertical component may experience positional deviation due to various factors. Therefore, to detect the difference between the actual and expected positions, the actual motion distance and direction of the vertical component can be obtained after the vertical motor is positioned, following the execution of the motion command. It is understood that the actual motion distance and direction are relative to the initial position of the vertical motor.

[0057] Step 300: Based on the vertical motion command, actual motion distance, and actual motion direction, determine whether the motion position of the vertical component is correct.

[0058] Specifically, based on the vertical direction of motion and the actual direction of motion, it is determined whether the actual direction of motion is consistent with the vertical direction of motion. If it is determined that the actual direction of motion is inconsistent with the vertical direction of motion, then the position of the vertical component is incorrect. If it is determined that the actual direction of motion is consistent with the vertical direction of motion, then based on the actual distance of motion and the vertical distance of motion, it is determined whether the actual distance of motion is the same as the vertical distance of motion. If it is determined that the actual distance of motion is the same as the vertical distance of motion, then the position of the vertical component is correct. If it is determined that the actual distance of motion is different from the vertical distance of motion, then the position of the vertical component is incorrect.

[0059] By comparing the vertical motion command, the actual motion distance, and the actual motion direction, we can monitor whether the motion position of the vertical component is correct.

[0060] Step 400: If it is determined that the vertical component's movement position is incorrect, then the position of the vertical component is corrected according to the vertical movement command, the actual movement distance, and the actual movement direction.

[0061] Specifically, by comparing the vertical movement distance and direction with the actual movement distance and direction, that is, by comparing the actual position with the expected position, it is determined whether the vertical component's movement position is correct. If the movement position is correct, it means that the vertical component has not been affected by other factors during the movement, and there is no need to adjust the vertical component's movement position. If the movement position is incorrect, it means that the vertical component has been affected by other factors during the movement, and the movement position has deviated. In this case, the vertical component's movement position needs to be adjusted to correct the vertical component's position.

[0062] By comparing the actual position of the vertical component with its expected position, the accuracy of the vertical component's position can be detected. Furthermore, by promptly correcting the position of the vertical component after a deviation is detected, the movement position of the vertical component becomes more precise, effectively reducing system errors.

[0063] In one feasible embodiment of the present invention, the correction method is applied to the sampling component of a blood analyzer. Specifically, a blood analyzer, also known clinically as a blood cell analyzer or hematology analyzer, is mainly used to detect blood samples. It is an instrument that performs qualitative and quantitative analysis of the formed elements in blood and provides relevant information. The sampling component is one of the components of a blood analyzer; it is understood that the sampling component is a device used to sample and acquire samples.

[0064] Common sampling component types include rotary sampling components, please refer to [link / reference]. Figure 2 , Figure 2 This is a schematic diagram of the sampling component in an embodiment of the present invention. The sampling component consists of at least a horizontal component and a vertical component. The vertical component includes at least a vertical motor, a liquid suction component, and a lead screw shaft. The two ends of the lead screw shaft are connected to the vertical motor and the horizontal component, respectively. The liquid suction component is attached to the lead screw shaft, and when the lead screw shaft rotates, the liquid suction component can move smoothly up and down. The working principle of the sampling component is roughly as follows: the horizontal component rotates left and right on a horizontal plane perpendicular to the lead screw shaft to drive the liquid suction needle on the liquid suction component to rotate left and right to move to the target position. The vertical motor controls the rotation of the lead screw shaft to make the liquid suction needle on the liquid suction component move up and down to complete the liquid addition or extraction operation.

[0065] However, during the operation of the sampling component, the horizontal rotation of the horizontal component may cause the lead screw shaft to rotate, resulting in the movement of the liquid aspiration component on the lead screw shaft and causing a positional offset. This leads to a deviation in the position of the liquid aspiration component, which in turn makes the position of the entire vertical component inaccurate, affecting the working efficiency and accuracy of the blood analyzer. In addition, the vertical component may also be affected by other factors, making its movement position inaccurate, which also affects the working efficiency and accuracy of the blood analyzer.

[0066] Therefore, to avoid positional shifts caused by horizontal components to vertical components, the motion commands executed on the vertical components according to the vertical motion commands specifically include:

[0067] Step 1: If a horizontal movement command is received from the horizontal component, then the horizontal movement command is obtained. The horizontal movement command includes the horizontal rotation angle and the horizontal movement direction.

[0068] Specifically, the sampling component receives work instructions from the operator or terminal device. In the case of receiving a "pipette" work instruction, it receives a horizontal movement instruction, including the horizontal rotation angle and horizontal movement direction, based on the "pipette" instruction and the actual application scenario. The next step depends on whether a horizontal movement instruction is received. If no horizontal movement instruction is received, the position of the vertical component is known and is not affected by the horizontal component's movement, so step 300 is executed directly. If a horizontal movement instruction is received, the position of the vertical component is affected by the horizontal component's movement, so Step 1 is executed. It can be understood that in practice, by default, when the sampling component receives a "pipette" work instruction, the horizontal component will move according to the horizontal rotation angle and horizontal movement direction specified in the horizontal movement instruction.

[0069] Step 2: Based on the relative positional offset between the horizontal and vertical components and the horizontal movement command, obtain the compensation direction and compensation steps of the vertical component.

[0070] Furthermore, if a horizontal movement command is received and acquired, the position of the vertical component is compensated based on the relative positional offset between the horizontal and vertical components, as well as the horizontal rotation angle and horizontal movement direction. This eliminates the influence of the horizontal component's movement on the vertical component's position, making the vertical component's position more accurate.

[0071] In one feasible embodiment of the present invention, by controlling the precision of the machining, a fixed ratio can be achieved between the rotation angle of the horizontal component and the vertical movement of the vertical component. Furthermore, due to differences in the structure and installation method of the lead screw in the vertical component, the rotation direction of the horizontal component and the offset direction of the vertical component also have different mapping relationships. Therefore, the relative relationships include mechanical ratio and rotational relationship, where the mechanical ratio is the ratio between the unit angle of rotation of the horizontal component and the distance of positional offset of the vertical component, and the rotational relationship is the rotational relationship between the movement direction of the horizontal component and the offset direction of the vertical component.

[0072] Based on the aforementioned mechanical ratio and rotational relationship, the compensation direction and number of compensation steps can be calculated using the horizontal rotation angle and mechanical ratio to obtain the compensation distance. For example, the offset distance of the vertical component can be calculated based on the horizontal rotation angle and mechanical ratio, and this offset distance is the distance that should be compensated for the vertical component. Based on the analysis of the horizontal rotation direction and rotational relationship, the compensation direction is obtained. For example, when the horizontal component rotates clockwise and the vertical component offsets upwards from the horizontal plane, the compensation direction is downwards from the horizontal plane; when the horizontal component rotates clockwise and the vertical component offsets downwards from the horizontal plane, the compensation direction is upwards from the horizontal plane.

[0073] Step 3: Update the vertical motion command according to the compensation direction and compensation steps, generate the target motion command, and execute the target motion command on the vertical component. The target motion command includes the target motion direction and the target motion distance.

[0074] Specifically, if the vertical movement direction is the same as the compensation direction, the target movement direction is determined to be the vertical movement direction, and the target movement distance is determined to be the sum of the vertical movement steps and the compensation steps. If the vertical movement direction is different from the compensation direction, the difference between the vertical movement steps and the compensation steps is determined. If the vertical movement steps are greater than the compensation steps, the target movement direction is determined to be the vertical movement direction, and the target movement distance is determined to be the difference between the vertical movement steps and the compensation steps. If the vertical movement steps are less than the compensation steps, the target movement direction is determined to be the compensation direction, and the target movement distance is determined to be the difference between the compensation steps and the vertical movement steps. If the vertical movement steps are the same as the compensation steps, the target movement direction is determined to be any direction, and the target movement distance is determined to be zero. After updating the vertical movement command, the updated target movement direction and target movement distance are obtained, and the vertical movement command is executed on the vertical component based on the target movement direction and target movement distance.

[0075] By analyzing the relative relationship between the horizontal and vertical components, as well as the direction of movement and rotation angle of the horizontal component, the specific direction and distance of the positional shift of the vertical component caused by the influence of the horizontal component can be obtained. This allows for the further determination of the compensation direction and distance. By combining the vertical movement distance, vertical movement direction, compensation direction, and compensation steps, the vertical movement command is updated to obtain the target movement command considering compensation. Finally, the target movement command is executed. Because the compensation direction and compensation steps are taken into account, the offset effect caused by the movement of the horizontal component is eliminated, effectively reducing system errors and improving the working efficiency and test results of the blood analyzer.

[0076] After eliminating the offset effect of the horizontal component movement on the vertical component, if the vertical component's movement position is still found to be incorrect, then in step 300, a judgment is made based on the vertical movement command, the actual movement distance, and the actual movement direction to determine whether the vertical component's movement position is correct. This may further include:

[0077] If the vertical component is determined to be in an incorrect position, a system malfunction warning will be issued.

[0078] Specifically, if the expected position of the vertical component is still different from the actual position after the offset caused by the movement of the horizontal component is eliminated, it indicates that the movement of the vertical component has malfunctioned or is affected by unknown factors. In this case, a system fault warning should be issued to facilitate timely troubleshooting.

[0079] This invention provides a compensation device for the movement of vertical components; please refer to [link / reference]. Figure 3 , Figure 3 This is a structural block diagram of a compensation device for vertical component motion in an embodiment of the present invention. The device includes: an instruction acquisition unit 501, an instruction execution unit 502, and a position control unit 503.

[0080] The instruction acquisition unit 501 is used to acquire the vertical motion instruction of the vertical component, which includes the vertical motion distance and the vertical motion direction.

[0081] The instruction execution unit 502 is used to execute motion instructions on the vertical component according to the vertical motion instructions, and to obtain the actual motion distance and actual motion direction of the vertical motor after the motion instructions are executed.

[0082] The position control unit 503 is used to determine whether the vertical component's movement position is correct based on the vertical movement command, the actual movement distance, and the actual movement direction. If the vertical component's movement position is determined to be incorrect, the position of the vertical component is corrected according to the vertical movement command, the actual movement distance, and the actual movement direction.

[0083] The correction device of this invention determines whether the vertical component's movement position is correct by judging the vertical movement command, the actual movement distance, and the actual movement direction. This achieves the purpose of detecting the accuracy of the vertical component's position. Furthermore, by promptly correcting the vertical component's position after detecting any deviation, the movement position of the vertical component becomes more precise, effectively reducing system errors.

[0084] Figure 4 An internal structural diagram of a computer device according to one embodiment of the present invention is shown. This computer device can specifically be a terminal or a system. Figure 4 As shown, the computer device includes a processor, memory, and network interface connected via a system bus. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and may also store a computer program. When executed by the processor, this computer program causes the processor to perform the steps in the above-described method embodiments. The internal memory may also store a computer program, which, when executed by the processor, causes the processor to perform the steps in the above-described method embodiments. Those skilled in the art will understand that... Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0085] In one embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps in the above method embodiments.

[0086] In one embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, causes the processor to perform the steps in the above method embodiments.

[0087] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0088] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0089] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for correcting the movement position of a vertical component, characterized in that, The method is applied to a sampling component, the sampling component including at least a vertical component and a horizontal component, the vertical component being connected to the horizontal component, the method comprising: Obtain the vertical movement command of the vertical component, the vertical movement command including vertical movement distance and vertical movement direction; The vertical component is executed with a motion command according to the vertical motion command, and the actual motion distance and actual motion direction of the vertical component after the motion command is executed are obtained. Based on the vertical motion command, the actual motion distance, and the actual motion direction, it is determined whether the motion position of the vertical component is correct. If it is determined that the vertical component's movement position is incorrect, the position of the vertical component is corrected according to the vertical movement command, the actual movement distance, and the actual movement direction. Specifically, executing motion commands on the vertical component according to the vertical motion command includes: If a horizontal movement command is received from the horizontal component, the horizontal movement command is acquired, which includes a horizontal rotation angle and a horizontal movement direction. Based on the relative positional offset between the horizontal component and the vertical component, and the horizontal movement command, the compensation direction and compensation steps of the vertical component are obtained. The vertical motion command is updated based on the compensation direction and the compensation step number to generate a target motion command. The target motion command is then executed on the vertical component. The target motion command includes a target motion direction and a target motion distance.

2. The method according to claim 1, characterized in that, The step of determining whether the vertical component's movement position is correct based on the vertical movement command, the actual movement distance, and the actual movement direction specifically includes: Based on the vertical direction of motion and the actual direction of motion, determine whether the actual direction of motion is consistent with the vertical direction of motion; If it is determined that the actual direction of motion is inconsistent with the vertical direction of motion, then the position of the vertical component is incorrect. If it is determined that the actual movement direction is consistent with the vertical movement direction, then based on the actual movement distance and the vertical movement distance, it is determined whether the actual movement distance and the vertical movement distance are the same; If it is determined that the actual movement distance is the same as the vertical movement distance, then the movement position of the vertical component is correct; If it is determined that the actual movement distance is not the same as the vertical movement distance, then the movement position of the vertical component is incorrect.

3. The method according to claim 1, characterized in that, The relative relationship includes a mechanical ratio and a rotational relationship, wherein the mechanical ratio is the ratio between the unit angle of rotation of the horizontal component and the distance of positional offset of the vertical component, and the rotational relationship is the rotational relationship between the direction of movement of the horizontal component and the direction of offset of the vertical component; The process of obtaining the compensation direction and compensation steps of the vertical component based on the relative positional offset between the horizontal component and the vertical component, and the horizontal movement command, specifically includes: The compensation distance is calculated based on the horizontal rotation angle and the mechanical ratio. Based on the analysis of the horizontal motion direction and the rotational relationship, the compensation direction is obtained.

4. The method according to claim 3, characterized in that, The compensation direction is obtained based on the analysis of the horizontal motion direction and the rotational relationship, specifically including: When the horizontal component rotates clockwise, and the vertical component is offset in the direction perpendicular to the horizontal surface upwards, the compensation direction is perpendicular to the horizontal surface downwards; When the horizontal component rotates clockwise, and the vertical component is offset in the direction perpendicular to the horizontal surface downwards, the compensation direction is perpendicular to the horizontal surface upwards.

5. The method according to claim 1, characterized in that, The step of updating the vertical motion command based on the compensation direction and the number of compensation steps to generate a target motion command, and executing the target motion command on the vertical component, specifically includes: If the vertical movement direction is the same as the compensation direction, then the target movement direction is determined to be the vertical movement direction, and the target movement distance is determined to be the sum of the vertical movement steps and the compensation steps; If the vertical movement direction is different from the compensation direction, then determine the magnitude of the vertical movement steps and the compensation steps; If the number of vertical movement steps is greater than the number of compensation steps, then the target movement direction is determined to be the vertical movement direction, and the target movement distance is determined to be the difference between the number of vertical movement steps and the number of compensation steps; If the number of vertical movement steps is less than the number of compensation steps, then the target movement direction is determined to be the compensation direction, and the target movement distance is determined to be the difference between the number of compensation steps and the number of vertical movement steps; If the vertical movement steps are the same as the compensation steps, then the target movement direction is determined to be any direction, and the target movement distance is determined to be zero. The vertical motion command is executed on the vertical component based on the target motion direction and the target motion distance.

6. The method according to claim 5, characterized in that, After determining whether the vertical component's movement position is correct based on the vertical movement command, the actual movement distance, and the actual movement direction, the method further includes: If it is determined that the vertical component is in an incorrect position, a system malfunction warning will be issued.

7. A device for correcting the position of a vertical component, characterized in that, The device includes: an instruction acquisition unit, an instruction execution unit, and a position control unit; The instruction acquisition unit is used to acquire the vertical movement instruction of the vertical component, the vertical movement instruction including vertical movement distance and vertical movement direction; The instruction execution unit is used to execute motion instructions on the vertical component according to the vertical motion instructions, and to obtain the actual motion distance and actual motion direction of the vertical component after the motion instructions are executed; The position control unit is used to determine whether the movement position of the vertical component is correct based on the vertical movement command, the actual movement distance, and the actual movement direction. If it is determined that the vertical component's movement position is incorrect, the position of the vertical component is corrected according to the vertical movement command, the actual movement distance, and the actual movement direction. The instruction execution unit is further configured to, if it receives a horizontal movement instruction from a horizontal component, acquire the horizontal movement instruction, wherein the horizontal movement instruction includes a horizontal rotation angle and a horizontal movement direction; Based on the relative positional offset between the horizontal component and the vertical component, and the horizontal movement command, the compensation direction and compensation steps of the vertical component are obtained. The vertical motion command is updated based on the compensation direction and the compensation step number to generate a target motion command. The target motion command is then executed on the vertical component. The target motion command includes a target motion direction and a target motion distance.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it causes the processor to perform the steps of the method as described in any one of claims 1 to 6.

9. A computer device, comprising a memory and a processor, characterized in that, The memory stores a computer program that, when executed by the processor, causes the processor to perform the steps of the method as described in any one of claims 1 to 6.

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