Air valve control method, device and equipment and computer readable storage medium

Abstract

The invention discloses an air valve control method, device and equipment and a computer readable storage medium, and relates to the technical field of air valve control, the air valve control method is applied to an air valve control system, the air valve control system comprises a pneumatic pump and a soft actuator, and an electromagnetic valve and a proportional valve are arranged at an air outlet of the pneumatic pump; the electromagnetic valve and the proportional valve are used for controlling connection and disconnection of a pipeline between the pneumatic pump and the soft actuator, and the method comprises the steps that in response to an air pressure setting instruction, air pressure setting information corresponding to the air pressure setting instruction is obtained; determining a pulse width modulation signal and a digital coding signal based on the air pressure setting information; controlling the opening and closing state of the electromagnetic valve to be adjusted to the target opening and closing state based on the pulse width modulation signal, and controlling the opening degree of the proportional valve to be adjusted to the target opening degree based on the digital coding signal until the air pressure in the soft actuator is stabilized at the target air pressure value. The precision and the speed of driving air pressure output based on the air pressure control valve can be considered.

Description

Technical Field

[0001] The present application relates to the field of gas valve control technology, and in particular to a gas valve control method, device, equipment and computer-readable storage medium. Background Art

[0002] With the continuous development of automation and robotics, soft actuators are becoming a hot topic of research and application due to their flexibility, adaptability and biocompatibility. Soft actuators achieve movement by changing their internal pressure and are widely used in many fields such as medical assistive devices, flexible robots, wearable devices and environmental exploration.

[0003] At present, the air pressure control of the soft actuator mainly relies on the air pressure control valve. The two commonly used air pressure control methods are solenoid valve control and proportional valve control. Among them, the solenoid valve control method can realize the rapid on and off of air pressure to drive the actuator to perform basic actions, but the switch control characteristics of the solenoid valve determine that it cannot directly finely adjust the air pressure, that is, it cannot continuously and smoothly change the size of the output air pressure. This discontinuous control mode has the problem of low air pressure control accuracy; and the proportional valve control method can continuously change the size of the output air pressure by adjusting the valve opening, which has higher control accuracy, but the response speed of the proportional valve is relatively slow. That is, the problem with the commonly used air pressure control method is the low air pressure control accuracy or low air pressure control rate caused by a single type of air pressure control valve.

[0004] Therefore, how to balance the accuracy and speed of the driving air pressure output by the air pressure control valve is a problem that urgently needs to be solved. Summary of the invention

[0005] The main purpose of the present application is to provide a gas valve control method, device, equipment and computer-readable storage medium, aiming to take into account the accuracy and rate of driving gas pressure based on the output of the gas pressure control valve.

[0006] To achieve the above-mentioned purpose, the present application provides a gas valve control method, which is applied to a gas valve control system, wherein the gas valve control system comprises a pneumatic pump and a soft actuator, wherein the pneumatic pump is connected to the soft actuator by a pipeline, and a solenoid valve and a proportional valve are arranged at the gas outlet of the pneumatic pump, wherein the solenoid valve and the proportional valve are used to control the on-off of the pipeline between the pneumatic pump and the soft actuator, and the gas valve control method comprises:

[0007] In response to an air pressure setting instruction, acquiring air pressure setting information corresponding to the air pressure setting instruction, wherein the air pressure setting information includes a target air pressure value that the software actuator is expected to reach;

[0008] Determine a pulse width modulation signal and a digital coding signal based on the air pressure setting information, wherein the pulse width modulation signal is used to indicate a target open / close state of the solenoid valve, and the digital coding signal is used to indicate a target opening degree of the proportional valve;

[0009] Based on the pulse width modulation signal, the opening and closing state of the solenoid valve is controlled to be adjusted to the target opening and closing state, and based on the digital coding signal, the opening degree of the proportional valve is controlled to be adjusted to the target opening degree, so that the pneumatic pump outputs driving air pressure to the soft actuator until the air pressure in the soft actuator stabilizes at the target air pressure value.

[0010] In one embodiment, the gas valve control system further includes an FPGA module, the gas pressure setting information further includes opening and closing information, and the step of determining the pulse width modulation signal and the digital coding signal based on the gas pressure setting information includes:

[0011] A pulse width modulation signal is determined by the FPGA module based on the opening and closing information, and a digital coding signal is determined by the FPGA module based on the target air pressure value.

[0012] In one embodiment, the air pressure setting information further includes an air pressure output mode, and the step of determining the pulse width modulation signal based on the opening and closing information by the FPGA module includes:

[0013] When the opening and closing information is to close the air pressure output, the low level signal is used as a pulse width modulation signal through the FPGA module;

[0014] When the opening and closing information is to turn on the air pressure output, the pulse width modulation signal is determined by the FPGA module based on the preset frequency and duty cycle corresponding to the air pressure output mode.

[0015] In one embodiment, the step of determining the digital coding signal based on the target air pressure value by the FPGA module includes:

[0016] The FPGA module determines that the target air pressure value corresponds to a preset first voltage value, and encodes the first voltage value to obtain a digital coding signal.

[0017] In one embodiment, the gas valve control system further includes a pulse width modulation module, which is respectively connected to the FPGA module and the solenoid valve for communication, and the step of controlling the opening and closing state of the solenoid valve to be adjusted to the target opening and closing state based on the pulse width modulation signal includes:

[0018] Sending the pulse width modulation signal to the pulse width modulation module through the FPGA module;

[0019] The pulse width modulation module controls the opening and closing state of the solenoid valve to be adjusted to the target opening and closing state based on the pulse width modulation signal.

[0020] In one embodiment, the gas valve control system further includes a digital-to-analog conversion module, which is respectively connected to the FPGA module and the proportional valve for communication. The step of controlling the opening of the proportional valve to be adjusted to the target opening based on the digital coding signal includes:

[0021] Sending the digital coding signal to the digital-to-analog conversion module through the FPGA module;

[0022] The digital-to-analog conversion module controls the opening of the proportional valve to be adjusted to the target opening based on the digital coding signal.

[0023] In one embodiment, the air valve control system further comprises an analog-to-digital conversion module and an air pressure sensor, wherein the analog-to-digital conversion module is communicatively connected to the FPGA module, and the air pressure sensor is disposed at the air outlet of the air pressure pump;

[0024] After the steps of controlling the opening and closing state of the solenoid valve to be adjusted to the target opening and closing state based on the pulse width modulation signal, and controlling the opening of the proportional valve to be adjusted to the target opening based on the digital coding signal, the method further comprises:

[0025] When the air pressure output mode is the precise mode, the monitoring air pressure value at the air outlet collected by the air pressure sensor is obtained from the air pressure sensor through the analog-to-digital conversion module, and a preset second voltage value corresponding to the monitoring air pressure value is sent to the FPGA module;

[0026] The FPGA module uses the target air pressure value as the target value and the second voltage value as the feedback value to update the pulse width modulation signal and the digital coding signal, and returns to execute the steps of controlling the opening and closing state of the solenoid valve to be adjusted to the target opening and closing state based on the pulse width modulation signal, and controlling the opening of the proportional valve to be adjusted to the target opening based on the digital coding signal.

[0027] In addition, to achieve the above-mentioned purpose, the present application also provides a gas valve control device, which is applied to a gas valve control system, wherein the gas valve control system comprises a pneumatic pump and a soft actuator, wherein the pneumatic pump is connected to the soft actuator by a pipeline, and a solenoid valve and a proportional valve are arranged at the gas outlet of the pneumatic pump, wherein the solenoid valve and the proportional valve are used to control the on-off of the pipeline between the pneumatic pump and the soft actuator, and the gas valve control device comprises:

[0028] an acquisition module, configured to acquire, in response to an air pressure setting instruction, air pressure setting information corresponding to the air pressure setting instruction, wherein the air pressure setting information includes a target air pressure value that the software actuator is expected to reach;

[0029] a determination module, configured to determine a pulse width modulation signal and a digital coding signal based on the air pressure setting information, wherein the pulse width modulation signal is used to indicate a target opening and closing state of the solenoid valve, and the digital coding signal is used to indicate a target opening degree of the proportional valve;

[0030] A control module is used to control the opening and closing state of the solenoid valve to be adjusted to the target opening and closing state based on the pulse width modulation signal, and to control the opening of the proportional valve to be adjusted to the target opening based on the digital coding signal, so that the pneumatic pump can output the driving air pressure to the soft actuator until the air pressure in the soft actuator stabilizes at the target air pressure value.

[0031] In addition, to achieve the above-mentioned purpose, the present application also provides a storage medium, which is a computer-readable storage medium, and a program for implementing the gas valve control method is stored on the computer-readable storage medium. The program for implementing the gas valve control method is executed by a processor to implement the steps of the gas valve control method as described above.

[0032] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, including a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned gas valve control method are implemented.

[0033] The present application provides a gas valve control method, which is applied to a gas valve control system, the gas valve control system comprising a gas pressure pump and a soft actuator, the gas pressure pump and the soft actuator are connected by a pipeline, and a solenoid valve and a proportional valve are arranged at the gas outlet of the gas pressure pump, which are used to control the on-off of the pipeline between the gas pressure pump and the soft actuator. The gas valve control method of the present application obtains the gas pressure setting information corresponding to the gas pressure setting instruction by responding to the gas pressure setting instruction, wherein the gas pressure setting information includes the target gas pressure value that the user expects the soft actuator to reach; then a pulse width modulation signal and a digital coding signal are determined based on the gas pressure setting information, wherein the pulse width modulation signal is a signal for indicating the target opening and closing state of the solenoid valve, and the digital coding signal is a signal for indicating the target opening of the proportional valve; finally, the opening and closing state of the solenoid valve is controlled to be adjusted to the target opening and closing state based on the pulse width modulation signal, and the opening of the proportional valve is controlled to be adjusted to the target opening based on the digital coding signal, until the gas pressure in the soft actuator is stabilized at the target gas pressure value.

[0034] In summary, compared with the traditional method of using a single type of air pressure control valve for air pressure control, the present application sets a solenoid valve and a proportional valve at the air outlet of the air pressure pump connected to the pipeline of the soft actuator, and the solenoid valve and the proportional valve jointly control the on-off of the pipeline between the air pressure pump and the soft actuator. In addition, based on the air pressure setting information sent by the user, a pulse width modulation signal for indicating the target opening and closing state of the solenoid valve and a digital coding signal for indicating the target opening of the proportional valve are calculated, and then the opening and closing state of the solenoid valve is adjusted based on the pulse width modulation signal, and the opening of the proportional valve is adjusted based on the digital coding signal until the air pressure in the soft actuator stabilizes at the target air pressure value. In other words, the present application combines a variety of air pressure control valves to jointly adjust the size of the output driving air pressure of the air pressure pump, which ensures the efficiency of quickly controlling the air pressure through the solenoid valve, and ensures the accuracy of controlling the output air pressure through the proportional valve, that is, taking into account the accuracy and rate of the output driving air pressure based on the air pressure control valve. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0037] Figure 1 This is a flow chart of the first embodiment of the gas valve control method of the present application;

[0038] Figure 2 A schematic diagram of a first configuration method of an air pressure control valve according to an embodiment of the air valve control method of the present application;

[0039] Figure 3 A schematic diagram of a second configuration method of an air pressure control valve according to an embodiment of the air valve control method of the present application;

[0040] Figure 4 This is a schematic diagram of the FPGA module framework involved in one embodiment of the gas valve control method of the present application;

[0041] Figure 5 A schematic diagram of a gas valve control system framework involved in an embodiment of the gas valve control method of the present application;

[0042] Figure 6 This is a schematic diagram of the module structure of the gas valve control device of this application;

[0043] Figure 7Schematic diagram of the equipment structure of the hardware operating environment involved in the gas valve control method in the embodiment of the present application.

[0044] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0045] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0046] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0047] The main solution of the present application is: in response to an air pressure setting instruction, obtaining air pressure setting information corresponding to the air pressure setting instruction, wherein the air pressure setting information includes a target air pressure value that the soft actuator is expected to reach; determining a pulse width modulation signal and a digital coding signal based on the air pressure setting information, wherein the pulse width modulation signal is used to indicate a target opening and closing state of the solenoid valve, and the digital coding signal is used to indicate a target opening degree of the proportional valve; based on the pulse width modulation signal, controlling the opening and closing state of the solenoid valve to be adjusted to the target opening and closing state, and based on the digital coding signal, controlling the opening degree of the proportional valve to be adjusted to the target opening degree, so that the air pressure pump outputs driving air pressure to the soft actuator until the air pressure in the soft actuator stabilizes at the target air pressure value.

[0048] At present, the air pressure control of the soft actuator mainly relies on the air pressure control valve. The two commonly used air pressure control methods are solenoid valve control and proportional valve control. Among them, the solenoid valve control method can realize the rapid on and off of air pressure to drive the actuator to perform basic actions, but the switch control characteristics of the solenoid valve determine that it cannot directly finely adjust the air pressure, that is, it cannot continuously and smoothly change the size of the output air pressure. This discontinuous control mode has the problem of low air pressure control accuracy; and the proportional valve control method can continuously change the size of the output air pressure by adjusting the valve opening, which has higher control accuracy, but the response speed of the proportional valve is relatively slow. That is, the problem with the commonly used air pressure control method is the low air pressure control accuracy or low air pressure control rate caused by a single type of air pressure control valve.

[0049] The present application sets a solenoid valve and a proportional valve at the air outlet of the air pump connected to the pipeline of the soft actuator, and the solenoid valve and the proportional valve jointly control the on-off of the pipeline between the air pump and the soft actuator. In addition, a pulse width modulation signal for indicating the target opening and closing state of the solenoid valve and a digital coding signal for indicating the target opening of the proportional valve are calculated based on the air pressure setting information sent by the user, and then the opening and closing state of the solenoid valve is adjusted based on the pulse width modulation signal, and the opening of the proportional valve is adjusted based on the digital coding signal until the air pressure in the soft actuator stabilizes at the target air pressure value. In other words, the present application combines a variety of air pressure control valves to jointly adjust the size of the output driving air pressure of the air pump, thereby ensuring the efficiency of quickly controlling the air pressure by the solenoid valve, and ensuring the accuracy of controlling the output air pressure by the proportional valve, namely taking into account both the accuracy and rate of the output driving air pressure based on the air pressure control valve.

[0050] It should be noted that the execution subject of the method in each embodiment of the air valve control method of the present application can be an air valve control system, which includes an air pressure pump and a soft actuator, the air pressure pump is connected to the soft actuator by a pipeline, and an electromagnetic valve and a proportional valve are provided at the air outlet of the air pressure pump, and the electromagnetic valve and the proportional valve are used to control the on-off of the pipeline between the air pressure pump and the soft actuator. The execution subject can also be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or a air valve control device that can realize the above functions, etc., and this embodiment does not make specific limitations on this. The following takes the air valve control system as an example of the execution subject to illustrate this embodiment and the following embodiments.

[0051] Based on this, the present application proposes a first embodiment of the gas valve control method, please refer to Figure 1 The gas valve control method comprises steps S10 to S30:

[0052] Step S10, in response to the air pressure setting instruction, obtaining air pressure setting information corresponding to the air pressure setting instruction, wherein the air pressure setting information includes a target air pressure value that the software actuator is expected to reach;

[0053] It should be noted that the air valve control system of the present application includes an air pressure pump and a soft actuator, the air outlet of the air pressure pump is connected to the air inlet of the soft actuator through a pipeline, and a solenoid valve and a proportional valve are arranged at the air outlet of the air pressure pump, and the solenoid valve and the proportional valve are used to jointly control the on-off of the pipeline between the air pressure pump and the soft actuator. It should be understood that the embodiment of the present application does not limit the number and arrangement of the solenoid valve and the proportional valve arranged at the air outlet of the air pressure pump. For example, Figure 2The figure shows a schematic diagram of a first setting mode of the air pressure control valve, where the air pressure pump is connected to a plurality of proportional valves (positive proportional valves or negative proportional valves), and each proportional valve is connected to a solenoid valve to realize the air pressure output of the air pressure pump, wherein the positive proportional valve is used to output positive pressure, and the negative proportional valve is used to output negative pressure. Figure 3 It is a schematic diagram of a second setting mode of the air pressure control valve, in which the air pressure pump is connected to a proportional valve (positive proportional valve or negative proportional valve), and the proportional valve is connected to a plurality of solenoid valves to realize the air pressure output of the air pressure pump.

[0054] In addition, it should be noted that the gas valve control system of the present application is connected to the user terminal in communication, wherein the user terminal can be a mobile phone, a computer or other device. The user can set the air pressure in the software actuator on the user terminal, that is, trigger the air pressure setting instruction based on the user terminal. Among them, the air pressure setting information refers to the content set by the user.

[0055] The air valve control system responds to the air pressure setting instruction triggered by the user based on the user terminal, and obtains the air pressure setting information corresponding to the air pressure setting instruction, wherein the air pressure setting information includes but is not limited to the air pressure value that the user expects the software actuator to reach (hereinafter referred to as the target air pressure value for distinction).

[0056] Step S20, determining a pulse width modulation signal and a digital coding signal based on the air pressure setting information, wherein the pulse width modulation signal is used to indicate a target opening and closing state of the solenoid valve, and the digital coding signal is used to indicate a target opening degree of the proportional valve;

[0057] It should be noted that the pulse width modulation signal is a PWM (Pulse Width Modulation) signal, which is used to indicate the target opening and closing state of the solenoid valve, and the target opening and closing state can be understood as the opening and closing state of the solenoid valve required for the soft actuator to reach the target air pressure value. The digital coding signal is a DAC (Digital-to-Analog Converter) signal, which is used to indicate the target opening of the proportional valve, and the target opening can be understood as the opening of the proportional valve required for the soft actuator to reach the target air pressure value. The digital coding signal is a digital signal obtained by encoding the voltage value corresponding to the target air pressure value.

[0058] A pulse width modulation signal for indicating a target opening and closing state of the solenoid valve and a digital encoding signal for indicating a target opening degree of the proportional valve are determined based on the air pressure setting information.

[0059] In a feasible implementation manner, the gas valve control system further includes an FPGA module, the gas pressure setting information further includes opening and closing information, and the step S20 may include:

[0060] Step S201, determining a pulse width modulation signal based on the opening and closing information through the FPGA module, and determining a digital coding signal based on the target air pressure value through the FPGA module.

[0061] It should be noted that the valve control system of the present application also includes an FPGA (Field Programmable Gate Array) module, which is used to calculate pulse width modulation signals and digital coding signals based on air pressure setting information. And the valve control system is connected to the user terminal through the FPGA module, and obtains the air pressure setting information from the user terminal through the FPGA to calculate the width modulation signal and the digital coding signal based on the air pressure setting information. Specifically, the FPGA module includes the Qsys soft core, which is a small embedded soft core embedded in Altera FPGA that can run C language, and is used to interact with the user terminal through UART, obtain air pressure setting information, and calculate the width modulation signal and the digital coding signal based on the air pressure setting information.

[0062] The air pressure setting information also includes opening and closing information, and the opening and closing information is to turn on or off the air pressure output.

[0063] A pulse width modulation signal is determined by the FPGA module based on the opening and closing information in the air pressure setting information, and a digital coding signal is determined by the FPGA module based on the target air pressure value in the air pressure setting information.

[0064] In this embodiment, the air pressure setting information also includes an air pressure output mode, and the step S201 may include:

[0065] Step S2011, when the opening and closing information is to close the air pressure output, the FPGA module uses the low level signal as a pulse width modulation signal;

[0066] Step S2012: When the opening and closing information indicates turning on the air pressure output, the FPGA module determines a pulse width modulation signal based on a preset frequency and duty cycle corresponding to the air pressure output mode.

[0067] It should be noted that the air pressure setting information also includes an air pressure output mode, and the air pressure output mode is a fast mode or a precise mode. The frequency and duty cycle corresponding to the air pressure output mode are pre-set. Specifically, the embodiment of the present application does not limit the mapping relationship between the air pressure output mode and the frequency and duty cycle. In the embodiment of the present application, the frequencies corresponding to the two air pressure output modes can be the same or different, and the duty cycles corresponding to the two air pressure output modes can be the same or different. Determine the minimum frequency and minimum duty cycle that can open the solenoid valve. The frequencies corresponding to the two air pressure output modes can be any frequency greater than the minimum frequency, and the duty cycles corresponding to the two air pressure output modes can be any duty cycle greater than the minimum duty cycle.

[0068] When the opening and closing information is to close the air pressure output, the FPGA module determines that the low-level signal is a pulse width modulation signal. When the opening and closing information is to open the air pressure output, the FPGA module determines the pulse width modulation signal based on the preset frequency and duty cycle corresponding to the air pressure output mode.

[0069] In this implementation, the step S201 may include:

[0070] Step S2013, determining, through the FPGA module, that the target air pressure value corresponds to a preset first voltage value, and encoding the first voltage value to obtain a digital coding signal.

[0071] It should be noted that the target opening of the proportional valve that needs to be set to meet the target air pressure value in the soft actuator is determined, and then the voltage value required to control the proportional valve to reach the target opening is determined, and a mapping relationship between each target air pressure value and voltage value is established.

[0072] The FPGA module determines that the target air pressure value corresponds to a preset voltage value (hereinafter referred to as the first voltage value for distinction), and encodes the first voltage value to obtain a digital coding signal.

[0073] Step S30, based on the pulse width modulation signal, the opening and closing state of the solenoid valve is controlled to be adjusted to the target opening and closing state, and based on the digital coding signal, the opening of the proportional valve is controlled to be adjusted to the target opening, so that the pneumatic pump outputs the driving air pressure to the software actuator until the air pressure in the software actuator stabilizes at the target air pressure value.

[0074] The opening and closing state of the solenoid valve is controlled to be adjusted to the target opening and closing state based on the pulse width modulation signal, and the opening of the proportional valve is controlled to be adjusted to the target opening based on the digital coding signal, so that the air pump can output the driving air pressure from the air outlet to the soft actuator until the air pressure in the soft actuator stabilizes at the target air pressure value.

[0075] In a feasible implementation manner, the gas valve control system further includes a pulse width modulation module, and the pulse width modulation module is respectively connected to the FPGA module and the solenoid valve for communication. The step S30 may include:

[0076] Step S301, sending the pulse width modulation signal to the pulse width modulation module through the FPGA module;

[0077] Step S302: Controlling the opening and closing state of the solenoid valve to the target opening and closing state based on the pulse width modulation signal through the pulse width modulation module.

[0078] It should be noted that the gas valve control system of the present application also includes a pulse width modulation module, which is communicated with the FPGA module and the solenoid valve respectively, and is used to control the opening and closing state of the solenoid valve based on the pulse width modulation signal sent by the FPGA.

[0079] The pulse width modulation signal is sent to the pulse width modulation module through the FPGA module, and then the pulse width adjustment module controls the opening and closing state of the solenoid valve to be adjusted to the target opening and closing state based on the received pulse width modulation signal.

[0080] In this embodiment, the FPGA module also includes an air pressure drive control unit and a PWM output unit, and the FPGA module is connected to the pulse width modulation module through the PWM output unit. First, the pulse width modulation signal is determined based on the air pressure setting information by the Qsys soft core in the FPGA module, and then the pulse width modulation signal is sent to the air pressure drive control unit. The air pressure drive control unit forwards the pulse width modulation signal from the channel corresponding to the current air pressure output module to the PWM output unit, so as to send the pulse width modulation signal to the pulse width modulation module through the PWM output unit. The pulse width modulation module includes an amplification circuit for amplifying the received pulse width modulation signal and outputting it to the solenoid valve connected to the pulse width modulation module.

[0081] In a feasible implementation manner, the gas valve control system further includes a digital-to-analog conversion module, and the digital-to-analog conversion module is respectively communicatively connected to the FPGA module and the proportional valve, and the step S30 may include:

[0082] Step S303, sending the digital coded signal to the digital-to-analog conversion module through the FPGA module;

[0083] Step S304: Controlling the opening of the proportional valve to be adjusted to the target opening based on the digital coding signal by the digital-to-analog conversion module.

[0084] It should be noted that the gas valve control system of the present application also includes a digital-to-analog conversion module, which is respectively communicated with the FPGA module and the proportional valve, and is used to control the opening of the proportional valve based on the digital coded signal sent by the FPGA module.

[0085] The digital coding signal is sent to the digital analog conversion module through the FPGA module, and then the opening of the proportional valve is controlled by the digital analog conversion module to be adjusted to the target opening based on the digital coding signal.

[0086] In this embodiment, the FPGA module further includes a DAC drive unit, the digital analog conversion module further includes a digital analog conversion chip, the FPGA module is connected to the digital analog conversion module through the DAC drive unit, and the digital analog conversion module is connected to the proportional valve through the digital analog conversion chip. First, the Qsys soft core in the FPGA module determines the digital coding signal based on the air pressure setting information, and then sends the digital coding signal to the air pressure drive control unit, the air pressure drive control unit forwards the digital coding signal from the channel corresponding to the current air pressure output module to the DAC drive unit, so as to send the digital coding signal to the DAC chip of the digital analog conversion module through the DAC drive unit, and drive the DAC chip to output a high-precision voltage signal to control the air pressure output of the proportional valve, that is, the DAC chip converts the digital coding signal into a continuous voltage signal and outputs it to the proportional valve.

[0087] For example, Figure 4 The figure shows a schematic diagram of the FPGA module framework. The FPGA module includes a Qsys soft core, an air pressure drive control unit, a PWM output unit, and a DAC drive unit. The Qsys soft core is used to interact with the user terminal through UART, obtain air pressure setting information, and calculate the width modulation signal and the digital coding signal based on the air pressure setting information. The air pressure drive control unit is used to forward the pulse width modulation signal to the PWM output unit and forward the digital coding signal to the DAC drive unit. In addition, based on the flexibility and scalability of FPGA, a reliable and highly applicable air pressure source is provided for a variety of soft actuators, which solves the poor scalability problem caused by the current air pressure drive system, which mostly uses customized chips such as ARM (Advanced RISC Machines) or DSP (Digital Signal Processor), and improves versatility.

[0088] The embodiment of the present application sets a solenoid valve and a proportional valve at the air outlet of the air pump connected to the pipeline of the soft actuator, and the solenoid valve and the proportional valve jointly control the on-off of the pipeline between the air pump and the soft actuator. In addition, based on the air pressure setting information sent by the user, a pulse width modulation signal for indicating the target opening and closing state of the solenoid valve and a digital coding signal for indicating the target opening of the proportional valve are calculated, and then the opening and closing state of the solenoid valve is adjusted based on the pulse width modulation signal, and the opening of the proportional valve is adjusted based on the digital coding signal until the air pressure in the soft actuator stabilizes at the target air pressure value. That is to say, the embodiment of the present application combines a variety of air pressure control valves to jointly adjust the size of the output driving air pressure of the air pump, thereby ensuring the efficiency of quickly controlling the air pressure by the solenoid valve, and ensuring the accuracy of controlling the output air pressure by the proportional valve, that is, taking into account both the accuracy and rate of the output driving air pressure based on the air pressure control valve.

[0089] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated later. On this basis, the air valve control system also includes an analog-to-digital conversion module and an air pressure sensor, the analog-to-digital conversion module is communicatively connected to the FPGA module, and the air pressure sensor is arranged at the air outlet of the air pressure pump. After step S30, the air valve control method also includes:

[0090] Step S301, when the air pressure output mode is the precise mode, the monitored air pressure value at the air outlet collected by the air pressure sensor is obtained from the air pressure sensor through the analog-to-digital conversion module, and a preset second voltage value corresponding to the monitored air pressure value is sent to the FPGA module;

[0091] It should be noted that the valve control system of the present application also includes an analog-to-digital conversion module and an air pressure sensor, and the analog-to-digital conversion module is communicatively connected with the FPGA module. The analog-to-digital conversion module is an ADC (Analog-to-Digital Converter) module. The air pressure sensor is arranged at the air outlet of the air pressure pump to monitor the air pressure at the air outlet of the air pressure pump. The analog-to-digital conversion module is used to obtain the air pressure value monitored by the air pressure sensor and convert the air pressure value into a voltage value, wherein it should be understood that the voltage value used to characterize different air pressure values ​​is pre-set to convert the analog signal into a digital signal and upload it to the FPGA module. In addition, the air pressure output module that can be set by the user includes a fast mode and a precise mode. When the user selects the fast mode, the FPGA module calculates the pulse width modulation signal and the digital coding signal based on the air pressure setting information, so as to control the solenoid valve and the proportional valve based on the pulse width modulation signal and the digital coding signal; when the user selects the precise mode, the FPGA module calculates the pulse width modulation signal and the digital coding signal based on the air pressure setting information, so as to control the solenoid valve and the proportional valve based on the pulse width modulation signal and the digital coding signal, and then recalculates the pulse width modulation signal and the digital coding signal based on the voltage value fed back by the ADC module, so as to control the solenoid valve and the proportional valve again based on the updated pulse width modulation signal and the digital coding signal, until the air pressure in the software actuator stabilizes at the target air pressure value.

[0092] When the air pressure output mode is the precise mode, the air pressure value at the air pressure pump outlet collected by the air pressure sensor is obtained from the air pressure sensor through the analog-to-digital conversion module (hereinafter referred to as the monitored air pressure value for distinction), and the preset voltage value corresponding to the monitored air pressure value is determined (hereinafter referred to as the second voltage value for distinction), and the second voltage value is sent to the FPGA module.

[0093] Step S302, using the target air pressure value as the target value and the second voltage value as the feedback value, updates the pulse width modulation signal and the digital coding signal through the FPGA module, and returns to execute the steps of controlling the opening and closing state of the solenoid valve to be adjusted to the target opening and closing state based on the pulse width modulation signal, and controlling the opening of the proportional valve to be adjusted to the target opening based on the digital coding signal.

[0094] The second voltage value sent by the ADC module is received through the FPGA module, and the target air pressure value is used as the target value and the second voltage value is used as the feedback value to update the pulse width modulation signal and the digital coding signal. Then, the opening and closing state of the solenoid valve is adjusted based on the updated pulse width modulation signal, and the opening of the proportional valve is adjusted based on the updated digital coding signal, so that the opening and closing state of the solenoid valve is further close to the target opening and closing state, and the opening of the proportional valve is further close to the target opening, and this cycle is repeated until the air pressure in the software actuator stabilizes at the target air pressure value.

[0095] In one feasible implementation, the Qsys soft core in the FPGA module is also used to execute a PID (Proportional-Integral-Derivative) algorithm. After obtaining the second voltage value, the Qsys soft core uses the target pressure value as the target value and the second voltage value as the feedback value to adjust the pulse width modulation signal and the digital coding signal to improve the accuracy of the valve output pressure.

[0096] For example, Figure 5 The figure shows a schematic diagram of the valve control system framework, which mainly includes an FPGA module, a DAC module, a PWM module, a proportional valve, a solenoid valve and an ADC module. The FPGA module is used to receive the air pressure setting information sent by the user terminal, and calculate the pulse width modulation signal and the digital coding signal based on the air pressure setting information, and update the pulse width modulation signal and the digital coding signal based on the voltage value fed back by the ADC module; the DAC module is used to control the opening of the proportional valve based on the digital coding signal calculated by the FPGA module; the PWN module is used to control the opening and closing state of the solenoid valve based on the pulse width modulation signal calculated by the FPGA module.

[0097] In this way, the embodiment of the present application provides an air valve control method under the precise adjustment mode (i.e., the above-mentioned precise mode), by setting an air pressure sensor at the air outlet of the air pump to monitor the air pressure value of the driving air pressure output by the air pump in real time, and taking the voltage value corresponding to the air pressure value as feedback, and using the PID algorithm to readjust the pulse width modulation signal and the digital coding signal, that is, the proportional valve and the solenoid valve are adjusted in real time based on the actual output air pressure of the air pump detected, so as to improve the accuracy of the output air pressure of the air pump.

[0098] The present application also provides a gas valve control device, please refer to Figure 6 The air valve control device is applied to an air valve control system, the air valve control system includes an air pressure pump and a soft actuator, the air pressure pump is connected to the soft actuator pipeline, an electromagnetic valve and a proportional valve are arranged at the air outlet of the air pressure pump, the electromagnetic valve and the proportional valve are used to control the on-off of the pipeline between the air pressure pump and the soft actuator, the air valve control device includes:

[0099] An acquisition module 10 is used to acquire air pressure setting information corresponding to the air pressure setting instruction in response to the air pressure setting instruction, wherein the air pressure setting information includes a target air pressure value that the software actuator is expected to reach;

[0100] A determination module 20, configured to determine a pulse width modulation signal and a digital coding signal based on the air pressure setting information, wherein the pulse width modulation signal is used to indicate a target opening and closing state of the solenoid valve, and the digital coding signal is used to indicate a target opening degree of the proportional valve;

[0101] The control module 30 is used to control the opening and closing state of the solenoid valve to be adjusted to the target opening and closing state based on the pulse width modulation signal, and to control the opening of the proportional valve to be adjusted to the target opening based on the digital coding signal, so that the pneumatic pump can output the driving air pressure to the soft actuator until the air pressure in the soft actuator stabilizes at the target air pressure value.

[0102] Optionally, the gas valve control system further includes an FPGA module, the gas pressure setting information further includes opening and closing information, and the determination module 20 is further used to:

[0103] A pulse width modulation signal is determined by the FPGA module based on the opening and closing information, and a digital coding signal is determined by the FPGA module based on the target air pressure value.

[0104] Optionally, the air pressure setting information also includes an air pressure output mode, and the determining module 20 is further configured to:

[0105] When the opening and closing information is to close the air pressure output, the low level signal is used as a pulse width modulation signal through the FPGA module;

[0106] When the opening and closing information is to turn on the air pressure output, the pulse width modulation signal is determined by the FPGA module based on the preset frequency and duty cycle corresponding to the air pressure output mode.

[0107] Optionally, the determining module 20 is further configured to:

[0108] The FPGA module determines that the target air pressure value corresponds to a preset first voltage value, and encodes the first voltage value to obtain a digital coding signal.

[0109] Optionally, the gas valve control system further includes a pulse width modulation module, which is communicatively connected to the FPGA module and the solenoid valve respectively, and the control module 30 is further used for:

[0110] Sending the pulse width modulation signal to the pulse width modulation module through the FPGA module;

[0111] The pulse width modulation module controls the opening and closing state of the solenoid valve to be adjusted to the target opening and closing state based on the pulse width modulation signal.

[0112] Optionally, the gas valve control system further includes a digital-to-analog conversion module, which is communicatively connected to the FPGA module and the proportional valve respectively, and the control module 30 is further used for:

[0113] Sending the digital coding signal to the digital-to-analog conversion module through the FPGA module;

[0114] The digital-to-analog conversion module controls the opening of the proportional valve to be adjusted to the target opening based on the digital coding signal.

[0115] Optionally, the air valve control system further includes an analog-to-digital conversion module and an air pressure sensor, the analog-to-digital conversion module is communicatively connected to the FPGA module, the air pressure sensor is arranged at the air outlet of the air pressure pump, and the air valve control device further includes a feedback module, the feedback module is used to:

[0116] When the air pressure output mode is the precise mode, the monitoring air pressure value at the air outlet collected by the air pressure sensor is obtained from the air pressure sensor through the analog-to-digital conversion module, and a preset second voltage value corresponding to the monitoring air pressure value is sent to the FPGA module;

[0117] The FPGA module uses the target air pressure value as the target value and the second voltage value as the feedback value to update the pulse width modulation signal and the digital coding signal, and returns to execute the steps of controlling the opening and closing state of the solenoid valve to be adjusted to the target opening and closing state based on the pulse width modulation signal, and controlling the opening of the proportional valve to be adjusted to the target opening based on the digital coding signal.

[0118] The gas valve control device provided in the embodiment of the present application adopts the gas valve control method in the above embodiment, which can solve the technical problem of how to balance the accuracy and rate of the driving gas pressure output based on the gas pressure control valve. Compared with the prior art, the beneficial effects of the gas valve control device provided in the embodiment of the present application are the same as the beneficial effects of the gas valve control method provided in the above embodiment, and other technical features in the gas valve control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0119] The present application provides a gas valve control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the gas valve control method in the above-mentioned embodiment one.

[0120] Reference below Figure 7 , which shows a schematic diagram of the structure of a gas valve control device suitable for implementing the embodiment of the present application. The gas valve control device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 7 The gas valve control device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0121] like Figure 7 As shown, the gas valve control device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the gas valve control device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the gas valve control device to communicate with other devices wirelessly or by wire to exchange data. Although the gas valve control device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0122] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0123] The air valve control device provided by the present application adopts the air valve control method in the above embodiment, which can solve the technical problem of how to balance the accuracy and rate of the driving air pressure output based on the air pressure control valve. Compared with the prior art, the beneficial effects of the air valve control device provided by the present application are the same as the beneficial effects of the air valve control method provided by the above embodiment, and the other technical features in the air valve control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0124] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0125] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0126] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the gas valve control method in the above-mentioned embodiment.

[0127] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0128] The computer-readable storage medium may be included in the gas valve control device; or may exist independently without being assembled into the gas valve control device.

[0129] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the air valve control device, the air valve control device: responds to the air pressure setting instruction, obtains the air pressure setting information corresponding to the air pressure setting instruction, wherein the air pressure setting information includes the target air pressure value expected to be reached by the soft actuator; determines a pulse width modulation signal and a digital coding signal based on the air pressure setting information, wherein the pulse width modulation signal is used to indicate the target opening and closing state of the solenoid valve, and the digital coding signal is used to indicate the target opening degree of the proportional valve; controls the opening and closing state of the solenoid valve to be adjusted to the target opening and closing state based on the pulse width modulation signal, and controls the opening degree of the proportional valve to be adjusted to the target opening degree based on the digital coding signal, so that the air pressure pump outputs the driving air pressure to the soft actuator until the air pressure in the soft actuator stabilizes at the target air pressure value.

[0130] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0131] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0132] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0133] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned valve control method, and can solve the technical problem of how to balance the accuracy and rate of the driving air pressure output based on the air pressure control valve. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the valve control method provided in the above-mentioned embodiment, and will not be repeated here.

[0134] An embodiment of the present application provides a computer program product, including a computer program, which implements the steps of the above-mentioned gas valve control method when executed by a processor.

[0135] The computer program product provided by the present application can take into account both the accuracy and rate of driving the air pressure output based on the air pressure control valve. Compared with the prior art, the beneficial effects of the computer program product provided by the embodiment of the present application are the same as the beneficial effects of the air valve control method provided by the above embodiment, which will not be repeated here.

[0136] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent processing scope of the present application.

Claims

1. A gas valve control method, characterized in that: The air valve control method is applied to an air valve control system, which includes an air pressure pump and a soft actuator, wherein the air pressure pump is connected to the soft actuator by a pipeline, and an electromagnetic valve and a proportional valve are arranged at the air outlet of the air pressure pump, wherein the electromagnetic valve and the proportional valve are used to control the on-off of the pipeline between the air pressure pump and the soft actuator. The air valve control method includes: In response to an air pressure setting instruction, acquiring air pressure setting information corresponding to the air pressure setting instruction, wherein the air pressure setting information includes a target air pressure value that the software actuator is expected to reach; Determine a pulse width modulation signal and a digital coding signal based on the air pressure setting information, wherein the pulse width modulation signal is used to indicate a target open / close state of the solenoid valve, and the digital coding signal is used to indicate a target opening degree of the proportional valve; Based on the pulse width modulation signal, the opening and closing state of the solenoid valve is controlled to be adjusted to the target opening and closing state, and based on the digital coding signal, the opening degree of the proportional valve is controlled to be adjusted to the target opening degree, so that the pneumatic pump outputs driving air pressure to the soft actuator until the air pressure in the soft actuator stabilizes at the target air pressure value.

2. The method according to claim 1, characterized in that The gas valve control system further includes an FPGA module, the gas pressure setting information further includes opening and closing information, and the step of determining a pulse width modulation signal and a digital coding signal based on the gas pressure setting information includes: A pulse width modulation signal is determined by the FPGA module based on the opening and closing information, and a digital coding signal is determined by the FPGA module based on the target air pressure value.

3. The method according to claim 2, characterized in that The air pressure setting information also includes an air pressure output mode, and the step of determining the pulse width modulation signal based on the opening and closing information by the FPGA module includes: When the opening and closing information is to close the air pressure output, the low level signal is used as a pulse width modulation signal through the FPGA module; When the opening and closing information is to turn on the air pressure output, the pulse width modulation signal is determined by the FPGA module based on the preset frequency and duty cycle corresponding to the air pressure output mode.

4. The method according to claim 2, characterized in that The step of determining the digital coding signal based on the target air pressure value by the FPGA module includes: The FPGA module determines that the target air pressure value corresponds to a preset first voltage value, and encodes the first voltage value to obtain a digital coding signal.

5. The method according to claim 2, characterized in that The gas valve control system further includes a pulse width modulation module, which is respectively connected to the FPGA module and the solenoid valve for communication. The step of controlling the opening and closing state of the solenoid valve to be adjusted to the target opening and closing state based on the pulse width modulation signal includes: Sending the pulse width modulation signal to the pulse width modulation module through the FPGA module; The pulse width modulation module controls the opening and closing state of the solenoid valve to be adjusted to the target opening and closing state based on the pulse width modulation signal.

6. The method according to claim 2, characterized in that The gas valve control system further includes a digital-to-analog conversion module, which is respectively connected to the FPGA module and the proportional valve for communication. The step of controlling the opening of the proportional valve to be adjusted to the target opening based on the digital coding signal includes: Sending the digital coding signal to the digital-to-analog conversion module through the FPGA module; The digital-to-analog conversion module controls the opening of the proportional valve to be adjusted to the target opening based on the digital coding signal.

7. The method according to claim 2, characterized in that The air valve control system further includes an analog-to-digital conversion module and an air pressure sensor, wherein the analog-to-digital conversion module is communicatively connected with the FPGA module, and the air pressure sensor is arranged at the air outlet of the air pressure pump; After the steps of controlling the opening and closing state of the solenoid valve to be adjusted to the target opening and closing state based on the pulse width modulation signal, and controlling the opening of the proportional valve to be adjusted to the target opening based on the digital coding signal, the method further comprises: When the air pressure output mode is the precise mode, the monitoring air pressure value at the air outlet collected by the air pressure sensor is obtained from the air pressure sensor through the analog-to-digital conversion module, and a preset second voltage value corresponding to the monitoring air pressure value is sent to the FPGA module; The FPGA module uses the target air pressure value as the target value and the second voltage value as the feedback value to update the pulse width modulation signal and the digital coding signal, and returns to execute the steps of controlling the opening and closing state of the solenoid valve to be adjusted to the target opening and closing state based on the pulse width modulation signal, and controlling the opening of the proportional valve to be adjusted to the target opening based on the digital coding signal.

8. A gas valve control device, characterized in that: The air valve control device is applied to an air valve control system, which includes an air pressure pump and a soft actuator, wherein the air pressure pump is connected to the soft actuator pipeline, and an electromagnetic valve and a proportional valve are arranged at the air outlet of the air pressure pump, wherein the electromagnetic valve and the proportional valve are used to control the on-off of the pipeline between the air pressure pump and the soft actuator, and the air valve control device includes: an acquisition module, configured to acquire, in response to an air pressure setting instruction, air pressure setting information corresponding to the air pressure setting instruction, wherein the air pressure setting information includes a target air pressure value that the software actuator is expected to reach; a determination module, configured to determine a pulse width modulation signal and a digital coding signal based on the air pressure setting information, wherein the pulse width modulation signal is used to indicate a target opening and closing state of the solenoid valve, and the digital coding signal is used to indicate a target opening degree of the proportional valve; A control module is used to control the opening and closing state of the solenoid valve to be adjusted to the target opening and closing state based on the pulse width modulation signal, and to control the opening of the proportional valve to be adjusted to the target opening based on the digital coding signal, so that the pneumatic pump can output the driving air pressure to the soft actuator until the air pressure in the soft actuator stabilizes at the target air pressure value.

9. A gas valve control device, characterized in that: The gas valve control device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the gas valve control method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the gas valve control method according to any one of claims 1 to 7 are implemented.

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