Yarn control method, device and apparatus

Abstract

The application discloses a wire control method, device and equipment, the method is applied to a control system for controlling multiple servo motors, one end of a steel wire rope corresponding to each servo motor is connected together to form a hanging point, each servo motor is used for adjusting the length of the corresponding steel wire rope, so as to adjust the position of the hanging point, the method comprises the following steps: determining a wire performance scheme comprising a plurality of coordinate points with a sequence and an interpolation mode corresponding to each coordinate point and an original coordinate of the hanging point; constructing a running track of a virtual axis according to the original coordinate and the wire performance scheme; and controlling each servo motor to adjust the length of the corresponding steel wire rope according to the position of the virtual axis, so that the hanging point performs according to the wire performance scheme. It can be seen that the application can drive the servo motor to regulate and control the steel wire rope according to the running track of the virtual axis generated by the wire performance scheme, realize the rising and falling and left and right movement of the hanging point, and realize the rising and falling and left and right movement of the performance subject mounted on the hanging point.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wire, more particularly, to a wire control method, device and equipment. BACKGROUND

[0002] Since the wire technology is applied to the performance process, it can enrich the expression mode of artistic works and make the performance more artistic. Therefore, the wire technology is often applied to the production process of stage performances and various video works.

[0003] The conventional wire is a manual wire. The manual wire needs to be pulled by multiple manipulators who have undergone long-term training, so as to realize the lifting and lateral movement of the performance subject. The physical strength and tacit understanding of the manipulators are required. In order to solve this problem, the prior art introduces a numerical control wire. The numerical control wire is a plurality of motors connected with ropes, which are controlled by a technician to pull the ropes, so as to realize the lifting and lateral movement of the performance subject, thereby reducing the physical strength requirement of the technician. However, the numerical control wire still needs to be manually operated and has a high requirement for the professionalism of the technician. SUMMARY

[0004] Therefore, the present application provides a wire control method to solve the problem that the wire needs to be manually operated and has a high requirement for the professionalism of the technician in the prior art.

[0005] In order to achieve the above-mentioned purpose, the present application provides the following scheme:

[0006] A wire control method, which is applied to a control system for controlling a plurality of servo motors. One end of a steel wire rope corresponding to each servo motor is connected together to form a lifting point for lifting a performance subject. Each servo motor is used to adjust the length of the corresponding steel wire rope to adjust the position of the lifting point. The method comprises the following steps:

[0007] determining a wire performance scheme comprising a plurality of coordinate points with a sequence and an interpolation mode corresponding to each coordinate point, and an original coordinate of the lifting point;

[0008] constructing a running track of a virtual axis according to the original coordinate and the wire performance scheme;

[0009] controlling the virtual axis to run according to the running track, and controlling each servo motor to adjust the length of the corresponding steel wire rope according to the position of the virtual axis, so that the lifting point performs according to the wire performance scheme.

[0010] Optionally, the original coordinate of the lifting point is determined, comprising the following steps:

[0011] constructing a space coordinate system;

[0012] According to the space coordinate system, the original coordinates of the hanging point are determined.

[0013] Optionally, the space coordinate system is constructed, including:

[0014] The projection of each servo motor on the ground is determined, and a regular figure is constructed with each projection as a vertex;

[0015] The circumscribed circle of the regular figure is constructed;

[0016] The center of the circumscribed circle is taken as the coordinate origin to construct a space coordinate system.

[0017] Optionally, the interpolation mode includes linear interpolation or circular arc interpolation with a center angle of n degrees, and the value range of n is 0-360;

[0018] According to the original coordinates and the wire performance scheme, the running track of the virtual axis is constructed, including:

[0019] The original coordinates of the hanging point are taken as the starting point;

[0020] According to the order of each coordinate point in the wire performance scheme, the coordinate point with the first order is selected as the end point of this time;

[0021] According to the interpolation mode corresponding to the end point, the track of the virtual axis running from the starting point to the end point is constructed, and the starting point, the end point, the interpolation mode, and the multiple running coordinate points that need to be passed through in the process of the virtual axis running from the starting point to the end point are marked in the track;

[0022] It is judged whether the order of the end point in the wire performance scheme is the last one, if not, the end point of this time is taken as the new starting point, and the next order coordinate point of the end point of this time in the wire performance scheme is taken as the new end point, and the step of constructing the track of the virtual axis running from the starting point to the end point according to the interpolation mode corresponding to the end point is returned to be executed until the order of the end point in the wire performance scheme is the last one;

[0023] According to the starting point and the end point corresponding to each track, each track obtained is combined, and the combined result is the running track of the virtual axis.

[0024] Optionally, according to the position of the virtual axis, the length of the corresponding steel wire rope is adjusted by each servo motor, including:

[0025] In the process of the virtual axis running according to the running track, the space coordinates of the hanging point are determined in real time;

[0026] According to the space coordinates, the current position of the virtual axis is determined;

[0027] The next running coordinate point of the current position in the running trajectory is taken as the target position;

[0028] Based on the target position, determine the target length of the wire rope corresponding to each servo motor;

[0029] The wire rope corresponding to the servo motor is controlled to be of the target length corresponding to the servo motor.

[0030] Optionally, the real-time determination of the spatial coordinates of the hoisting point includes:

[0031] The position feedback value corresponding to the current position returned by each servo motor is received in real time, and the position feedback value is used to determine the length of the wire rope between the servo motor and the suspension point;

[0032] The spatial coordinates of the lifting point are determined based on the length of the wire rope between the servo motor and the lifting point.

[0033] Optionally, controlling the wire rope corresponding to the servo motor to the target length corresponding to the servo motor includes:

[0034] Based on the target length of the servo motor, determine the target position feedback value of the servo motor corresponding to the target position;

[0035] Based on the difference between the target position feedback value of the servo motor corresponding to the target position and the position feedback value of the servo motor corresponding to the current position, the change in the position feedback value of the servo motor from the current position to the target position is determined.

[0036] Based on the change in the position feedback value, the servo motor is controlled to adjust the corresponding wire rope to the target length corresponding to the servo motor.

[0037] Optional, also includes:

[0038] Based on the original coordinates, the coordinates of each point in the wire stunt plan that have a sequential order, and the interpolation method corresponding to each coordinate point, calculate the distance that the suspension point needs to travel from the original coordinates to each coordinate point in the wire stunt plan.

[0039] When the virtual axis moves to any coordinate point in the wire stunt scheme, determine the distance length corresponding to that coordinate point and the running distance of the virtual axis to that coordinate point;

[0040] Compare the distance length with the running distance to see if they match. If they match, then the virtual axis is determined to be running correctly.

[0041] A wire control system for controlling a plurality of servo motors, each servo motor corresponding to one end of a steel wire rope connected together to form a lifting point for lifting a performance subject, each servo motor being used to adjust the length of the corresponding steel wire rope to adjust the position of the lifting point, the wire control system comprising:

[0042] A determination unit for determining a wire performance scheme containing a plurality of coordinate points with a sequence of existence and an interpolation method corresponding to each coordinate point, and an original coordinate of the lifting point;

[0043] A construction unit for constructing a running track of a virtual axis according to the original coordinate and the wire performance scheme;

[0044] A control unit for controlling the virtual axis to run according to the running track, and controlling each servo motor to adjust the length of the corresponding steel wire rope according to the position of the virtual axis, so that the lifting point performs according to the wire performance scheme.

[0045] A wire control device comprising a memory and a processor;

[0046] The memory is used to store programs;

[0047] The processor is used to execute the program to realize each step of the above-mentioned wire control method.

[0048] It can be seen from the technical solution that the wire control method can be applied to a control system, the control system can control a plurality of servo motors for adjusting the length of the steel wire rope, one end of the steel wire rope of each servo motor is connected together to form a hanging point, the hanging point is used for hoisting a performance subject, and the position of the hanging point connected with the steel wire rope changes along with the adjustment of the length of the steel wire rope by the servo motor. Therefore, the control system can adjust the change of the hanging point by controlling the servo motor, and realize the position change of the performance subject hoisted on the hanging point. In the process, the control system can first determine a wire performance scheme containing a plurality of coordinate points with a sequence and an interpolation mode corresponding to each coordinate point, and an original coordinate of the hanging point. In this way, the performance process of the hanging point can be determined. Then, the running track of a virtual axis can be constructed according to the original coordinate and the wire performance scheme. In this way, the running process of the virtual axis can be determined according to the wire performance scheme containing the interpolation mode and the sequence of each coordinate point. Then, the virtual axis can be controlled to run according to the running track, and each servo motor can be controlled to adjust the length of the corresponding steel wire rope according to the position of the virtual axis, so that the hanging point performs according to the wire performance scheme. In this way, the servo motor is driven by the virtual axis to realize the performance of the performance subject. It can be seen that the servo motor can be driven by the running track of the virtual axis generated by the wire performance scheme to realize the regulation and control of the steel wire rope, the rising and falling and the left and right movement of the hanging point, and the rising and falling and the left and right movement of the performance subject mounted on the hanging point. BRIEF DESCRIPTION OF DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings.

[0050] Figure 1 A wire control method flow chart disclosed by the embodiments of the present application;

[0051] Figure 2 A structure block diagram of a wire control system disclosed by the embodiments of the present application;

[0052] Figure 3 A hardware structure block diagram of a wire control device disclosed by the embodiments of the present application. DETAILED DESCRIPTION

[0053] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0054] The wire harness control method provided in this application can be applied to control systems that control multiple servo motors. The control system can be configured in a variety of general-purpose or special-purpose computing device environments or configurations, such as personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor devices, etc.

[0055] The control system can control three or more servo motors. Each servo motor is mounted on the input side of a corresponding reducer, and a roller is connected to the output side of each reducer. One end of the steel wire rope corresponding to each servo motor is wound around the corresponding roller. By controlling the rotation of the servo motor, the rotation of the roller is driven, controlling the winding and unwinding of the steel wire rope, thereby adjusting the length of the steel wire rope. The other ends of the steel wire ropes corresponding to each servo motor are connected together to form a suspension point. This suspension point is used to suspend the main performance body. The position of the suspension point can be adjusted by adjusting the length of each steel wire rope.

[0056] Each servo motor and each roller is installed at a high altitude. The height of each servo motor can be the same or different. The length of the steel wire rope between the servo motor and the suspension point is the straight-line distance between the suspension point and the roller corresponding to that servo motor.

[0057] The subject of the performance can be either performers or performance objects.

[0058] The projections of each servo motor controlled by the control system onto the ground are the vertices of a regular shape. If there are three servo motors, their projections onto the ground are the vertices of an isosceles triangle perpendicular to the ground. If there are four servo motors, their projections onto the ground are the four vertices of a rhombus.

[0059] The movable range of the suspension point is the column, the height of which is the height difference between the servo motor and the ground, and the bottom surface of the column is a regular shape formed by the projections of each servo motor onto the ground.

[0060] Next, combine Figure 1 The wire harness control method of this application is described in detail, including the following steps:

[0061] Step S1, determining a wire performance scheme containing a plurality of coordinate points with a sequence of existence and an interpolation mode corresponding to each coordinate point, and an original coordinate of the hoisting point.

[0062] Specifically, the position points that the hoisting point needs to reach in sequence and the interpolation modes required for the hoisting point to reach each position point can be determined in advance according to actual needs and the stage effect to be presented, and the coordinates of each position point are determined to form a plurality of coordinate points with a sequence of existence and an interpolation mode corresponding to each coordinate point.

[0063] The interpolation mode can be linear interpolation and circular interpolation with a central angle of n degrees.

[0064] The wire performance scheme can be generated according to the position points that need to be reached in sequence and the interpolation modes required for reaching each position point.

[0065] The original coordinate of the hoisting point when the wire performance scheme is not executed can be determined.

[0066] Step S2, constructing a running track of a virtual axis according to the original coordinate and the wire performance scheme.

[0067] Specifically, the running track of the hoisting point can be determined according to the original coordinate of the hoisting point and the wire performance scheme, and the running track of the virtual axis can be determined according to the running track of the hoisting point.

[0068] The running track can include a plurality of coordinate points with a sequence of running.

[0069] Step S3, controlling the virtual axis to run according to the running track, and controlling each servo motor to adjust the length of the corresponding steel wire according to the position of the virtual axis, so that the hoisting point performs according to the wire performance scheme.

[0070] Specifically, the virtual axis is controlled to run according to the running track. During the process of the virtual axis running according to the running track, the length of the steel wire corresponding to each servo motor is determined in real time according to the position that the virtual axis needs to reach, and each servo motor is controlled to drive the corresponding drum to realize the winding and unwinding of the corresponding steel wire, so that the length of the steel wire of each servo motor changes with the change of the position of the virtual axis, the hoisting point is driven by the virtual axis to change, and the stage effect is presented.

[0071] It can be seen from the technical solution that the wire control method provided by the embodiment of the application can be applied to a control system, the control system can control a plurality of servo motors for adjusting the length of a steel wire rope, one end of the steel wire rope of each servo motor is connected together to form a hanging point, the hanging point is used for hoisting a performance subject, and the position of the hanging point connected with the steel wire rope changes along with the adjustment of the length of the steel wire rope by the servo motor. Therefore, the control system of the application can adjust the change of the hanging point by controlling the servo motor, and the position change of the performance subject hoisted on the hanging point is realized. In the process, the control system can first determine a wire performance scheme containing a plurality of coordinate points with a sequence and an interpolation mode corresponding to each coordinate point, and an original coordinate of the hanging point. In this way, the performance process of the hanging point can be determined. Then, the running track of a virtual axis can be constructed according to the original coordinate and the wire performance scheme. In this way, the running process of the virtual axis can be determined according to the wire performance scheme containing the interpolation mode and the sequence of each coordinate point. Then, the virtual axis can be controlled to run according to the running track, and each servo motor can be controlled to adjust the length of the corresponding steel wire rope according to the position of the virtual axis, so that the hanging point performs according to the wire performance scheme. In this way, the servo motor is driven by the virtual axis to realize the performance of the performance subject. It can be seen that the application can drive the servo motor to regulate and control the steel wire rope according to the running track of the virtual axis generated by the wire performance scheme, realize the rising and falling and left and right movement of the hanging point, and realize the rising and falling and left and right movement of the performance subject mounted on the hanging point.

[0072] In some embodiments of the application, the process of determining the original coordinate of the hanging point in step S1 is described in detail, and the steps are as follows:

[0073] S10, constructing a space coordinate system.

[0074] Specifically, the space coordinate system can be constructed in various ways, for example, the projection of any servo motor on the ground is taken as the origin, the positive direction of the east direction is taken as the x-axis, the positive direction of the south direction is taken as the y-axis, and the direction perpendicular to the ground is taken as the positive direction of the z-axis to construct the space coordinate system; for another example, the projection of any servo motor on the ground is taken as the origin, the positive direction of the west direction is taken as the x-axis, the positive direction of the north direction is taken as the y-axis, and the direction perpendicular to the ground is taken as the positive direction of the z-axis to construct the space coordinate system.

[0075] S11, determining the original coordinate of the hanging point according to the space coordinate system.

[0076] Specifically, after the space coordinate system is constructed, the original coordinate of the hanging point without performing the wire performance scheme and the coordinates of each servo motor in the space coordinate system can be determined.

[0077] The position feedback value corresponding to each servo motor not performing the wire performance scheme can also be recorded, and the position feedback value is obtained through the feedback of an encoder installed on the tail motor shaft of the servo motor and rotating with the servo motor.

[0078] From the above technical solution, it can be seen that the embodiment provides an optional way to determine the original coordinates of the hanging point. Through the above process, the original coordinates of the hanging point can be determined by constructing a spatial coordinate system adapted to the current control system. Through the above process, the wire can be better utilized to present the stage effect.

[0079] In some embodiments of the present application, the process of constructing a spatial coordinate system in step S10 is described in detail, and the steps are as follows:

[0080] S100, determine the projection of each servo motor on the ground, and construct a regular figure with each projection as the vertex.

[0081] Specifically, the projections of the rollers of each servo motor on the ground can be connected end to end to obtain a planar figure, which can be a parallelogram, an isosceles triangle, a rhombus, a square, an equilateral polygon, or an equilateral triangle, etc.

[0082] S101, construct the circumscribed circle of the regular figure.

[0083] Specifically, a circumscribed circle containing the figure can be constructed to achieve consistent distances between the center of the circumscribed circle and each projection.

[0084] S102, construct a spatial coordinate system with the center of the circumscribed circle as the coordinate origin.

[0085] Specifically, the center of the circumscribed circle is taken as the coordinate origin, and a spatial coordinate system is constructed according to the coordinate origin and the positive directions of the x-axis, y-axis and z-axis set in advance.

[0086] There are various settings for the positive directions of the x-axis, the y-axis and the z-axis. For example, if the projections of the three servo motors controlled by the control system on the ground are the vertices of an isosceles triangle perpendicular to the ground, the y-axis positive direction can be determined as follows: a straight line is drawn on the ground plane with the coordinate origin and the two vertexes of the two legs of the isosceles triangle, the direction of the two vertexes of the two legs is the y-axis positive direction, and the opposite direction is the negative direction; a straight line is drawn on the plane where the isosceles triangle is located and perpendicular to the y-axis, the straight line is the x-axis, and the positive direction of the x-axis is to the right when facing the y-axis, and the negative direction is to the left; a straight line is drawn at the intersection of the x-axis and the y-axis perpendicular to the ground, and the direction pointing to the servo motor is the positive direction of the z-axis, and the opposite direction is the negative direction. For another example, if the projections of the four servo motors controlled by the control system on the ground are the vertices of a rhombus perpendicular to the ground, the x-axis and the y-axis are the diagonals of the rhombus, and the direction of the diagonal pointing to a specific projection is the positive direction of the y-axis, and the opposite direction is the negative direction; the positive direction of the x-axis is to the right when facing the y-axis, and the negative direction is to the left; a straight line is drawn at the intersection of the x-axis and the y-axis perpendicular to the ground, and the direction pointing to the servo motor is the positive direction of the z-axis, and the opposite direction is the negative direction.

[0087] As can be seen from the above technical solutions, the embodiment provides an optional way of constructing a space coordinate system. Through the above process, the center of the circumscribed circle is taken as the coordinate origin, and the positive directions of the x-axis, the y-axis and the z-axis are pre-set to construct the space coordinate system. It can be seen that the present application can better adapt to different stages, and the construction of the space coordinate system will not be affected even under different stages, so that the same stage effect can be presented under different stages by using the same wire performance scheme.

[0088] In some embodiments of the present application, the process of step S2 of constructing the running track of the virtual axis according to the original coordinates and the wire performance scheme is described in detail, and the steps are as follows:

[0089] S20, taking the original coordinates of the hanging point as the starting point.

[0090] Specifically, the position of the hanging point when the wire performance scheme is not executed is taken as the starting point.

[0091] S21, selecting the coordinate point with the first order in the wire performance scheme as the end point of this selection according to the order of the coordinate points in the wire performance scheme.

[0092] Specifically, the coordinate point with the first order in the wire performance scheme is selected as the end point.

[0093] S22, constructing the track of the virtual axis running from the starting point to the end point according to the interpolation mode corresponding to the end point, and marking the starting point, the end point, the interpolation mode and the plurality of running coordinate points in the process of the virtual axis running from the starting point to the end point in the track.

[0094] Specifically, the route of the hanging point from the starting point to the ending point can be determined according to the interpolation mode corresponding to the ending point in the wire performance scheme, and the route includes the starting point, the ending point and the running coordinate point that must be passed from the starting point to the ending point. The route can be taken as the track of the virtual axis running from the starting point to the ending point.

[0095] S23, judging whether the order of the ending point in the wire performance scheme is the last one, if not, taking the ending point selected this time as a new starting point, and taking the next order coordinate point of the ending point selected this time in the wire performance scheme as a new ending point, returning to step S22 until the order of the ending point in the wire performance scheme is the last one.

[0096] Specifically, it is determined whether there is still a coordinate point that needs to be reached in the wire performance scheme, if yes, taking the ending point of the newly generated track as a new starting point, selecting the next order coordinate point in the wire performance scheme as a new ending point, returning to step S22 until the selected ending point is the last coordinate point in the wire performance scheme, and obtaining the track constructed by taking each coordinate point in each wire performance scheme as an ending point.

[0097] S24, combining each track obtained according to the starting point and the ending point of each track, and the combination result is the running track of the virtual axis.

[0098] Specifically, the starting point and the ending point of the same coordinate can be combined and spliced according to the starting point and the ending point of each track constructed, and the running track of the virtual axis is formed after combination.

[0099] As can be seen from the above technical solutions, the embodiment provides an optional way of constructing the running track of the virtual axis according to the original coordinate and the wire performance scheme. Through the above way, the running track of the hanging point and the running track of the virtual axis can be determined according to the order of each coordinate point in the wire performance scheme and the interpolation mode of each coordinate point.

[0100] In some embodiments of the present application, the process of adjusting the length of the corresponding steel wire rope according to the position of the virtual axis in step S3 is described in detail, and the steps are as follows:

[0101] S30, determining the spatial coordinate of the hanging point in real time in the process of the virtual axis running according to the running track.

[0102] Specifically, in the process of the virtual axis running, the position of the hanging point is determined in real time, and the position is a spatial coordinate in a spatial coordinate system.

[0103] S31, determining the current position of the virtual axis according to the spatial coordinate.

[0104] Specifically, the spatial coordinates of the hanging point can be the current position of the virtual axis.

[0105] S32, taking the next running coordinate point of the current position in the running track as a target position.

[0106] Specifically, the next running coordinate point of the current position of the virtual axis can be determined in the running track, and the next running coordinate point is taken as the target position.

[0107] S33, determining the target length of the steel wire corresponding to each servo motor according to the target position.

[0108] Specifically, the target position can be the next target coordinate point that the hanging point needs to reach, and according to the target coordinate point and the coordinates of each servo motor, the target length of the steel wire corresponding to each servo motor can be determined.

[0109] S34, controlling the steel wire corresponding to the servo motor to be the target length corresponding to the servo motor.

[0110] Specifically, instructions are issued to each servo motor so that each servo motor drives the roller to rotate, so that the length of the steel wire corresponding to each servo motor meets the target length corresponding to the servo motor.

[0111] From the above technical solution, it can be seen that the embodiment provides an optional way of controlling each servo motor to adjust the length of the corresponding steel wire according to the position of the virtual axis. Through the above way, the current position of the virtual axis can be determined in real time according to the position of the hanging point, so as to determine the target length of each servo motor. In this way, during the operation of the virtual axis, the target length of each servo motor is determined according to the target position of the virtual axis, so that each servo motor is driven according to each target length, and the length of each steel wire is changed. It can be seen that the present application can accurately control the rotation of the servo motor, and realize better presentation of the stage effect. The complex stage effect is converted into the adjustment of the length of the steel wire, which simplifies the complexity of the wire performance.

[0112] In some embodiments of the present application, the process of determining the spatial coordinates of the hanging point in real time in step S30 is described in detail, and the steps are as follows:

[0113] S300, receiving the position feedback value corresponding to the current position returned by each servo motor in real time, the position feedback value being used to determine the length of the steel wire between the servo motor and the hanging point.

[0114] Specifically, according to the position feedback value corresponding to each servo motor of the wire performance scheme not being executed, the distance between the coordinates of each servo motor and the original coordinates, the length of the steel wire corresponding to each servo motor when the hanging point is located at the original coordinates, and the relationship between the position feedback value of each servo motor and the length of the steel wire.

[0115] The position feedback value of each servo motor can be received in real time.

[0116] According to the length of the steel wire corresponding to each servo motor when the hanging point is located at the original coordinates, the relationship between the position feedback value of each servo motor and the length of the steel wire, and the position feedback value of each servo motor, the length of the steel wire of each servo motor can be determined.

[0117] S301, determining the spatial coordinates of the hanging point according to the length of the steel wire between the servo motor and the hanging point.

[0118] Specifically, the spatial coordinates of the hanging point can be calculated according to the length of the steel wire between each servo motor and the hanging point. The length of the steel wire between each servo motor and the hanging point is the distance between the coordinates of the servo motor and the hanging point.

[0119] As can be seen from the above calculation scheme, the embodiment provides an optional way to determine the spatial coordinates of the hanging point. Through the above-mentioned way, the real spatial coordinates of the hanging point can be determined in real time through the position feedback value of the servo motor, so as to monitor the position of the hanging point in real time, and better realize the smooth implementation of the wire performance scheme.

[0120] In some embodiments of the present application, the process of step S34, controlling the steel wire corresponding to the servo motor to be the target length corresponding to the servo motor, is described in detail, and the steps are as follows:

[0121] S340, determining the target position feedback value of the servo motor corresponding to the target position according to the target length of the servo motor.

[0122] Specifically, the target position feedback value of the servo motor corresponding to the target position can be determined according to the target length of the servo motor and the relationship between the position feedback value of the servo motor and the length of the steel wire.

[0123] S341, determining the change of the position feedback value of the servo motor when the hanging point moves from the current position to the target position according to the difference between the target position feedback value of the servo motor corresponding to the target position and the position feedback value of the servo motor corresponding to the current position.

[0124] Specifically, the position feedback value of the servo motor can be received in real time, and the position feedback value of the servo motor is determined to change from the current position of the hanging point to the target position according to the difference between the target position feedback value and the real-time feedback position feedback value of the servo motor.

[0125] S342, according to the change of the position feedback value, the servo motor is controlled to adjust the corresponding steel wire to the target length corresponding to the servo motor.

[0126] Specifically, according to the change of the position feedback value, it is determined whether the servo motor needs to recover the steel wire or pay out the steel wire, if it needs to pay out, the corresponding steel wire is paid out by the servo motor, and the position feedback value is updated to the target position feedback value, so as to adjust to the target length corresponding to the servo motor; if it needs to recover, the corresponding steel wire is recovered by the servo motor, and the position feedback value is updated to the target position feedback value, so as to adjust to the target length corresponding to the servo motor.

[0127] From the above technical solution, it can be seen that the embodiment provides an optional way of controlling the servo motor to adjust the length of the steel wire. Through the above way, the steel wire can be adjusted in real time according to the target length of the servo motor, so that the hanging point reaches the target position, thereby realizing the operation of the hanging point according to the wire performance scheme.

[0128] In some embodiments of the present application, considering that the verification process of verifying whether the virtual axis is operated correctly can be added during the operation of the virtual axis, so as to reduce the error probability and find the error in time to avoid greater mistakes. Based on this, the verification process is also added, and the verification process will be described in detail as follows:

[0129] S4, according to the original coordinates, the coordinates in the wire performance scheme in each order and the interpolation mode corresponding to each coordinate point, the distance length required by the hanging point to reach each coordinate point of the wire performance scheme from the original coordinates is calculated.

[0130] Specifically, taking the original coordinates as the starting point, the coordinate point in the first order can be determined as the target point according to the order of each coordinate point in the wire performance scheme.

[0131] The distance length required by the hanging point to reach the target point from the starting point can be calculated according to the interpolation mode of the target point.

[0132] If not, the next coordinate point of the target point in the wire performance scheme is taken as a new target point, and the process of calculating the distance length that the lifting point needs to pass through from the starting point to the target point according to the interpolation mode of the target point is returned to be executed until the target point is the last coordinate point in the wire performance scheme, so as to obtain the distance length that the lifting point needs to pass through from the original coordinate to each coordinate point in the wire performance scheme.

[0133] S5, when the virtual axis runs to any coordinate point in the wire performance scheme, determining the distance length corresponding to the coordinate point and the running distance of the virtual axis to the coordinate point.

[0134] Specifically, during the running of the virtual axis, once the virtual axis reaches any coordinate point in the wire performance scheme, the running distance of the virtual axis to the coordinate point can be counted.

[0135] At the same time, the distance length corresponding to the coordinate point is determined.

[0136] S6, comparing whether the distance length and the running distance match, if yes, determining that the virtual axis runs correctly.

[0137] Specifically, whether the distance length and the running distance match can be compared, that is, whether the proportional relationship between the distance length and the running distance is the preset proportional relationship is determined, if yes, it is determined that the virtual axis runs correctly.

[0138] If not, it is determined that the virtual axis runs incorrectly, and the running of the virtual axis can be paused, or an alarm information can be generated to remind the technical personnel to handle in time.

[0139] As can be seen from the above technical solution, compared with the previous embodiment, the embodiment adds a scheme for verifying whether the virtual axis runs correctly, through the above-mentioned manner, errors and omissions can be found in time, larger errors and omissions can be avoided, timely maintenance can be made, and the error probability can be reduced.

[0140] The wire control system provided by the embodiment of the application is described below, and the wire control system described below can be correspondingly referred to the wire control method described above.

[0141] The wire control system of the application can be used to control multiple servo motors, one end of the steel wire corresponding to each servo motor is connected together to form a lifting point for lifting a performance subject, and each servo motor is used to adjust the length of the corresponding steel wire to adjust the position of the lifting point.

[0142] Referring to Figure 2 , Figure 2 is a structural schematic diagram of a wire control system disclosed by the embodiment of the application.

[0143] As Figure 2 shown in the figure, the wire control system can include:

[0144] A determination unit 1 is configured to determine a wire performance scheme containing a plurality of coordinate points with a sequence and an interpolation mode corresponding to each coordinate point, and an original coordinate of the hanging point.

[0145] A construction unit 2 is configured to construct a running track of a virtual axis according to the original coordinate and the wire performance scheme.

[0146] A control unit 3 is configured to control the virtual axis to run according to the running track, and control each servo motor to adjust the length of the corresponding steel wire rope according to the position of the virtual axis, so that the hanging point performs according to the wire performance scheme.

[0147] Optionally, the determination unit can include:

[0148] A space coordinate system construction unit is configured to construct a space coordinate system.

[0149] A coordinate determination unit is configured to determine the original coordinate of the hanging point according to the space coordinate system.

[0150] Optionally, the space coordinate system construction unit can include:

[0151] A figure construction unit is configured to determine the projection of each servo motor on the ground, and construct a regular figure with each projection as a vertex.

[0152] A circumscribed circle construction unit is configured to construct a circumscribed circle of the regular figure.

[0153] A center construction unit is configured to construct a space coordinate system with the center of the circumscribed circle as the coordinate origin.

[0154] Optionally, the construction unit can include:

[0155] A starting point determination unit is configured to take the original coordinate of the hanging point as the starting point.

[0156] An end point selection unit is configured to select the coordinate point with the first sequence in the wire performance scheme as the end point of the current selection according to the sequence of the coordinate points in the wire performance scheme.

[0157] A track construction unit is configured to construct a track of the virtual axis from the starting point to the end point according to the interpolation mode corresponding to the end point, and the track is marked with the starting point, the end point, the interpolation mode, and a plurality of running coordinate points that need to be passed through in the process of the virtual axis running from the starting point to the end point.

[0158] The coordinate point judging unit is configured to judge whether the order of the terminal point in the wire performance scheme is the last one. If not, the selected terminal point is taken as a new starting point, and a next-order coordinate point of the selected terminal point in the wire performance scheme is taken as a new terminal point. The step of constructing a virtual-axis trajectory from the starting point to the terminal point according to the interpolation mode corresponding to the terminal point is returned to be executed until the order of the terminal point in the wire performance scheme is the last one.

[0159] The trajectory combining unit is configured to combine the obtained trajectories according to the starting points and the terminal points corresponding to the trajectories. The combined result is a running trajectory of the virtual axis.

[0160] Optionally, the control unit can include:

[0161] The space coordinate determining unit is configured to determine the space coordinates of the hanging point in real time during the running of the virtual axis according to the running trajectory.

[0162] The current position determining unit is configured to determine the current position of the virtual axis according to the space coordinates.

[0163] The target position determining unit is configured to take a next running coordinate point of the current position in the running trajectory as a target position.

[0164] The target length determining unit is configured to determine the target length of the steel wire corresponding to each servo motor according to the target position.

[0165] The length control unit is configured to control the steel wire corresponding to the servo motor to be the target length corresponding to the servo motor.

[0166] Optionally, the space coordinate determining unit can include:

[0167] The first space coordinate determining unit is configured to receive the position feedback value corresponding to the current position returned by each servo motor in real time. The position feedback value is used to determine the length of the steel wire between the servo motor and the hanging point.

[0168] The second space coordinate determining unit is configured to determine the space coordinates of the hanging point according to the length of the steel wire between the servo motor and the hanging point.

[0169] Optionally, the length control unit can include:

[0170] The first length control unit is configured to determine the target position feedback value of the target position of the servo motor according to the target length of the servo motor.

[0171] a second length control unit configured to determine a position feedback value change of the hoisting point from the current position to the target position of the servo motor according to a difference between a target position feedback value of the servo motor corresponding to the target position and a position feedback value of the servo motor corresponding to the current position;

[0172] a third length control unit configured to control the servo motor to adjust the corresponding steel wire to a target length corresponding to the servo motor according to the position feedback value change.

[0173] Optionally, the wire control system can further comprise:

[0174] a distance length calculation unit configured to calculate a distance length required for the hoisting point to reach each coordinate point in the wire performance scheme from the original coordinate according to the original coordinate, the coordinate points in the wire performance scheme in a sequence and an interpolation mode corresponding to each coordinate point;

[0175] a running distance determination unit configured to determine the distance length corresponding to the coordinate point and a running distance of the virtual axis to the coordinate point when the virtual axis runs to the coordinate point in the wire performance scheme;

[0176] a running distance matching unit configured to compare whether the distance length and the running distance match, and if yes, determine that the virtual axis runs correctly.

[0177] The wire control system provided by the embodiments of the present application can be applied to a wire control device, such as a PC terminal, a cloud platform, a server, a server cluster and the like. Optionally, Figure 3 a hardware structure block diagram of the wire control device is shown, and referring to Figure 3 , the hardware structure of the wire control device can comprise at least one processor 10, at least one communication interface 20, at least one memory 30 and at least one communication bus 40;

[0178] In the embodiments of the present application, the number of the processor 10, the communication interface 20, the memory 30 and the communication bus 40 is at least one, and the processor 10, the communication interface 20 and the memory 30 complete the communication among each other through the communication bus 40;

[0179] The processor 10 can be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application, etc.

[0180] The memory 30 can comprise a high-speed RAM memory and can also comprise a non-volatile memory such as at least one disk memory;

[0181] The memory stores a program, and the processor can invoke the program stored in the memory, and the program is used for:

[0182] determining a wire performance scheme comprising a plurality of coordinate points in a sequence and an interpolation mode corresponding to each coordinate point, and original coordinates of the lifting point;

[0183] constructing a running track of a virtual axis according to the original coordinates and the wire performance scheme;

[0184] controlling the virtual axis to run according to the running track, and controlling each servo motor to adjust the length of the corresponding steel wire rope according to the position of the virtual axis, so that the lifting point performs according to the wire performance scheme.

[0185] Optionally, the refinement function and the extension function of the program can refer to the description above.

[0186] The embodiments of the present application also provide a readable storage medium, which can store a program suitable for processor execution, and the program is used for:

[0187] determining a wire performance scheme comprising a plurality of coordinate points in a sequence and an interpolation mode corresponding to each coordinate point, and original coordinates of the lifting point;

[0188] constructing a running track of a virtual axis according to the original coordinates and the wire performance scheme;

[0189] controlling the virtual axis to run according to the running track, and controlling each servo motor to adjust the length of the corresponding steel wire rope according to the position of the virtual axis, so that the lifting point performs according to the wire performance scheme.

[0190] Optionally, the refinement function and the extension function of the program can refer to the description above.

[0191] Finally, it should be noted that the terms "first", "second", and the like, herein do not denote any order, quantity, combination, or otherwise, but are used to identify one entity from another, and do not imply any actual relationship or sequence among entities. Also, the use of the term "including", "containing" or any other variant to refer to a list of elements to be combined is intended to denote that not only the listed elements can be present, but also other elements not expressly listed. The term "consisting of" excludes any element not named in the list of elements from the process, method, article, or apparatus. Without further limitation, an element defined by a statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article, or apparatus including the stated element.

[0192] The various embodiments in the specification are described in progressive order with reference to each embodiment, each embodiment highlighting differences from other embodiments, and the same or similar parts among the various embodiments can be mutually referred to.

[0193] The above description of disclosed embodiments enables one skilled in the art to make or use the application. Numerous modifications to these embodiments will be apparent to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Various embodiments of the application can be combined with each other. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A wire control method, characterized in that, This method is applied to a control system that controls multiple servo motors. One end of the steel wire rope corresponding to each servo motor is connected together to form a suspension point for suspending the main performance object. Each servo motor is used to adjust the length of its corresponding steel wire rope to adjust the position of the suspension point. The method includes: Determine the wire stunt performance scheme containing multiple coordinate points with a sequential order and the interpolation method corresponding to each coordinate point, as well as the original coordinates of the suspension points. The interpolation method includes linear interpolation or circular interpolation with a central angle of n, where the value of n ranges from 0 to 360. The original coordinates of the lifting point are used as the starting point; Based on the order of the coordinate points in the wire stunt performance plan, the coordinate point that is first in the order is selected as the endpoint for this selection. According to the interpolation method corresponding to the endpoint, a trajectory of the virtual axis running from the starting point to the endpoint is constructed. The trajectory is marked with the starting point, the endpoint, the interpolation method, and multiple running coordinate points that the virtual axis needs to pass through during the process of running from the starting point to the endpoint. Determine whether the endpoint is the last one in the wire stunt performance scheme. If not, take the endpoint selected this time as the new starting point and take the next sequential coordinate point of the endpoint selected this time in the wire stunt performance scheme as the new endpoint. Return to execute the step of constructing the trajectory of the virtual axis from the starting point to the endpoint according to the interpolation method corresponding to the endpoint, until the endpoint is the last one in the wire stunt performance scheme. According to the starting point and ending point of each trajectory, the obtained trajectories are combined, and the combined result is the running trajectory of the imaginary axis. The virtual axis is controlled to run along the running trajectory, and the length of the corresponding steel wire rope is adjusted by controlling each servo motor according to the position of the virtual axis, so that the suspension point can perform according to the wire stunt performance plan.

2. The wire control method according to claim 1, characterized in that, Determining the original coordinates of the lifting point includes: Construct a spatial coordinate system; The original coordinates of the lifting point are determined based on the spatial coordinate system.

3. The wire control method according to claim 2, characterized in that, The construction of the spatial coordinate system includes: Determine the projection of each servo motor on the ground, and construct a regular shape using each projection as a vertex; Construct the circumcircle of the regular shape; A spatial coordinate system is constructed with the center of the circumcircle as the origin.

4. The wire control method according to claim 1, characterized in that, Controlling the servo motors to adjust the length of the corresponding wire rope according to the position of the virtual axis includes: During the process of the virtual axis running along the running trajectory, the spatial coordinates of the lifting point are determined in real time; Determine the current position of the imaginary axis based on the spatial coordinates; The next running coordinate point of the current position in the running trajectory is taken as the target position; Based on the target position, determine the target length of the wire rope corresponding to each servo motor; The wire rope corresponding to the servo motor is controlled to be of the target length corresponding to the servo motor.

5. The wire control method according to claim 4, characterized in that, The real-time determination of the spatial coordinates of the hoisting point includes: The position feedback value corresponding to the current position returned by each servo motor is received in real time, and the position feedback value is used to determine the length of the wire rope between the servo motor and the suspension point; The spatial coordinates of the lifting point are determined based on the length of the wire rope between the servo motor and the lifting point.

6. The wire control method according to claim 5, characterized in that, Controlling the wire rope corresponding to the servo motor to the target length corresponding to the servo motor includes: Based on the target length of the servo motor, determine the target position feedback value of the servo motor corresponding to the target position; Based on the difference between the target position feedback value of the servo motor corresponding to the target position and the position feedback value of the servo motor corresponding to the current position, the change in the position feedback value of the servo motor from the current position to the target position is determined. Based on the change in the position feedback value, the servo motor is controlled to adjust the corresponding wire rope to the target length corresponding to the servo motor.

7. The wire control method according to claim 1, characterized in that, Also includes: Based on the original coordinates, the coordinates of each point in the wire stunt plan that have a sequential order, and the interpolation method corresponding to each coordinate point, calculate the distance that the suspension point needs to travel from the original coordinates to each coordinate point in the wire stunt plan. When the virtual axis moves to any coordinate point in the wire stunt scheme, determine the distance length corresponding to that coordinate point and the running distance of the virtual axis to that coordinate point; Compare the distance length with the running distance to see if they match. If they match, then the virtual axis is determined to be running correctly.

8. A wire harness control system, characterized in that, The wire harness control system controls multiple servo motors. One end of the steel cable corresponding to each servo motor is connected together to form a sling point for suspending the main performance object. Each servo motor adjusts the length of its corresponding steel cable to adjust the position of the sling point. The wire harness control system includes: The determining unit is used to determine the wire stunt performance scheme containing multiple coordinate points with a sequential order and the interpolation method corresponding to each coordinate point, as well as the original coordinates of the suspension point. The interpolation method includes linear interpolation or circular interpolation with a central angle of n, where the value of n ranges from 0 to 360. The construction unit is used to: take the original coordinates of the suspension point as the starting point; select the first coordinate point in the sequence of coordinate points in the wire stunt performance scheme as the selected endpoint; construct the trajectory of the virtual axis from the starting point to the endpoint according to the interpolation method corresponding to the endpoint, the trajectory being marked with the starting point, endpoint, interpolation method, and multiple running coordinate points that the virtual axis needs to pass through during the journey from the starting point to the endpoint; determine whether the endpoint is the last one in the sequence of the wire stunt performance scheme; if not, take the selected endpoint as the new starting point, and take the next sequential coordinate point of the selected endpoint in the wire stunt performance scheme as the new endpoint, and return to execute the step of constructing the trajectory of the virtual axis from the starting point to the endpoint according to the interpolation method corresponding to the endpoint, until the endpoint is the last one in the sequence of the wire stunt performance scheme; combine the obtained trajectories according to the starting point and endpoint of each trajectory, and the combined result is the running trajectory of the virtual axis; The control unit is used to control the virtual axis to run according to the running trajectory, and to control each of the servo motors to adjust the length of the corresponding steel wire rope according to the position of the virtual axis, so that the suspension point can perform according to the wire stunt performance plan.

9. A wire harness control device, characterized in that, Including memory and processor; The memory is used to store programs; The processor is used to execute the program to implement the various steps of the wire control method as described in any one of claims 1-7.

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