Platform movement direction control method, device, electronic device and storage medium

Abstract

The present invention relates to a platform movement direction control method, device, electronic device and storage medium, and belongs to the field of automatic control technology. The platform movement direction control method is used to control a motor to drive a platform to move horizontally up and down in a desired direction. The method includes: acquiring the angle, angular velocity and height of the platform during the lifting movement in real time, determining the movement direction of the platform based on the angle and angular velocity, determining the direction error and height error based on the movement direction and height of the platform and the desired direction and desired height; generating drive control signals for multiple motors based on the direction error and height error, and controlling the motors to drive the platform to move horizontally up and down in the desired direction based on the drive control signals, thereby improving control accuracy and stability.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a platform movement 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 up 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 group, it will generate a certain amount of friction resistance, 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 group, the rope tension is unevenly distributed, affecting the stability and control accuracy of the platform. 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 movement direction control method for controlling a motor to drive the platform to move horizontally in a desired direction, comprising:

[0006] Acquire the angle, angular velocity, and height of the platform during lifting and lowering motion in real time, determine the platform's moving direction based on the angle and angular velocity, and determine the direction error and height error based on the platform's moving direction and height as well as the desired direction and desired height;

[0007] Based on the direction error and the height error, drive control signals for 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.

[0008] In one possible implementation, the real-time acquisition of the angle, angular velocity, and height of the platform during the lifting motion includes:

[0009] The platform's angle and angular velocity are acquired in real time through the gyroscope sensor;

[0010] The height of the platform is obtained in real time through the laser sensor.

[0011] In one 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 one-to-one to the three suspension points of the platform, and the first fan motor, the second fan motor, and the third fan motor are evenly distributed on the side of the platform; and determining the direction error and the height error based on the moving direction and height of the platform and the expected direction and expected height includes:

[0012] Calculating the angular 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 desired 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 angular errors and angular velocity errors of the first fan motor, the second fan motor, and the third fan motor;

[0013] 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.

[0014] In one possible implementation, generating drive control signals for multiple motors based on the direction error and the height error includes:

[0015] determining voltage signals of the first fan motor, the second fan motor, and the third fan motor based on direction errors of the first fan motor, the second fan motor, and the third fan motor, and determining angles, angular velocities, and wind speeds 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;

[0016] 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.

[0017] In a possible implementation, the calculation formula for the angle of the first fan motor is:

[0018] ,

[0019] 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;

[0020] The calculation formula for the angle of the second fan motor is:

[0021] ,

[0022] in, is the rotation angle of the second fan motor;

[0023] The calculation formula of the angle of the third fan motor is:

[0024] ,

[0025] in, is the rotation angle of the third fan motor.

[0026] In a possible implementation, the calculation formula for the angular velocity of the first fan motor is:

[0027] ,

[0028] in, is the angular velocity of the first fan motor; is the rotation angle of the first fan motor at the previous moment, is the time step;

[0029] ,

[0030] in, is the angular velocity of the first fan motor; is the rotation angle of the second fan motor at the previous moment;

[0031] ,

[0032] in, is the angular velocity of the first fan motor; is the rotation angle of the third fan motor at the previous moment.

[0033] In one possible implementation, controlling the motor to drive the platform to move horizontally up and down in a desired direction based on the drive control signal includes:

[0034] 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 to move the platform in a desired direction;

[0035] The platform is controlled to perform horizontal lifting motion based on the speed of the first encoding motor, the second encoding motor, and the third encoding motor.

[0036] On the other hand, the present invention also provides a platform movement direction control device for controlling a motor to drive the platform to move horizontally up and down in a desired direction, comprising:

[0037] an error determination module, configured to obtain in real time the angle, angular velocity, and height of the platform during its lifting motion, determine the platform's moving direction based on the angle and angular velocity, and determine a direction error and a height error based on the platform's moving direction and height as well as a desired direction and desired height;

[0038] 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 the desired direction based on the drive control signals.

[0039] On the other hand, the present invention also provides an electronic device, comprising: a processor and a memory;

[0040] The memory stores a computer-readable program executable by the processor;

[0041] When the processor executes the computer-readable program, the steps in the platform movement direction control method described above are implemented.

[0042] On the other hand, the present invention also provides a computer-readable storage medium, which stores one or more programs. 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.

[0043] The beneficial effects of the present invention are: 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

[0044] Figure 1 A flow chart of an embodiment of a method for controlling the movement direction of a platform provided by the present invention;

[0045] Figure 2 A flow chart of an embodiment of step S102 of the platform movement direction control method provided by the present invention;

[0046] Figure 3 A flow chart of another embodiment of step S102 of the platform movement direction control method provided by the present invention;

[0047] Figure 4A schematic diagram of the structure of a platform for controlling the platform movement direction provided by the present invention;

[0048] Figure 5 A schematic structural diagram of an embodiment of a platform movement direction control device provided by the present invention;

[0049] Figure 6 This is a schematic structural diagram of an embodiment of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0050] The preferred embodiments of the present invention will be 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, and are not used to limit the scope of the present invention.

[0051] The present invention discloses a platform movement 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.

[0052] 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 This is a flow chart of the platform movement direction control method provided by an embodiment of the present invention. 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:

[0053] S101. Acquire the angle, angular velocity, and height of the platform during lifting and lowering motion in real time, determine the platform's moving direction based on the angle and angular velocity, and determine the direction error and height error based on the platform's moving direction and height as well as the desired direction and desired height;

[0054] S102 : generating driving control signals for a plurality of motors based on the direction error and the height error, and controlling the motors to drive the platform to move horizontally up and down in a desired direction based on the driving control signals.

[0055] Among them, the platform is suspended under the manhole cover by three ropes of equal length. The first encoding motor, the second encoding motor and the third encoding motor are suspended in parallel under the manhole cover with three ropes of equal length. The platform is connected by three ropes. The three encoding motors correspond to the three suspension points of the platform one by one. The platform radius 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.

[0056] Compared with the existing technology, the platform movement direction control method provided by this embodiment obtains the angle, angular velocity and height of the platform during the lifting and lowering movement in real time, determines the movement direction of the platform based on the angle and angular velocity, determines the direction error and height error based on the movement 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 height error, and controls the motor to drive the platform to move horizontally in the expected direction based on the drive control signal. 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 control accuracy and stability.

[0057] 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, the expected direction is the selected target direction, the height error is determined based on the height and the expected height, 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 point of the platform one by one, the first fan motor, the second fan motor and the third fan motor are evenly distributed on the side of the platform; During the movement of the platform driven by the second and third fan motors, according to force analysis, when the directions of the three forces remain unchanged and only the magnitudes of the forces are changed, forces in any direction can be combined. That is, by changing the wind force of the three fan motors, forces in any direction can be combined. When the three fan motors drive the platform to move, by adjusting the wind force of the three fans, the direction of the resultant force can be changed, that is, the movement direction of the platform can be adjusted. Based on the movement direction and the desired direction of the platform, the angular errors and angular velocity errors of the first, second, and third fan motors are calculated respectively. The direction errors of the first, second, and third fan motors are determined based on the angular errors and angular velocity errors of the first, second, and third fan motors. The height errors of the first, second, and third encoder motors are calculated respectively based on the current height and the desired height of the platform; the desired direction is X (in degrees, 0≤X≤360), and the desired height is Y (in cm, 0≤Y≤80 cm, considering a 0.8 m manhole cover). The position of the desired target is calculated, and the calculation formula is:

[0058] ,

[0059] ,

[0060] in, For the desired goal Axis coordinates, For the desired goal Axis coordinates, is the radius of the platform, Expected height.

[0061] 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:

[0062] S201, determining voltage signals of the first fan motor, the second fan motor, and the third fan motor based on direction errors of the first fan motor, the second fan motor, and the third fan motor, and determining angles, angular velocities, and wind speeds 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;

[0063] S202. Determine the voltage signals of the first encoding motor, the second encoding motor, and the third encoding motor based on their height errors, and determine the speeds of the first encoding motor, the second encoding motor, and the third encoding motor based on their voltage signals.

[0064] 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 the 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:

[0065] ,

[0066] 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;

[0067] The calculation formula for the angle of the second fan motor is:

[0068] ,

[0069] in, is the rotation angle of the second fan motor;

[0070] The calculation formula for the angle of the third fan motor is:

[0071] ,

[0072] in, is the rotation angle of the third fan motor;

[0073] The calculation formula of the angular velocity of the first fan motor is:

[0074] ,

[0075] in, is the angular velocity of the first fan motor; is the rotation angle of the first fan motor at the previous moment, is the time step;

[0076] ,

[0077] in, is the angular velocity of the first fan motor; is the rotation angle of the second fan motor at the previous moment;

[0078] ,

[0079] in, is the angular velocity of the first fan motor; is the rotation angle of the third fan motor at the previous moment.

[0080] 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 signals of the first encoder motor, the second encoder motor, and the third encoder motor are determined by adjusting the proportional, integral, and differential parameters of the PID control algorithm. 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.

[0081] In some embodiments, see Figure 3Based on the drive control signal, the motor is controlled to drive the platform to move horizontally in the desired direction, including:

[0082] 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;

[0083] 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.

[0084] 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 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.

[0085] 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 based on the speeds of the first encoding motor, the second encoding motor, and the third encoding motor, respectively, so that the platform always remains in a horizontal state for lifting and lowering, and combined with the control of the platform by the fan motor, the platform can be moved safely and stably to the desired target position.

[0086] 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.

[0087] The platform's horizontal position is controlled by controlling three encoder motors and reading encoder feedback values. A PID control algorithm compares the encoder feedback value with the target value, calculates the error, and adjusts the speed of the three encoder motors to maintain the platform in a horizontal position. Gyroscope feedback and three lateral fans spaced 120 degrees apart on the bottom platform enable 360-degree external force control of the platform. Gyroscope feedback is used to monitor the platform's orientation. Combined with the control of the three fans, the fan force is adjusted to change the platform's direction of movement, allowing it to rise and fall horizontally in the desired direction until it reaches the desired position and hovers stably. Combining horizontal and directional control, the platform can move to any position. For a schematic diagram of the platform's structure, see the diagram. Figure 4 ,like Figure 4As 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.

[0088] 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, an embodiment of the present invention further provides a platform movement direction control device for controlling a motor to drive the platform to move horizontally up and down in a desired direction. The platform movement direction control device 500 includes:

[0089] An error determination module 501 is configured to obtain in real time the angle, angular velocity, and height of the platform during its lifting motion, determine the platform's moving direction based on the angle and angular velocity, and determine a direction error and a height error based on the platform's moving direction and height as well as a desired direction and desired height;

[0090] The control module 502 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 in a desired direction based on the drive control signals.

[0091] like Figure 6 As shown, based on the platform movement direction control method, the present invention also provides an electronic device 600, which can be a computing device such as a mobile terminal, desktop computer, notebook, PDA, server, etc. The electronic device 600 includes a processor 601, a memory 602 and a display 603. Figure 6 Only some of the components of the electronic device 600 are shown, but it should be understood that implementation of all of the shown components is not required, and more or fewer components may be implemented instead.

[0092] In some embodiments, the memory 602 may be an internal storage unit of the electronic device 600, such as a hard drive 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 drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. equipped on the electronic device 600. Furthermore, the memory 602 may 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 installed on the electronic device 600 and various types of data, such as program code installed on the electronic device 600. The memory 602 may also be used to temporarily store data that has been output or is about to be output. In one embodiment, the memory 602 stores a platform movement direction control program, which can be executed by the processor 601 to implement the platform movement direction control method of various embodiments of the present invention.

[0093] In some embodiments, the processor 601 may be a central processing unit (CPU), a microprocessor, or other data processing chip, configured to execute program codes or process data stored in the memory 602 , such as a platform movement direction control method.

[0094] In some embodiments, display 603 can be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 603 is used to display identification information for the platform's movement direction control program and to display a visual user interface. Components 601-603 of electronic device 600 communicate with each other via a system bus.

[0095] 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.

[0096] 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, it can implement the steps or functions in the platform movement direction control method provided in the above-mentioned method embodiments.

[0097] 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 during the lifting movement in real time, determine the movement direction of the platform based on the angle and angular velocity, determine the direction error and height error based on the movement direction and height of the platform and 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.

[0098] Those skilled in the art will appreciate that all or part of the process steps of the above-described embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, such as a magnetic disk, an optical disk, a read-only memory, or a random access memory.

[0099] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. A platform movement direction control method, characterized in that: Used to control the motor to drive the platform to move horizontally in the desired direction, including: The angle, angular velocity, and height of the platform during lifting and lowering motion are acquired in real time, the moving direction of the platform is determined based on the angle and angular velocity, and the direction error and height error are determined based on the moving direction and height of the platform as well as the desired direction and desired height, wherein the multiple motors include a first encoder motor, a second encoder motor, a third encoder motor, a first fan motor, a second fan motor, and a third fan motor, the first encoder motor, the second encoder motor, and the third encoder motor correspond one-to-one to the three suspension points of the platform, 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 height error based on the moving direction and height of the platform as well as the desired direction and desired height includes: Calculating the angular 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 desired 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 angular errors and angular velocity errors of the first fan motor, the second fan motor, and the third fan motor; Calculating height errors of the first encoder motor, the second encoder motor, and the third encoder motor based on the height and the expected height; Based on the direction error and the height error, drive control signals for 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 movement direction control method according to claim 1, characterized in that: The real-time acquisition of the angle, angular velocity, and height of the platform during the lifting motion includes: The platform's angle and angular velocity 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 movement direction control method according to claim 1, characterized in that: The step of generating drive control signals for a plurality of motors based on the direction error and the height error comprises: determining voltage signals of the first fan motor, the second fan motor, and the third fan motor based on direction errors of the first fan motor, the second fan motor, and the third fan motor, and determining angles, angular velocities, and wind speeds 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.

4. The platform movement direction control method according to claim 3, characterized in that: 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.

5. The platform movement direction control method according to claim 3, 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 previous 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 previous moment; ， in, is the angular velocity of the first fan motor; is the rotation angle of the third fan motor at the previous moment.

6. The platform movement direction control method according to claim 3, characterized in that: The step of controlling the motor to drive the platform to move horizontally up and down in a desired direction based on the drive control signal includes: 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 to move the platform in a desired direction; The platform is controlled to perform horizontal lifting motion based on the speed of the first encoding motor, the second encoding motor, and the third encoding motor.

7. A platform movement 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 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, wherein the multiple motors include a first encoder motor, a second encoder motor, a third encoder motor, a first fan motor, a second fan motor and a third fan motor, the first encoder motor, the second encoder motor and the third encoder motor correspond one-to-one to the three suspension points of the platform, 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 the direction error and height error based on the moving direction and height of the platform and the expected direction and expected height includes: Calculating the angular 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 desired 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 angular errors and angular velocity errors of the first fan motor, the second fan motor, and the third fan motor; Calculating height errors of the first encoder motor, the second encoder motor, and the third encoder motor based on the height and the 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 the desired direction based on the drive control signals.

8. 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 of the platform movement direction control method according to any one of claims 1 to 6 are implemented.

9. 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 according to any one of claims 1 to 6.

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