A material spraying control method, device, equipment and storage medium
By calculating the control voltage of the spray controller using a regression model, the problems of high labor costs, low efficiency, and unsatisfactory accuracy of existing spray controllers are solved, and high-precision spray control is achieved.
Patent Information
- Application Number
- CN202310401163.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2023-04-12
- Publication Date
- 2025-10-21
- Estimated Expiration
- 2043-04-12
AI Technical Summary
Existing spray controllers have problems such as high labor costs, low efficiency and unsatisfactory control accuracy, making it difficult to meet the needs of high-precision spray control.
The control voltage of the spray controller is calculated using an intrinsic regression model. By collecting the angle and position signals of the spray controller and combining them with historical voltage-displacement relationships, the target control voltage is predicted using the intrinsic regression model to control the spray controller to move to the target position.
The precision and efficiency of spray control are improved, and the low efficiency and high error problems caused by manual operation are avoided.
Smart Images
Figure CN116414036B_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of automated spraying technology, and in particular to a spraying control method, device, equipment and storage medium. Background Art
[0002] Currently, the spraying industry mostly relies on manual adjustment of spray controllers, which is costly, inefficient, and subject to large errors. In practice, due to inherent errors such as delays in mechanical control, the control accuracy of existing spray controllers is less than ideal, making it difficult to meet high-precision targets. Therefore, achieving low-cost, low-error automated spray control is a challenge in this field. Summary of the Invention
[0003] In view of this, the purpose of the present invention is to provide a spray control method, device, equipment and storage medium that can use an organic self-regression model to calculate the control voltage of the spray controller, thereby improving control accuracy and avoiding the low efficiency of manual spray operation. The specific scheme is as follows:
[0004] In a first aspect, the present application provides a spray control method, comprising:
[0005] Determining the target position coordinate point that the injection controller needs to reach within the current control cycle from a preset angle displacement relationship according to the angle of the injection controller at the start time of the current control cycle;
[0006] Determining the starting position coordinate point of the injection controller according to the position voltage signal of the injection controller at the starting moment of the current control cycle;
[0007] Based on the target position coordinate point, the starting position coordinate point and the pre-constructed historical voltage-displacement correspondence, the target control voltage is determined using an organic regression model, so that the target control voltage is used to control the injection controller to move to the target position coordinate point; the historical voltage-displacement correspondence is a correspondence constructed based on the historical control voltage and historical displacement within a historical control period.
[0008] Optionally, determining the starting position coordinate point of the injection controller according to the position voltage signal of the injection controller at the starting moment of the current control cycle includes:
[0009] Collecting the position signal voltage of the injection controller at the start time of the current control cycle;
[0010] The position signal voltage is calculated according to a preset linear proportional function to obtain the starting position coordinate point of the injection controller at the starting moment of the current control cycle.
[0011] Optionally, the determining the target control voltage based on the target position coordinate point, the starting position coordinate point, and a pre-established historical voltage-displacement correspondence, and using an organic regression model, includes:
[0012] Calculating estimated displacements for several control cycles using the active regression model based on the historical voltage-displacement relationship and the starting position coordinates;
[0013] The control voltage of the current control cycle is calculated based on the target position coordinate point and the estimated displacement using the active regression model to obtain a target control voltage.
[0014] Optionally, calculating the control voltage of the current control period using the organic regression model based on the target position coordinate point and the estimated displacement to obtain the target control voltage includes:
[0015] The target position coordinate point, the estimated displacements corresponding to the first preset control period, and the control voltages corresponding to the second preset control period are substituted into the active regression model to obtain the target control voltage corresponding to the current control period.
[0016] Optionally, after determining the target control voltage based on the target position coordinate point, the starting position coordinate point, and the pre-established historical voltage-displacement correspondence and using an organic regression model, the method further includes:
[0017] Saving the target control voltage so as to calculate the control voltage corresponding to a subsequent control period using the target control voltage;
[0018] If the number of the stored target control voltages of different control cycles is greater than a first preset cache quantity threshold, the corresponding target control voltage is removed based on a first-in-first-out principle.
[0019] Optionally, after using the target control voltage to control the injection controller to move to the target position coordinate point, the method further includes:
[0020] By taking the starting position coordinate point corresponding to any control cycle as the final position coordinate point at the end time of the corresponding previous control cycle, a plurality of groups of the final position coordinate points and the corresponding target position coordinate points corresponding to a plurality of control cycles are screened out;
[0021] Calculating the actual errors between the final position coordinate points and the target position coordinate points using a preset root mean square error formula;
[0022] The preset parameters in the organic regression model are adjusted based on the calculated actual error, so as to calculate the control voltage of the subsequent control cycle according to the adjusted organic regression model.
[0023] Optionally, after determining the starting position coordinate point of the injection controller according to the position voltage signal of the injection controller at the starting moment of the current control cycle, the method further includes:
[0024] Saving the starting position coordinate point at the starting moment of the current control cycle so as to calculate the control voltage corresponding to the subsequent control cycle using the saved starting position coordinate point;
[0025] If the number of saved starting position coordinate points of different control cycles is greater than a second preset cache quantity threshold, the corresponding starting position coordinate points are removed based on a first-in-first-out principle.
[0026] In a second aspect, the present application provides a spray control device, comprising:
[0027] A target position determination module is used to determine the target position coordinate point that the spray controller needs to reach within the current control cycle from a preset angle displacement relationship based on the angle of the spray controller at the start time of the current control cycle;
[0028] A starting position determination module, configured to determine the starting position coordinate point of the injection controller according to a position voltage signal of the injection controller at the starting moment of a current control cycle;
[0029] A control voltage calculation module is used to determine the target control voltage based on the target position coordinate point, the starting position coordinate point and a pre-constructed historical voltage-displacement correspondence, and to use an organic regression model to control the injection controller to move to the target position coordinate point using the target control voltage; the historical voltage-displacement correspondence is a correspondence constructed based on the historical control voltage and historical displacement within a historical control period.
[0030] In a third aspect, the present application provides an electronic device, comprising:
[0031] Memory, used to store computer programs;
[0032] A processor is used to execute the computer program to implement the above-mentioned injection control method.
[0033] In a fourth aspect, the present application provides a computer-readable storage medium for storing a computer program, wherein the computer program implements the above-mentioned spray control method when executed by a processor.
[0034] It can be seen that the present application can determine the target position coordinate point that the spray controller needs to reach in the current control cycle from the preset angle displacement relationship based on the angle of the spray controller at the starting moment of the current control cycle; then determine the starting position coordinate point of the spray controller based on the position voltage signal of the spray controller at the starting moment of the current control cycle; then determine the target control voltage based on the target position coordinate point, the starting position coordinate point and the pre-constructed historical voltage displacement correspondence, and use the active self-regression model to control the spray controller to move to the target position coordinate point using the target control voltage; the historical voltage displacement correspondence is a correspondence constructed based on the historical control voltage and historical displacement in the historical control cycle. In this way, the present application can calculate the control voltage of the spray controller in the current control cycle using the active self-regression model in combination with the historical voltage displacement relationship, and then use the calculated target control voltage to control the spray controller, thereby avoiding the problem of low efficiency caused by manual operation in industrial sites and improving the control accuracy of the spray. BRIEF DESCRIPTION OF THE DRAWINGS
[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.
[0036] Figure 1 This is a flow chart of a spray control method disclosed in this application;
[0037] Figure 2 A schematic diagram of a controller structure disclosed in this application;
[0038] Figure 3 This is a flow chart of a specific spray control method disclosed in this application;
[0039] Figure 4 This is a flow chart of another specific spray control method disclosed in this application;
[0040] Figure 5 This is a schematic structural diagram of a spray control device disclosed in this application;
[0041] Figure 6 This is a structural diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION
[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.
[0043] Controlling the spraying through the adaptive regression (ARX) model requires collecting periodic displacement signals and angle signals. Based on the historical control voltage and the historical actual displacement, after a series of linear calculations and derivations, the actual displacement in the future is predicted. Combined with the current target displacement, the current control voltage is calculated in reverse, and then output to the control end to control the spraying controller. It is understandable that the response of any mechanical structure under voltage control is delayed, and it is impossible to reach the position to be controlled immediately. The mechanical change is gradual, so the displacement to be reached can be predicted through the historical voltage control data. Then, combined with the actual displacement to be reached, the current voltage to be controlled can be calculated. In this way, the control effect will make the deviation each time accurate. This can improve the accuracy of spraying control.
[0044] See also Figure 1 As shown, an embodiment of the present invention discloses a spray control method, comprising:
[0045] Step S11 : determining the target position coordinate point that the injection controller needs to reach within the current control cycle from a preset angle displacement relationship according to the angle of the injection controller at the start moment of the current control cycle.
[0046] In this application, a control period is pre-set to T. It should be noted that, in a specific embodiment, the time required to calculate the target control voltage is very short and is only completed at the start time of the entire control period. The impact of this calculation time is ignored in this application. After obtaining the target control voltage corresponding to the control period, the obtained target control voltage is subsequently used to continuously control the injection controller throughout the entire control period. Furthermore, a complete control period begins when the target position coordinate point is determined based on the angle of the injection controller and ends when the target position coordinate point is determined based on the angle of the injection controller next time, marking the end of the period and the beginning of a new control period.
[0047] In the embodiments of the present application, at the start of the current control cycle, the angle of the injection controller at that time can be used to filter corresponding displacement information from a preset angular displacement relationship to determine the position the injection controller should reach at the end of the current control cycle, i.e., the target position coordinate point. It should be noted that the preset angular displacement relationship is related to the length of the control cycle; and the position coordinate points used in this application are spatial coordinates established with the initial position of the injection controller as the origin. Each position coordinate point is the coordinate of the injection controller relative to the initial position.
[0048] Step S12: determining the starting position coordinate point of the injection controller according to the position voltage signal of the injection controller at the starting moment of the current control cycle.
[0049] Accordingly, in a specific embodiment, the determination of the starting position coordinate point of the injection controller based on the position voltage signal of the injection controller at the starting moment of the current control cycle may include: collecting the position signal voltage of the injection controller at the starting moment of the current control cycle; calculating the position signal voltage according to a preset linear proportional function to obtain the starting position coordinate point of the injection controller at the starting moment of the current control cycle. Specifically, when collecting the starting position coordinate point of the injection controller, a displacement signal voltage is collected by the displacement collector, and the obtained displacement signal voltage needs to be calculated according to a preset linear proportional function, so as to obtain the starting position coordinate point that represents the injection controller at the starting moment of the current control cycle. In a specific embodiment, if the collected displacement signal voltage is V t , can be obtained by the linear proportional function V t / (V ref+ -V ref- )=Y t / 4000, calculate the current starting position coordinate point as Y t =V t *4000 / (V ref+ -V ref- ), where V ref+ , V ref- It is the system reference voltage of MCU.
[0050] In a specific embodiment, Figure 2 The controller structure is shown in Figure 1, which includes an ADC controller connected to a displacement collector and an angle signal collector, responsible for collecting the displacement data of the controller, i.e., the position voltage signal, and the angle signal of the controller at the start of the control cycle; the controller also includes a DAC controller to control the output control voltage. Figure 3The figure shows a specific schematic diagram of the spray control process. After acquiring the starting position coordinate point and the target position coordinate point corresponding to the controller angle through ADC acquisition, the ARX (Organic Regression Model) is combined with the preset historical voltage-displacement correspondence before the current control cycle. In a specific embodiment, the control voltage of several previous control cycles and the actual displacement of several control cycles can be combined. The starting position coordinate point of a control cycle is also the final position coordinate point of the previous control cycle, and the actual displacement of the previous control cycle can be obtained. The ARX algorithm can calculate the target control voltage that should be set for the current control cycle, and then the DAC controller outputs the target control voltage to control the spray controller.
[0051] Step S13, based on the target position coordinate point, the starting position coordinate point and the pre-constructed historical voltage-displacement correspondence, and using an organic self-regression model to determine the target control voltage, so as to use the target control voltage to control the injection controller to move to the target position coordinate point; the historical voltage-displacement correspondence is a correspondence constructed based on the historical control voltage and historical displacement within a historical control period.
[0052] In an embodiment of the present application, the target position coordinate point and the starting position coordinate point of the current control cycle can be obtained through the steps, and then the target control voltage that should be output in the current control cycle can be calculated using the self-regressive model in combination with the pre-constructed historical voltage-displacement correspondence, so as to use the target control voltage to control the injection controller to reach the target position coordinate point; it can be understood that the historical voltage-displacement correspondence is the control voltage of several control cycles before the current control cycle and the final position to which the injection controller is moved under the corresponding control voltage in each control cycle, wherein the displacement in the historical voltage-displacement correspondence is the distance relationship between the starting position coordinate point corresponding to the control cycle and the final position of the control cycle.
[0053] In a specific embodiment, after determining the starting position coordinate point of the injection controller based on the position voltage signal of the injection controller at the starting moment of the current control cycle, the method may further include: saving the starting position coordinate point at the starting moment of the current control cycle, so as to calculate the control voltage corresponding to the subsequent control cycle using the saved starting position coordinate point; if the number of starting position coordinate points of different control cycles saved is greater than the second preset cache quantity threshold, then removing the corresponding starting position coordinate point based on the first-in-first-out principle. Specifically, after determining the starting position coordinate point of the current control cycle at the starting moment, the starting coordinate point can be saved so that the target control voltage corresponding to the corresponding control cycle can be calculated using the starting coordinate point in the subsequent control cycle. It should be pointed out that the starting position coordinate point of the current control cycle at the starting moment is also the final position coordinate point at the end moment of the previous control cycle. It can be understood that the historical voltage displacement correspondence used in calculating the control voltage corresponding to the control cycle in this application should include the control voltage corresponding to a preset number of control cycles and the corresponding final position coordinate points. If the number of saved position coordinate points is greater than the second cache threshold, the data in the historical voltage displacement correspondence relationship can be updated based on the first-in-first-out principle.
[0054] It can be seen that in the embodiment of the present application, the target position coordinate point that the spray controller should reach in the current control cycle can be determined by presetting the duration of the control cycle, and then combining the pre-set angle displacement correspondence corresponding to the corresponding control cycle duration with the angle of the spray controller at the starting moment of the current control cycle; and the position voltage signal representing the position of the spray controller at the starting moment of the current control cycle can be collected, and then the corresponding starting position coordinate point can be calculated according to the preset linear proportional function; finally, according to the historical voltage displacement correspondence, the target position coordinate point of the current control cycle, and the starting position coordinate point, the target control voltage that the spray controller needs to output to reach the target position coordinate point from the starting position coordinate point in the current control cycle can be calculated using an adaptive regression model. In this way, the present application can avoid the low efficiency and large errors caused by manual control of the spray controller, and the spray efficiency and spray accuracy can be improved by automatically controlling the spray controller through a series of algorithms to perform spraying operations.
[0055] See also Figure 4 As shown, an embodiment of the present invention discloses a spray control method, comprising:
[0056] Step S21 : determining the target position coordinate point that the injection controller needs to reach within the current control cycle from a preset angle displacement relationship according to the angle of the injection controller at the start moment of the current control cycle.
[0057] Step S22: determining the starting position coordinate point of the injection controller according to the position voltage signal of the injection controller at the starting moment of the current control cycle.
[0058] Step S23: Calculate the estimated displacements of several control cycles using an organic regression model based on the pre-established historical voltage-displacement relationship and the starting position coordinates.
[0059] In the embodiment of the present application, the ARX model used is as follows:
[0060] y(t)+a1y(t-1)+a2y(t-2)+…+a na y(t-na)=b1u(t-Deley)+b2u(t-1-Deley)+…+b nb u(tn b -Deley+1)
[0061] Among them, all parameters except y(t) can be obtained from the preset historical voltage-displacement correspondence; Deley is the model delay, which can be adjusted according to the actual effect in the specific embodiment, and the classic values are 59, 60, 61, and 62. na is the displacement coefficient series, and the classic values are 4 and 5. nb is the control voltage coefficient series, and the classic values are 4, 5, and 6. y is the displacement of each control cycle, that is, the final position coordinate point. u is the control voltage, the target control voltage corresponding to each control cycle. t is the control cycle, and t-Deley is a control cycle before the current control cycle. In this way, the parameter y(t) can be obtained through this formula. It should be pointed out that y(t) is the final displacement of the current control cycle. In other words, the final position coordinate point of the current cycle can be predicted through this formula. Similarly, the final position coordinate points of several subsequent control cycles can be calculated, that is, the estimated displacement corresponding to several subsequent control cycles can be predicted. In a specific embodiment, after y(t) is calculated using the above formula, an iterative operation is performed, and t=t+1 is set. Continuing to use the formula, y(t+1) can be calculated. Repeating the above operation, when t=t+58, y(t+58) can be calculated.
[0062] Step S24 : calculating the control voltage of the current control cycle based on the target position coordinate point and the estimated displacement using the active regression model to obtain a target control voltage.
[0063] In a specific embodiment, the control voltage of the current control cycle is calculated based on the target position coordinate point and the estimated displacement using the active regression model to obtain the target control voltage, including: substituting the target position coordinate point and several of the estimated displacements corresponding to the first preset control cycle and several of the control voltages corresponding to the second preset control cycle into the active regression model to obtain the target control voltage corresponding to the current control cycle. It can be understood that after the estimated displacements of several subsequent control cycles are calculated, the target position coordinate point of the current control cycle can be substituted into the above formula as a known quantity. In a specific embodiment, after calculating y(t+58), let t=t+59, and substitute the target position coordinate point Y of the current control cycle. θ Substituting into the organic regression model, we can get the following formula:
[0064] Y θ +y(t+58)+y(t+57)+y(t+56)+y(t+55)=u(t)+u(t-1)+u(t-2)+u(t-3)
[0065] Among them, except u(t), other parameters are known, so u(t), that is, the control voltage corresponding to the current control cycle, can be calculated. That is, through the above steps combined with the target position coordinate point corresponding to the current control cycle, the target control voltage of the current control cycle can be calculated.
[0066] In a specific embodiment, after determining the target control voltage based on the target position coordinate point, the starting position coordinate point, and the pre-established historical voltage displacement correspondence, and using an organic self-regression model, the method further includes: saving the target control voltage so that the target control voltage can be used to calculate the control voltage corresponding to the subsequent control cycle; if the number of target control voltages saved for different control cycles is greater than a first preset cache quantity threshold, then removing the corresponding target control voltage based on a first-in, first-out principle. It is understandable that after obtaining the target control voltage corresponding to the current control cycle, the target control voltage can be saved. When the number of saved control voltages is greater than the first preset cache quantity, the saved control voltage can be updated based on a first-in, first-out principle, that is, the preset historical voltage displacement correspondence is updated. In this way, the control voltage corresponding to the subsequent control cycle can be calculated using the updated historical voltage displacement correspondence.
[0067] Accordingly, in a specific embodiment, after determining the starting position coordinate point of the injection controller based on the position voltage signal of the injection controller at the start time of the current control cycle, the method may further include: saving the starting position coordinate point at the start time of the current control cycle so as to calculate the control voltage corresponding to the subsequent control cycle using the saved starting position coordinate point; if the number of saved starting position coordinate points of different control cycles is greater than a second preset cache quantity threshold, removing the corresponding starting position coordinate point based on the first-in-first-out principle. In this way, the displacement-related data in the preset historical voltage-displacement correspondence can be updated so as to calculate the control voltage corresponding to the subsequent control cycle using the updated historical voltage-displacement correspondence.
[0068] It should be noted that in a specific embodiment, in order to optimize the compatibility between the dynamic self-regression model and the injection controller, after using the target control voltage to control the injection controller to move to the target position coordinate point, the method may further include: selecting a plurality of groups of final position coordinate points and corresponding target position coordinate points corresponding to a plurality of control cycles by using the starting position coordinate point corresponding to any control cycle as the final position coordinate point at the end of the corresponding previous control cycle; calculating the actual error between the plurality of groups of final position coordinate points and the target position coordinate point using a preset root mean square error formula; and adjusting the preset parameters in the dynamic self-regression model based on the calculated actual error, so as to calculate the control voltage for the subsequent control cycle according to the adjusted dynamic self-regression model. It is understood that any mechanical control inherently has a delay, called the mechanical response time, that is, the position actually reached by the target control voltage corresponding to the control cycle has a certain deviation from the target position coordinate point corresponding to the control cycle. In this application, the starting position coordinate point at the start of the control cycle can be regarded as the position coordinate point actually reached under the control of the target control voltage in the previous control cycle, that is, the final position coordinate point. In this way, the target position coordinate points and the corresponding final position coordinate points corresponding to several control cycles can be screened out. Furthermore, the error of the mechanical control of the injection controller can be calculated by a preset root mean square error formula. In a specific embodiment, the root mean square error formula is as follows:
[0069]
[0070] in, is the target position coordinate point of a certain control cycle, Y t is the final position coordinate point of the control cycle. It should be noted that Y tThis is also the starting position coordinate for the next control cycle. The actual error can be calculated using the RMS error formula. This actual error can then be used to adjust the parameters in the regression algorithm. For example, the model delay length (Delay) can be adjusted to adapt the control effect of the target control voltage to the influence of the machine and the surrounding environment. This minimizes the gap between the actual final displacement achieved by the current control voltage and the set target displacement.
[0071] For more specific processing procedures of the above steps S21 and S22, reference may be made to the corresponding contents disclosed in the aforementioned embodiments, which will not be repeated here.
[0072] It can be seen from this that in the embodiment of the present application, the active self-regression model can be used to predict the actual final displacement of several subsequent control cycles, that is, the estimated displacement, and then iteratively extrapolated, and the target position coordinate point of the current control cycle is substituted to reversely extrapolate the target control voltage that should be set for the current control cycle. In this way, the control voltage of the current control cycle is calculated by using the historical deduction method to improve the matching degree between the obtained target control voltage and the control operation of the current injection controller, and the control accuracy and control efficiency can be improved; and in the embodiment of the present application, the root mean square error formula can be used to calculate the inevitable actual error caused by mechanical response time, environment, etc., and the parameters in the active self-regression model can be adjusted accordingly, so that the active self-regression model can adapt to the interference of machinery, environment, etc., and improve the control accuracy of the injection controller by the target control voltage calculated by the active self-regression model.
[0073] like Figure 5 As shown, the embodiment of the present application discloses a spray control device, comprising:
[0074] The target position determination module 11 is used to determine the target position coordinate point that the injection controller needs to reach within the current control cycle from a preset angle displacement relationship according to the angle of the injection controller at the start time of the current control cycle;
[0075] A starting position determination module 12 is configured to determine the starting position coordinate point of the injection controller according to the position voltage signal of the injection controller at the starting moment of the current control cycle;
[0076] The control voltage calculation module 13 is used to determine the target control voltage based on the target position coordinate point, the starting position coordinate point and the pre-constructed historical voltage-displacement correspondence, and use an organic regression model to control the injection controller to move to the target position coordinate point using the target control voltage; the historical voltage-displacement correspondence is a correspondence constructed based on the historical control voltage and historical displacement within a historical control period.
[0077] It can be seen that the present application can use the self-regressive model to calculate the target control voltage corresponding to the control period, and can realize automatic control of the injection controller operation, avoiding the problems of low precision and low efficiency caused by manual adjustment of the injection controller, and improving the accuracy of the injection control.
[0078] In a specific embodiment, the starting position determination module 12 may include:
[0079] A position signal voltage acquisition unit, used to acquire the position signal voltage of the injection controller at the start time of the current control cycle;
[0080] The starting position calculation unit is used to calculate the position signal voltage according to a preset linear proportional function to obtain the starting position coordinate point of the injection controller at the starting moment of the current control cycle.
[0081] In a specific embodiment, the control voltage calculation module 13 may include:
[0082] An estimated displacement calculation unit, configured to calculate estimated displacements for a plurality of control cycles using the active regression model according to the historical voltage-displacement relationship and the starting position coordinates;
[0083] The control voltage calculation submodule is used to calculate the control voltage of the current control cycle based on the target position coordinate point and the estimated displacement using the active regression model to obtain a target control voltage.
[0084] In another specific embodiment, the control voltage calculation submodule may include:
[0085] The control voltage calculation unit is used to substitute the target position coordinate point, the estimated displacements corresponding to the first preset control period, and the control voltages corresponding to the second preset control period into the active regression model to obtain the target control voltage corresponding to the current control period.
[0086] In a specific embodiment, the device may further include:
[0087] a control voltage storage unit, configured to store the target control voltage so as to calculate a control voltage corresponding to a subsequent control period using the target control voltage;
[0088] The control voltage removing unit is configured to remove the corresponding target control voltage based on a first-in-first-out principle when the number of the target control voltages stored in different control cycles is greater than a first preset cache quantity threshold.
[0089] In another specific embodiment, the device may further include:
[0090] a position screening unit, configured to screen out a plurality of groups of final position coordinate points and corresponding target position coordinate points corresponding to a plurality of control cycles by taking the starting position coordinate point corresponding to any control cycle as the final position coordinate point at the end time of the corresponding previous control cycle;
[0091] an error calculation unit, configured to calculate actual errors between the plurality of groups of the final position coordinate points and the target position coordinate points using a preset root mean square error formula;
[0092] A parameter adjustment unit is used to adjust the preset parameters in the organic regression model based on the calculated actual error, so as to calculate the control voltage of the subsequent control cycle according to the adjusted organic regression model.
[0093] In another specific embodiment, the device may further include:
[0094] a position storage unit, configured to store the starting position coordinate point at the start moment of the current control cycle, so as to calculate the control voltage corresponding to the subsequent control cycle using the stored starting position coordinate point;
[0095] The position removing unit is configured to remove the corresponding starting position coordinate points based on a first-in-first-out principle when the number of saved starting position coordinate points of different control cycles is greater than a second preset cache quantity threshold.
[0096] Furthermore, the embodiment of the present application also discloses an electronic device, Figure 6 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram should not be considered as any limitation to the scope of application of the present application.
[0097] Figure 6 This is a schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps of the spray control method disclosed in any of the aforementioned embodiments. Furthermore, the electronic device 20 in this embodiment may specifically be an electronic computer.
[0098] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device. The communication protocol it follows is any communication protocol that can be applied to the technical solution of this application and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world. Its specific interface type can be selected according to specific application needs and is not specifically limited here.
[0099] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or CD, etc. The resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage method can be temporary storage or permanent storage.
[0100] The operating system 221 is used to manage and control the hardware devices and computer program 222 on the electronic device 20, and can be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program that can be used to implement the spray control method executed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include a computer program that can be used to implement other specific tasks.
[0101] Furthermore, this application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned spray control method is implemented. The specific steps of this method can be referred to the corresponding contents disclosed in the aforementioned embodiments and will not be repeated here.
[0102] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from the other embodiments. Reference can be made to the descriptions of the identical or similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and the relevant parts can be referred to the descriptions of the methods.
[0103] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.
[0104] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
[0105] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.
[0106] The above is a detailed introduction to the technical solution provided by the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for those skilled in the art, according to the ideas of the present application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.
Claims
1. A spray control method, characterized in that: include: Determining the target position coordinate point that the injection controller needs to reach within the current control cycle from a preset angle displacement relationship according to the angle of the injection controller at the start time of the current control cycle; Determining the starting position coordinate point of the injection controller according to the position voltage signal of the injection controller at the starting moment of the current control cycle; Based on the target position coordinate point, the starting position coordinate point and the pre-constructed historical voltage-displacement correspondence, the target control voltage is determined using an organic regression model, so that the target control voltage is used to control the injection controller to move to the target position coordinate point; the historical voltage-displacement correspondence is a correspondence constructed based on the historical control voltage and historical displacement within a historical control period.
2. The spray control method according to claim 1, characterized in that: Determining the starting position coordinate point of the injection controller according to the position voltage signal of the injection controller at the starting moment of the current control cycle includes: Collecting the position signal voltage of the injection controller at the start time of the current control cycle; The position signal voltage is calculated according to a preset linear proportional function to obtain the starting position coordinate point of the injection controller at the starting moment of the current control cycle.
3. The spray control method according to claim 1, characterized in that: The method of determining the target control voltage based on the target position coordinate point, the starting position coordinate point, and a pre-established historical voltage-displacement correspondence relationship and using an organic regression model includes: Calculating estimated displacements for several control cycles using the active regression model based on the historical voltage-displacement relationship and the starting position coordinates; The control voltage of the current control cycle is calculated based on the target position coordinate point and the estimated displacement using the active regression model to obtain a target control voltage.
4. The spray control method according to claim 3, characterized in that: The step of calculating the control voltage of the current control period based on the target position coordinate point and the estimated displacement using the self-regression model to obtain the target control voltage includes: The target position coordinate point, the estimated displacements corresponding to the first preset control period, and the control voltages corresponding to the second preset control period are substituted into the active regression model to obtain the target control voltage corresponding to the current control period.
5. The spray control method according to claim 4, characterized in that: After determining the target control voltage based on the target position coordinate point, the starting position coordinate point and the pre-established historical voltage-displacement correspondence and using an organic regression model, the method further includes: Saving the target control voltage so as to calculate the control voltage corresponding to a subsequent control period using the target control voltage; If the number of the stored target control voltages of different control cycles is greater than a first preset cache quantity threshold, the corresponding target control voltage is removed based on a first-in-first-out principle.
6. The spray control method according to any one of claims 1 to 5, characterized in that: After controlling the injection controller to move to the target position coordinate point using the target control voltage, the method further includes: By taking the starting position coordinate point corresponding to any control cycle as the final position coordinate point at the end time of the corresponding previous control cycle, a plurality of groups of the final position coordinate points and the corresponding target position coordinate points corresponding to a plurality of control cycles are screened out; Calculating the actual errors between the final position coordinate points and the target position coordinate points using a preset root mean square error formula; The preset parameters in the organic regression model are adjusted based on the calculated actual error, so as to calculate the control voltage of the subsequent control cycle according to the adjusted organic regression model.
7. The spray control method according to claim 6, characterized in that: After determining the starting position coordinate point of the injection controller according to the position voltage signal of the injection controller at the starting moment of the current control cycle, the method further includes: Saving the starting position coordinate point at the starting moment of the current control cycle so as to calculate the control voltage corresponding to the subsequent control cycle using the saved starting position coordinate point; If the number of saved starting position coordinate points of different control cycles is greater than a second preset cache quantity threshold, the corresponding starting position coordinate points are removed based on a first-in-first-out principle.
8. A spray control device, characterized in that: include: A target position determination module is used to determine the target position coordinate point that the spray controller needs to reach within the current control cycle from a preset angle displacement relationship based on the angle of the spray controller at the start time of the current control cycle; A starting position determination module, configured to determine the starting position coordinate point of the injection controller according to a position voltage signal of the injection controller at the starting moment of a current control cycle; A control voltage calculation module is used to determine the target control voltage based on the target position coordinate point, the starting position coordinate point and a pre-constructed historical voltage-displacement correspondence, and to use an organic regression model to control the injection controller to move to the target position coordinate point using the target control voltage; the historical voltage-displacement correspondence is a correspondence constructed based on the historical control voltage and historical displacement within a historical control period.
9. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor is used to execute the computer program to implement the spray control method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that Used to store a computer program, which, when executed by a processor, implements the spray control method according to any one of claims 1 to 7.
Citation Information
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