Platform moving direction control method and device, electronic equipment and storage medium

Abstract

The invention relates to a platform moving direction control method and device, electronic equipment and a storage medium, and belongs to the technical field of automatic control, the platform moving direction control method is used for controlling a motor to drive a platform to do horizontal lifting motion in the expected direction, and the method comprises the steps that the angle, the angular speed and the height of the platform in the lifting motion process are obtained in real time; determining a moving direction of the platform based on the angle and the angular velocity, and determining a direction error and a height error based on the moving direction and height of the platform, an expected direction and an expected height; the driving control signals of the multiple motors are generated based on the direction errors and the height errors, the motors are controlled to drive the platform to horizontally ascend and descend in the expected direction based on the driving control signals, and the control precision and stability are improved.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a platform moving direction control method, device, electronic equipment and storage medium. Background Art

[0002] When a traditional rope-suspended platform moves underground, a fan is usually installed at the lower end of the platform, and a pulley group is set to achieve lateral movement. The thin rope is guided by the pulley group and the lower end is connected to the fan. The fan drives the thin rope to move laterally through the motor, thereby achieving lateral movement of the platform.

[0003] However, there are some problems when the traditional rope-suspended platform moves horizontally underground. When the thin rope moves on the pulley block, a certain friction resistance will be generated, which requires more energy to consume and affects the working efficiency of the fan. Due to the uneven distribution of friction and tension of the thin rope on the pulley block, the rope tension is unevenly distributed, affecting the stability of the platform and the control accuracy. Summary of the invention

[0004] In view of this, it is necessary to provide a platform movement direction control method, device, electronic equipment and storage medium to solve the technical problems of instability and low control accuracy when the downhole fan drives the platform to move.

[0005] In order to solve the above problems, the present invention provides a platform moving direction control method for controlling a motor to drive the platform to move horizontally up and down in a desired direction, comprising: Acquire the angle, angular velocity and height of the platform during the lifting and lowering movement in real time, determine the moving direction of the platform based on the angle and angular velocity, and determine the direction error and height error based on the moving direction and height of the platform and the expected direction and expected height; Based on the direction error and the height error, drive control signals of multiple motors are generated, and based on the drive control signals, the motors are controlled to drive the platform to move horizontally up and down along a desired direction.

[0006] In a possible implementation, the real-time acquisition of the angle, angular velocity and height during the lifting and lowering movement of the platform includes: The angle and angular velocity of the platform are acquired in real time through the gyroscope sensor; The height of the platform is obtained in real time through the laser sensor.

[0007] In a possible implementation, the multiple motors include a first encoding motor, a second encoding motor, a third encoding motor, a first fan motor, a second fan motor, and a third fan motor, the first encoding motor, the second encoding motor, and the third encoding motor correspond to three suspension points of the platform one by one, and the first fan motor, the second fan motor, and the third fan motor are evenly distributed on the side of the platform; the direction error and the height error are determined based on the moving direction and height of the platform and the expected direction and expected height, including: Calculating the angle errors and angular velocity errors of the first fan motor, the second fan motor, and the third fan motor based on the moving direction and the expected direction of the platform, and determining the direction errors of the first fan motor, the second fan motor, and the third fan motor based on the angle errors and angular velocity errors of the first fan motor, the second fan motor, and the third fan motor; The height errors of the first encoder motor, the second encoder motor, and the third encoder motor are calculated based on the height and the expected height.

[0008] In a possible implementation, the generating of driving control signals for multiple motors based on the direction error and the height error includes: Determine the voltage signals of the first fan motor, the second fan motor and the third fan motor based on the direction errors of the first fan motor, the second fan motor and the third fan motor, and determine the angles, angular velocities and wind forces of the first fan motor, the second fan motor and the third fan motor respectively based on the voltage signals of the first fan motor, the second fan motor and the third fan motor; The voltage signals of the first encoder motor, the second encoder motor and the third encoder motor are determined based on their height errors, and the speeds of the first encoder motor, the second encoder motor and the third encoder motor are determined based on their voltage signals.

[0009] In a possible implementation, the calculation formula for the angle of the first fan motor is: , in, is the rotation angle of the first fan motor, For the desired goal Axis coordinates, For the desired goal Axis coordinates, is the rope length of the platform; The calculation formula for the angle of the second fan motor is: , in, is the rotation angle of the second fan motor; The calculation formula of the angle of the third fan motor is: , in, is the rotation angle of the third fan motor.

[0010] In a possible implementation, the calculation formula for the angular velocity of the first fan motor is: , in, is the angular velocity of the first fan motor; is the rotation angle of the first fan motor at the last moment, is the time step; , in, is the angular velocity of the first fan motor; is the rotation angle of the second fan motor at the last moment; , in, is the angular velocity of the first fan motor; is the rotation angle of the third fan motor at the last moment.

[0011] In a possible implementation, based on the drive control signal, controlling the motor to drive the platform to move horizontally up and down in a desired direction includes: Adjust the movement direction of the platform based on the angles, angular velocities and wind force of the first fan motor, the second fan motor and the third fan motor, so that the platform moves in a desired direction; The platform is controlled to perform horizontal lifting motion based on the speeds of the first encoding motor, the second encoding motor, and the third encoding motor.

[0012] On the other hand, the present invention also provides a platform movement direction control device, which is used to control the motor to drive the platform to move horizontally in a desired direction, including: An error determination module is used to obtain the angle, angular velocity and height of the platform in real time during the lifting and lowering movement, determine the moving direction of the platform based on the angle and angular velocity, and determine the direction error and height error based on the moving direction and height of the platform and the expected direction and expected height; The control module is used to generate driving control signals for multiple motors based on the direction error and the height error, and based on the driving control signals, control the motors to drive the platform to move horizontally up and down along the desired direction.

[0013] In another aspect, the present invention further provides an electronic device, comprising: a processor and a memory; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the steps in the platform movement direction control method as described above are implemented.

[0014] On the other hand, the present invention also provides a computer-readable storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the platform movement direction control method as described above.

[0015] The beneficial effects of the present invention are as follows: based on the direction error and the height error, drive control signals of multiple motors are generated, and based on the drive control signals, the motors are controlled to drive the platform to move horizontally up and down in the desired direction. By adjusting the angle, angular velocity and wind force of the fan motor, the movement direction of the platform is adjusted so that the fan drives the platform to move in any direction underground. The lifting speed of the platform is adjusted by the encoding motor so that the platform always remains in a horizontal state, thereby improving the control accuracy and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A flow chart of an embodiment of a method for controlling the moving direction of a platform provided by the present invention; Figure 2 A flow chart of an embodiment of step S102 of the platform moving direction control method provided by the present invention; Figure 3 A flow chart of another embodiment of step S102 of the platform moving direction control method provided by the present invention; Figure 4 A schematic diagram of the structure of a platform of the platform movement direction control method provided by the present invention; Figure 5 A schematic structural diagram of an embodiment of a platform moving direction control device provided by the present invention; Figure 6 A schematic structural diagram of an embodiment of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0017] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0018] The present invention discloses a platform moving direction control method, device, electronic device and storage medium, which can be used in a computer. The method, device or computer-readable storage medium involved in the present invention can be integrated with the above-mentioned device or can be relatively independent.

[0019] A specific embodiment of the present invention discloses a platform movement direction control method, which can be executed by a computer, specifically by one or more processors of the computer. Figure 1 is a flow chart of a platform moving direction control method provided by an embodiment of the present invention, please refer to Figure 1 The platform movement direction control method is used to control the motor to drive the platform to move horizontally in the desired direction, including: S101, acquiring the angle, angular velocity and height of the platform during the lifting and lowering movement in real time, determining the moving direction of the platform based on the angle and angular velocity, and determining the direction error and height error based on the moving direction and height of the platform as well as the expected direction and expected height; S102, generating driving control signals for multiple motors based on the direction error and the height error, and based on the driving control signals, controlling the motors to drive the platform to move horizontally up and down along a desired direction.

[0020] Among them, the platform is suspended under the manhole cover by three ropes of equal length, and the first encoding motor, the second encoding motor and the third encoding motor are suspended in parallel with three ropes of equal length under the manhole cover. The platform is connected by three ropes. The three encoding motors correspond to the three hanging points of the platform one by one. The radius of the platform is 10 cm. With the platform as the center, the first fan motor, the second fan motor and the third fan motor are evenly distributed on the side of the platform. The first fan motor is fixed at the 0 scale position of the platform, the second fan motor is fixed at the 120° scale position of the platform, and the third fan motor is fixed at the 240° scale position of the platform. The fan motor can rotate clockwise and counterclockwise, and the moving direction of the platform can be changed by adjusting the wind force of the three fan motors respectively.

[0021] Compared with the prior art, the platform movement direction control method provided in this embodiment obtains the angle, angular velocity and height of the platform during the lifting and lowering movement in real time, determines the moving direction of the platform based on the angle and angular velocity, determines the direction error and height error based on the moving direction and height of the platform as well as the expected direction and expected height, generates drive control signals for multiple motors based on the direction error and the height error, and controls the motor to drive the platform to move horizontally in the expected direction based on the drive control signal, adjusts the movement direction of the platform by adjusting the angle, angular velocity and wind force of the fan motor, so that the fan drives the platform to move in any direction underground, and adjusts the lifting speed of the platform by the encoding motor so that the platform always remains in a horizontal state, thereby improving control accuracy and stability.

[0022] In some embodiments, in step S101, the angle, angular velocity and height of the platform during the lifting and lowering movement are obtained in real time, the angle and angular velocity of the platform are obtained in real time by a gyroscope sensor, that is, the angle and angular velocity of the platform during the lifting and lowering movement are obtained by reading the feedback information of the gyroscope, the height of the platform is obtained in real time by a laser sensor, the moving direction of the platform is determined based on the angle and angular velocity of the platform, the direction error is determined based on the moving direction of the platform and the expected direction, wherein the expected direction is the selected target direction, and the height error is determined based on the height and the expected height, wherein the expected height is the height to be reached by the platform; the platform is driven to move laterally by multiple motors, the multiple motors include a first encoding motor, a second encoding motor, a third encoding motor, a first fan motor, a second fan motor and a third fan motor, the first encoding motor, the second encoding motor and the third encoding motor correspond to the suspension points of the platform one by one, and the first fan motor, the second fan motor and the third fan motor are evenly distributed on the sides of the platform; In the process of the second fan motor and the third fan motor driving the platform to move, according to the force analysis, when the directions of the three forces remain unchanged and only the magnitude of the forces is changed, forces in any direction can be combined, that is, the wind force of the three fan motors is changed, and forces in any direction can be combined. When the three fan motors drive the platform to move, the direction of the resultant force can be changed by adjusting the wind force of the three fans, that is, the moving direction of the platform can be adjusted. The angle error and angular velocity error of the first fan motor, the second fan motor, and the third fan motor are calculated based on the moving direction and the expected direction of the platform, respectively. The direction errors of the first fan motor, the second fan motor, and the third fan motor are determined based on the angle errors and angular velocity errors of the first fan motor, the second fan motor, and the third fan motor. The height errors of the first encoder motor, the second encoder motor, and the third encoder motor are calculated based on the current height and the expected height of the platform; the expected direction is X (in degrees, 0≤X≤360), the expected height is Y (in cm, 0≤Y≤80 cm, considering a 0.8 m manhole cover), and the position of the expected target is calculated, and the calculation formula is: , , in, For the desired goal Axis coordinates, For the desired goal Axis coordinates, is the radius of the platform, The expected height.

[0023] In some embodiments, in step S102, drive control signals for multiple motors are generated based on the direction error and the height error. Figure 2 ,include: S201, determining the voltage signals of the first fan motor, the second fan motor, and the third fan motor based on the direction errors of the first fan motor, the second fan motor, and the third fan motor, and determining the angles, angular velocities, and wind speeds of the first fan motor, the second fan motor, and the third fan motor based on the voltage signals of the first fan motor, the second fan motor, and the third fan motor, respectively; S202, determining the voltage signals of the first encoding motor, the second encoding motor and the third encoding motor based on the height errors of the first encoding motor, the second encoding motor and the third encoding motor, and determining the speeds of the first encoding motor, the second encoding motor and the third encoding motor based on the voltage signals of the first encoding motor, the second encoding motor and the third encoding motor, respectively. In some embodiments, in step S201, the angular velocity and angle of the platform during movement are acquired in real time through the gyroscope and accelerometer sensors, the moving direction of the platform is determined according to the current angle and angular velocity of the platform, the current moving direction of the platform is compared with the expected direction to determine whether the platform is in a yaw state, and when the platform is in a yaw state, the voltage signals of the first fan motor, the second fan motor, and the third fan motor are determined based on the direction errors of the first fan motor, the second fan motor, and the third fan motor, that is, the direction errors of the first fan motor, the second fan motor, and the third fan motor are input into the PID control algorithm, and the voltage signals of the first fan motor, the second fan motor, and the third fan motor are determined by adjusting the proportional, integral, and differential parameters of the PID control algorithm, and the states of the first fan motor, the second fan motor, and the third fan motor are updated based on the voltage signals of the first fan motor, the second fan motor, and the third fan motor to determine the angles, angular velocities, and wind forces of the first fan motor, the second fan motor, and the third fan motor. The angle of the first fan motor is calculated as follows: , in, is the rotation angle of the first fan motor, For the desired goal Axis coordinates, For the desired goal Axis coordinates, is the rope length of the platform; The calculation formula for the angle of the second fan motor is: , in, is the rotation angle of the second fan motor; The calculation formula for the angle of the third fan motor is: , in, is the rotation angle of the third fan motor; The calculation formula of the angular velocity of the first fan motor is: , in, is the angular velocity of the first fan motor; is the rotation angle of the first fan motor at the last moment, is the time step; , in, is the angular velocity of the first fan motor; is the rotation angle of the second fan motor at the last moment; , in, is the angular velocity of the first fan motor; is the rotation angle of the third fan motor at the last moment.

[0024] In some embodiments, in step S202, the voltage signals of the first encoder motor, the second encoder motor and the third encoder motor are respectively determined based on the height errors of the first encoder motor, the second encoder motor and the third encoder motor, that is, the height errors of the first encoder motor, the second encoder motor and the third encoder motor are input into the PID control algorithm, and the voltage signal of the first encoder motor, the voltage signal of the second encoder motor and the voltage signal of the third encoder motor are determined by adjusting the proportional, integral and differential parameters of the PID control algorithm, and the states of the first encoder motor, the second encoder motor and the third encoder motor are updated based on the voltage signals of the first encoder motor, the second encoder motor and the third encoder motor to determine the speeds of the first encoder motor, the second encoder motor and the third encoder motor.

[0025] In some embodiments, see Figure 3 Based on the drive control signal, the motor is controlled to drive the platform to move horizontally in the desired direction, including: S301, adjusting the movement direction of the platform based on the angles, angular velocities and wind force of the first fan motor, the second fan motor and the third fan motor, so that the platform moves in a desired direction; S302, the platform is raised and lowered horizontally based on the speed control of the first encoding motor, the second encoding motor, and the third encoding motor.

[0026] In some embodiments, in step S301, the moving direction of the platform is determined according to the angle and angular velocity of the platform, and the movement direction of the platform is adjusted based on the angle, angular velocity and wind force of the first fan motor, the second fan motor, and the third fan motor. That is, when the platform deviates from the desired direction during the movement, the moving direction of the platform is adjusted by adjusting the angle, angular velocity and wind force of the first fan motor, the second fan motor, and the third fan motor, so that the platform moves in the desired direction.

[0027] In some embodiments, in step S302, the lifting and lowering speeds of the first suspension point, the second suspension point and the third suspension point of the platform are adjusted respectively based on the speeds of the first encoding motor, the second encoding motor and the third encoding motor, so that the platform always maintains a horizontal state for lifting and lowering, and combined with the control of the platform by the fan motor, the platform can be safely and stably moved to the desired target position.

[0028] When the platform moves to the desired target position, the speed of the encoder motor and the fan motor are adjusted according to the position and speed of the platform. The angle, angular velocity and wind force of the fan are adjusted according to the real-time feedback information to keep the platform in a balanced state above the desired target position and respond to external interference factors in a timely manner.

[0029] The platform is horizontally controlled by controlling three encoder motors and reading encoder feedback values. The encoder feedback values ​​are compared with the target values ​​through the PID control algorithm, the errors are calculated and the speeds of the three encoder motors are adjusted to keep the platform horizontal. Then, the platform is controlled by external forces in 360 degrees through the gyroscope feedback and three 120-degree-interval-spaced lateral fans on the bottom platform. The platform's orientation is monitored by reading the feedback information from the gyroscope. Combined with the control of the three fans, the platform's moving direction is changed by adjusting the wind force of the fans, so that the platform can be raised and lowered horizontally in the desired direction until it reaches the desired position and hovers stably. Combined with horizontal control and directional control, the platform can move to any position. For a schematic diagram of the platform structure, please refer to Figure 4 ,like Figure 4 As shown, rope hole 1 corresponds to the first encoding motor, rope hole 2 corresponds to the second encoding motor, rope hole 3 corresponds to the third encoding motor, and the three circles correspond to the first fan motor, the second fan motor and the third fan motor respectively.

[0030] In order to better implement the platform movement direction control method in the embodiment of the present invention, based on the platform movement direction control method, correspondingly, Figure 5 As shown, the embodiment of the present invention further provides a platform movement direction control device, which is used to control the motor to drive the platform to move horizontally up and down in a desired direction. The platform movement direction control device 500 includes: The error determination module 501 is used to obtain the angle, angular velocity and height of the platform in real time during the lifting and lowering movement, determine the moving direction of the platform based on the angle and angular velocity, and determine the direction error and height error based on the moving direction and height of the platform and the expected direction and expected height; The control module 502 is used to generate driving control signals for multiple motors based on the direction error and the height error, and control the motors to drive the platform to move horizontally up and down along a desired direction based on the driving control signals.

[0031] like Figure 6 As shown, based on the platform moving direction control method, the present invention also provides an electronic device 600, which can be a computing device such as a mobile terminal, a desktop computer, a notebook, a palm computer, and a server. The electronic device 600 includes a processor 601, a memory 602, and a display 603. Figure 6 Only some components of the electronic device 600 are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0032] In some embodiments, the memory 602 may be an internal storage unit of the electronic device 600, such as a hard disk or memory of the electronic device 600. In other embodiments, the memory 602 may also be an external storage device of the electronic device 600, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 600. Further, the memory 602 may also include both an internal storage unit of the electronic device 600 and an external storage device. The memory 602 is used to store application software and various types of data installed in the electronic device 600, such as program codes installed in the electronic device 600. The memory 602 may also be used to temporarily store data that has been output or is to be output. In one embodiment, a platform movement direction control program is stored on the memory 602, and the platform movement direction control program can be executed by the processor 601, thereby realizing the platform movement direction control method of each embodiment of the present invention.

[0033] In some embodiments, the processor 601 may be a central processing unit (CPU), a microprocessor or other data processing chip, and is used to run program codes or process data stored in the memory 602, such as a platform movement direction control method.

[0034] In some embodiments, the display 603 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 603 is used to display identification information of the platform movement direction control program and to display a visual user interface. The components 601-603 of the electronic device 600 communicate with each other through a system bus.

[0035] In some embodiments, when the processor 601 executes the platform movement direction control program in the memory 602, the various steps in the platform movement direction control method described in the above embodiments are implemented. Since the platform movement direction control method has been described in detail above, it will not be repeated here.

[0036] Accordingly, an embodiment of the present application also provides a computer-readable storage medium, which is used to store computer-readable programs or instructions. When the program or instructions are executed by a processor, the steps or functions in the platform movement direction control method provided in the above-mentioned method embodiments can be implemented.

[0037] In summary, the platform movement direction control method, device, electronic device and storage medium provided by the present invention are used to control the motor to drive the platform to move horizontally up and down in the desired direction, obtain the angle, angular velocity and height of the platform in real time during the lifting and lowering movement, determine the moving direction of the platform based on the angle and angular velocity, determine the direction error and height error based on the moving direction and height of the platform as well as the desired direction and expected height; generate drive control signals for multiple motors based on the direction error and height error, and based on the drive control signals, control the motor to drive the platform to move horizontally up and down in the desired direction, thereby improving control accuracy and stability.

[0038] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0039] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for controlling the moving direction of a platform, characterized in that: Used to control the motor to drive the platform to move horizontally in the desired direction, including: Acquire the angle, angular velocity and height of the platform during the lifting and lowering movement in real time, determine the moving direction of the platform based on the angle and angular velocity, and determine the direction error and height error based on the moving direction and height of the platform and the expected direction and expected height; Based on the direction error and the height error, drive control signals of multiple motors are generated, and based on the drive control signals, the motors are controlled to drive the platform to move horizontally up and down along a desired direction.

2. The platform moving direction control method according to claim 1, characterized in that: The real-time acquisition of the angle, angular velocity and height during the lifting and lowering movement of the platform includes: The angle and angular velocity of the platform are acquired in real time through the gyroscope sensor; The height of the platform is obtained in real time through the laser sensor.

3. The platform moving direction control method according to claim 2, characterized in that: The multiple motors include a first encoding motor, a second encoding motor, a third encoding motor, a first fan motor, a second fan motor and a third fan motor, the first encoding motor, the second encoding motor and the third encoding motor correspond to the three suspension points of the platform one by one, and the first fan motor, the second fan motor and the third fan motor are evenly distributed on the side of the platform; The determining of the direction error and the height error based on the moving direction and height of the platform and the expected direction and expected height comprises: Calculating the angle errors and angular velocity errors of the first fan motor, the second fan motor, and the third fan motor based on the moving direction and the expected direction of the platform, and determining the direction errors of the first fan motor, the second fan motor, and the third fan motor based on the angle errors and angular velocity errors of the first fan motor, the second fan motor, and the third fan motor; The height errors of the first encoder motor, the second encoder motor, and the third encoder motor are calculated based on the height and the expected height.

4. The platform moving direction control method according to claim 3, characterized in that: The step of generating a plurality of driving control signals of the motors based on the direction error and the height error comprises: Determine the voltage signals of the first fan motor, the second fan motor and the third fan motor based on the direction errors of the first fan motor, the second fan motor and the third fan motor, and determine the angles, angular velocities and wind forces of the first fan motor, the second fan motor and the third fan motor respectively based on the voltage signals of the first fan motor, the second fan motor and the third fan motor; The voltage signals of the first encoder motor, the second encoder motor and the third encoder motor are determined based on their height errors, and the speeds of the first encoder motor, the second encoder motor and the third encoder motor are determined based on their voltage signals.

5. The platform moving direction control method according to claim 4, characterized in that: The calculation formula of the angle of the first fan motor is: ， in, is the rotation angle of the first fan motor, For the desired goal Axis coordinates, For the desired goal Axis coordinates, is the rope length of the platform; The calculation formula for the angle of the second fan motor is: ， in, is the rotation angle of the second fan motor; The calculation formula of the angle of the third fan motor is: ， in, is the rotation angle of the third fan motor.

6. The platform moving direction control method according to claim 4, characterized in that: The calculation formula of the angular velocity of the first fan motor is: ， in, is the angular velocity of the first fan motor; is the rotation angle of the first fan motor at the last moment, is the time step; ， in, is the angular velocity of the first fan motor; is the rotation angle of the second fan motor at the last moment; ， in, is the angular velocity of the first fan motor; is the rotation angle of the third fan motor at the last moment.

7. The platform moving direction control method according to claim 4, characterized in that: Based on the driving control signal, controlling the motor to drive the platform to move horizontally up and down in a desired direction includes: Adjust the movement direction of the platform based on the angles, angular velocities and wind force of the first fan motor, the second fan motor and the third fan motor, so that the platform moves in a desired direction; The platform is controlled to perform horizontal lifting motion based on the speeds of the first encoding motor, the second encoding motor, and the third encoding motor.

8. A platform moving direction control device, characterized in that: Used to control the motor to drive the platform to move horizontally in the desired direction, including: An error determination module is used to obtain the angle, angular velocity and height of the platform in real time during the lifting and lowering movement, determine the moving direction of the platform based on the angle and angular velocity, and determine the direction error and height error based on the moving direction and height of the platform and the expected direction and expected height; The control module is used to generate drive control signals for multiple motors based on the direction error and the height error, and control the motors to drive the platform to move horizontally up and down along a desired direction based on the drive control signals.

9. An electronic device, characterized in that: including memory and processor; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the steps in the platform movement direction control method as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the platform movement direction control method as described in any one of claims 1-7.

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