Levelness calibration method, device and equipment of lifting platform and medium

Abstract

The embodiment of the invention provides a levelness calibration method, device and equipment for a lifting platform and a medium. The levelness calibration method comprises the following steps that one of N lifting shafts is determined as a main shaft, and the other lifting shafts are determined as auxiliary shafts; each slave shaft and the main shaft are configured to be in an electronic gear synchronization mode; controlling the N lifting shafts to move synchronously, and determining a target position value of each lifting shaft corresponding to each path point by acquiring reference position values corresponding to a plurality of path points in the lifting range of the lifting platform and a horizontal error value of each slave shaft; one of the N lifting shafts is determined as a main shaft, and the other lifting shafts are determined as auxiliary shafts; determining an electronic cam curve of each slave shaft based on the target position value of each lifting shaft corresponding to each path point; and respectively configuring each slave shaft and the main shaft in an electronic cam synchronization mode.

Description

Technical Field

[0001] The present disclosure relates to the technical field of lifting mechanisms, and in particular to a method, device, equipment and medium for calibrating the levelness of a lifting platform. Background Art

[0002] For small lifting platforms, since the platform area is small and the load is relatively light, the power provided by one power source is sufficient to meet the lifting needs. For large lifting platforms, the platform area is large, or the load it needs to carry is heavy, so a single power source cannot provide enough power and cannot ensure the reliability of the lifting system. Therefore, large lifting platforms usually use multiple power sources. Although the multi-power source drive solution enhances the power performance of large lifting platforms, it is difficult to meet the horizontal requirements of the platform. To solve this problem, the measures adopted in the prior art are usually to improve the installation accuracy of the power source and its auxiliary devices, including precise mechanical installation, meticulous electrical debugging, and repeated on-site testing and calibration. Although the above measures can improve the horizontality problem to a certain extent, they also significantly increase the time cost and labor cost, making the deployment and maintenance of the entire system more complicated and expensive. Summary of the invention

[0003] In view of this, the present disclosure provides a method for determining a lifting weight, a method, device and equipment for controlling a lifting speed, so as to at least partially solve the above-mentioned technical problems.

[0004] In a first aspect, the present application provides a method for calibrating the horizontality of a lifting platform, wherein a driving device of the lifting platform includes N lifting axes, N ≥ 2, and the method includes the following steps:

[0005] Determine that one of the N lifting axes is the main axis, and the others are slave axes;

[0006] Each slave shaft and the master shaft are configured to be in electronic gear synchronization mode respectively;

[0007] Control the N lifting axes to move synchronously, and determine the target position value of each lifting axis corresponding to each path point by obtaining the reference position values ​​corresponding to a number of path points within the lifting range of the lifting platform and the horizontal error value at each slave axis;

[0008] Determine one of the N lifting axes as the main axis and the others as slave axes; determine the electronic cam curve of each slave axis based on the target position value of each lifting axis corresponding to each path point; and configure each slave axis and the main axis to be in electronic cam synchronization mode respectively.

[0009] Optionally, each lifting axis is driven by a servo motor respectively; and the lifting drive device also includes a displacement detection device for acquiring the position value of each lifting axis in real time.

[0010] Optionally, before the step of controlling the first lifting axis and the second lifting axis to move synchronously and determining the target position value of each lifting axis corresponding to each path point by obtaining reference position values ​​corresponding to a plurality of path points within the lifting range of the lifting platform and a horizontal error value along the first direction, the step further includes the following steps:

[0011] The levelness of the lifting platform is calibrated to meet a preset levelness.

[0012] Optionally, the step of controlling the N lifting axes to move synchronously and determining the target position value of each lifting axis corresponding to each path point by acquiring reference position values ​​corresponding to a plurality of path points within the lifting range of the lifting platform and a horizontal error value at each slave axis further comprises:

[0013] Determine a number of preset path points;

[0014] Controlling the N lifting axes to move synchronously so that the lifting platform stops at each preset path point;

[0015] Whenever the lifting platform stops at a preset path point, a reference position value corresponding to each preset path point and a horizontal error value at each slave axis are obtained;

[0016] According to the reference position value corresponding to each preset path point and the horizontal error value at each slave axis, the target position value of each lifting axis corresponding to each preset path point is obtained.

[0017] Optionally, the reference position value is a given position value of the main shaft used to control the lifting platform to stop at a preset path point; or, an actual position value of the main shaft obtained when the lifting platform stops at a preset path point.

[0018] Optionally, the step of obtaining the target position value of each lifting axis corresponding to each preset path point according to the reference position value corresponding to each preset path point and the horizontal error value at each slave axis further includes:

[0019] According to the reference position value corresponding to each preset path point and the horizontal error value at each slave axis, a corrected position value of each slave axis corresponding to each path point is obtained;

[0020] The reference position value of each preset path point is determined as the target position value of the main axis, and the corrected position value of each slave axis is determined as the target position value of the corresponding slave axis.

[0021] In a second aspect, the present application provides a horizontal calibration device for a lifting platform, wherein the step of obtaining a target position value of each lifting axis corresponding to each preset path point according to a reference position value corresponding to each preset path point and a horizontal error value at each slave axis further comprises:

[0022] According to the reference position value corresponding to each preset path point and the horizontal error value at each slave axis, a corrected position value of each slave axis corresponding to each path point is obtained;

[0023] The reference position value of each preset path point is determined as the target position value of the main axis, and the corrected position value of each slave axis is determined as the target position value of the corresponding slave axis.

[0024] In a third aspect, the present application provides an electronic device, comprising: a processor, a communication interface, a memory, and a bus, wherein the processor, the communication interface, and the memory communicate with each other through the bus;

[0025] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute operations corresponding to the method for calibrating the horizontality of the lifting platform.

[0026] In a fourth aspect, the present application provides a computer-readable storage medium, on which computer instructions are stored. When the computer instructions are executed by a processor, the processor performs a horizontal calibration of a lifting platform.

[0027] The horizontality calibration scheme of the lifting platform of the present application obtains the reference position values ​​corresponding to several path points within the lifting range of the lifting platform and the horizontal error value at each slave axis in the electronic gear mode, determines the target position value of each lifting axis corresponding to each path point to meet the preset horizontality, and then obtains the electronic cam curve of each slave axis based on the target position value of each lifting axis corresponding to each path point, thereby realizing position compensation for each lifting axis in the electronic cam mode, so that the lifting platform remains in a horizontal state during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a flow chart of a levelness calibration method according to an exemplary embodiment of the present application.

[0029] Figure 2 is a flowchart of step S106 of the levelness calibration method according to an exemplary embodiment of the present application.

[0030] Figure 3 Schematic diagram of a lifting mechanism in an ideal state according to an exemplary embodiment of the present application.

[0031] Figure 4is a schematic diagram of a lifting mechanism that is not calibrated using the method of the present application.

[0032] Figure 5 is a schematic diagram of a lifting mechanism calibrated according to the method of the present application.

[0033] List of reference numerals:

[0034] 10: Lifting platform;

[0035] 11: first end;

[0036] 12: second end;

[0037] 21: first lifting motor (first lifting axis);

[0038] 22: second lifting motor (second lifting axis);

[0039] 31: first displacement detection device;

[0040] 32: second displacement detection device;

[0041] 40: Servo drive;

[0042] 50: Programmable logic controller. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions, and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other technical solutions obtained by ordinary technicians in the field belong to the scope of protection of the present disclosure.

[0044] The horizontality calibration scheme of the lifting platform provided in each embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0045] For small lifting platforms, since the platform area is small and the load is relatively light, the power provided by one power source is sufficient to meet the lifting needs. For large lifting platforms, the platform area is large, or the load it needs to carry is heavy, so a single power source cannot provide enough power and cannot ensure the reliability of the lifting system. Therefore, large lifting platforms usually use multiple power sources. Although the multi-power source drive solution enhances the power performance of large lifting platforms, it is difficult to meet the horizontal requirements of the platform. To solve this problem, the measures adopted in the prior art are usually to improve the installation accuracy of the power source and its auxiliary devices, including precise mechanical installation, meticulous electrical debugging, and repeated on-site testing and calibration. Although the above measures can improve the horizontality problem to a certain extent, they also significantly increase the time cost and labor cost, making the deployment and maintenance of the entire system more complicated and expensive.

[0046] Based on the various problems in the prior art described above, various embodiments of the present application provide a horizontal calibration solution for a lifting platform to at least partially solve the above problems.

[0047] The horizontality calibration scheme of the lifting platform provided in each embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0048] Example 1

[0049] Embodiment 1 provides a method 100 for calibrating the horizontality of a lifting platform, wherein the driving device of the lifting platform includes N lifting axes, N≥2, and the lifting axes are axes in the lifting device used to achieve vertical movement. They are driven by a driving system so that the lifting device can move to a preset position. Figure 3-Figure 5 A dual-drive lifting system is shown as an example. Figure 3-Figure 5 As shown, the lifting drive device of the lifting system includes a first lifting shaft 21 and a second lifting shaft 22, wherein the first lifting shaft 21 is used to drive the first end 11 of the lifting platform 10 along the first direction, and the second lifting shaft 22 is used to drive the second end 12 of the lifting platform 10 along the first direction.

[0050] like Figure 1 As shown, the method 100 includes the following steps:

[0051] S102: Determine that one of the N lifting axes is the main axis, and the others are slave axes.

[0052] S104: configuring each slave shaft and the master shaft to be in an electronic gear synchronization mode respectively.

[0053] In electronic gear mode, each slave axis follows the master axis according to the preset gear ratio, thus achieving precise synchronous movement of multiple lifting axes. Figure 3-Figure 5In the dual-drive lifting system, the first lifting axis is determined as the main axis and the second lifting axis is determined as the slave axis, and the second lifting axis follows the movement of the first lifting axis according to the preset gear ratio of 1:1. It can be understood that in the electronic gear synchronization mode with a gear ratio of 1:1, the actual position value of the main axis and the actual position value of the slave axis at any time during the lifting process of the lifting platform are equal.

[0054] S106: Control the N lifting axes to move synchronously, and determine the target position value of each lifting axis corresponding to each path point by obtaining the reference position values ​​corresponding to several path points within the lifting range of the lifting platform and the horizontal error value at each slave axis, wherein the target position value is the position value of each lifting axis that enables the lifting platform to meet the preset horizontality at each path point, and the reference position value is the actual position value of the main axis or the actual position value of any slave axis corresponding to each path point. The horizontal error value at each slave axis is used to characterize the position deviation in the vertical direction between the driving position of each slave axis and the driving position of the main axis, for example Figure 4 In the embodiment, the first lifting shaft 21 drives the first end 11 of the lifting platform, the second lifting shaft 22 drives the second end 12 of the lifting platform, and the first lifting shaft 21 is the main shaft. The horizontal error value at the second lifting shaft is the position deviation between the first end 11 and the second end 12 of the lifting platform in the vertical direction.

[0055] like Figure 3 As shown, the initial position of the lifting platform 10 is H0, and the limit position it can reach is H limit , then the lifting range of the lifting platform 10 is from the initial position H0 to the extreme position H limit .

[0056] In some embodiments, in order to ensure the accuracy of horizontal control, the several path points within the lifting range of the lifting platform include at least the initial position H0, the extreme position H1 and the limit position H2 of the lifting platform. limit , and the position difference between every two adjacent path points is between 1mm and 10mm.

[0057] As mentioned above, in the electronic gear synchronization mode, the actual position value of the main axis and the actual position value of the slave axis corresponding to each path point are equal. However, due to the influence of various factors such as installation errors, the actual displacement of the lifting platform is different from the expected one, and the lifting platform cannot remain horizontal during movement. Figure 4As shown in the figure, the position value of the first lifting axis 21 and the position value of the second lifting axis 22 corresponding to a certain path point are both 2000mm, but in fact, the two ends (the first end and the second end) of the lifting platform 10 are not on the same horizontal plane, and the lifting platform is tilted. This application obtains the reference position value corresponding to each path point and the horizontal error value at each slave axis, thereby obtaining the target position value of each lifting axis corresponding to each path point for keeping the lifting platform horizontal, so that the lifting platform can remain horizontal during movement.

[0058] In some implementations, step S106 is implemented as step S300, and step S300 includes the following steps:

[0059] S301: Determine a number of preset path points;

[0060] S303: Control the N lifting axes to move synchronously so that the lifting platform stops at each preset path point;

[0061] S305: Whenever the lifting platform stops at a preset path point, a reference position value corresponding to each preset path point and a horizontal error value at each slave axis are obtained.

[0062] In this embodiment, the reference position value can be a given position value of the main shaft used to control the lifting platform to stop at a preset path point; the reference position value can also be an actual position value of the main shaft or an actual position value of any slave shaft obtained when the lifting platform stops at a preset path point.

[0063] Exemplarily, whenever the lifting platform stops at a preset path point, a level measuring device may be used to measure the level error value at each slave axis of the lifting platform. For example, the level measuring device may be a micrometer or a laser tracker.

[0064] S307: According to the reference position value corresponding to each preset path point and the horizontal error value at each slave axis, the target position value of each lifting axis corresponding to each preset path point is obtained.

[0065] In some implementations, step S107 further includes:

[0066] S3071: Obtaining a corrected position value of each slave axis corresponding to each path point according to the reference position value corresponding to each preset path point and the horizontal error value at each slave axis;

[0067] S3072: Determine the reference position value of each preset path point as the target position value of the main axis, and determine the corrected position value of each slave axis as the target position value of the corresponding slave axis.

[0068] For ease of understanding, the following is an explanation of a dual-drive lifting system with the first lifting axis as the main axis and the reference position value as the actual position value of the main axis. For example, the actual position value of the main axis corresponding to the i-th path point is M i , the horizontal error value at the second drive shaft is △H i , then the corrected position value S" that keeps the lifting platform horizontal i =M i +△H i ; The target position value of the first lifting axis corresponding to the i-th path point is M i , the target position value of the second lifting axis is S".

[0069] In this embodiment, the level measuring device does not need to be connected to the host computer, so when it is deployed and used, there is no need to consider complex interface configuration, data transmission protocols, and possible communication failures, thereby reducing the complexity and maintenance costs of the system; and, since the level measuring device does not need to exchange real-time data with the host computer, its own hardware performance requirements are also reduced accordingly, thereby reducing costs.

[0070] In some other implementations, step S106 is implemented as S400, which includes the following steps:

[0071] S401: Control the N lifting axes to move synchronously to drive the lifting platform to move from the initial position to the extreme position or from the extreme position to the initial position;

[0072] S403: Determine that one of the N lifting axes is a sampling axis and the others are non-sampling axes; after each sampling period, obtain the current actual position value of the sampling axis and the horizontal error value of each non-sampling axis;

[0073] S405: Obtaining a corrected position value of each non-sampling axis according to the current actual position value of the sampling axis and the horizontal error value at each non-sampling axis;

[0074] S407: Determine the current actual position value of the sampling axis in each sampling period as the target position value of the axis, and determine the corrected position value of each non-sampling axis in each sampling period as the target position value of each non-sampling axis.

[0075] For example, in Figure 3-Figure 5 In the dual-drive lifting system shown in the figure, the first lifting axis is the main axis, the second lifting axis is the slave axis, and the main axis is used as the sampling axis. After each sampling cycle, the current actual position value of the main axis and the horizontal error value of the second lifting axis are obtained. In the i-th sampling cycle, the current actual position value of the main axis obtained is M i , the horizontal error value of the second lifting axis is △H i , then the corrected position value S" of the slave axis in this sampling periodi =M i +△H i , so the target position value of the first lifting axis corresponding to the i-th path point is M i , the target position value of the second lifting axis is S" i .

[0076] In this embodiment, the levelness measuring device exchanges data with the host computer in real time, so that the relevant data can be collected continuously without stopping during the continuous operation of the lifting equipment from the initial position to the extreme position (or the reverse process). In addition, by adjusting the length of the sampling period, the user can adjust the density of the path points according to actual needs. A shorter sampling period can provide more dense data points, which helps to more accurately depict the operation trajectory and state changes of the lifting equipment; while a longer sampling period can reduce the amount of data and processing time while ensuring the validity of the data. This flexibility enables the measuring device to adapt to different application scenarios and needs.

[0077] After step S106, execute step S108: determine that one of the N lifting axes is the main axis and the others are slave axes; determine the electronic cam curve of each slave axis based on the target position value of each lifting axis corresponding to each path point; and configure each slave axis and the main axis to be in electronic cam synchronization mode respectively.

[0078] Specifically, step S108 further includes the following steps:

[0079] S1081: Determine one of the N lifting axes as the main axis and the others as slave axes. The main axis selected in this step can be the same as the main axis in step S101 or different.

[0080] S1081: Determine the key point coordinates of the electronic cam curve based on the target position value of each lifting axis corresponding to each path point.

[0081] The electronic cam curve is used to represent the position relationship between the master axis and the slave axis. Figure 3 — Figure 5 Taking the dual-drive lifting system as an example, the target position value of the first lifting axis corresponding to the i-th path point is L1 i , the target position value of the second lifting axis is L2 i , if the main axis of the electronic cam is the first lifting axis and the slave axis is the second lifting axis, then the coordinates of the i-th key point on the electronic cam curve are (L1 i , L2 i ); If the main axis of the electronic cam is the second lifting axis and the slave axis is the first lifting axis, the coordinates of the i-th key point on the electronic cam curve are (L2 i , L1 i).

[0082] S1083: Linear interpolation is performed on the coordinates of the key points to obtain the electronic cam curve of the lifting drive device. The coordinates of the key points are interpolated so as to obtain a continuous "curve" from discrete "points". Furthermore, in this embodiment, linear interpolation is performed on the coordinates of the key points to improve the accuracy between two points.

[0083] S1085: Each slave axis and the master axis are configured to be in electronic cam synchronization mode respectively.

[0084] In the electronic cam mode, each slave axis follows the main axis based on the generated electronic cam curve, so that all lifting axes move synchronously to drive the lifting platform to move up and down. Moreover, the electronic cam curve of each slave axis is determined according to the target position value used to ensure the horizontality of the lifting platform, thereby achieving compensation for the horizontality of the lifting platform and meeting the horizontality requirement. For example, Figure 5 As shown, when the main axis 21 runs to the position of 2000.0, the slave axis 22 runs to the position of 2000.14 based on the electronic cam curve, thereby keeping the lifting platform level.

[0085] In some embodiments, the driving motor of each lifting axis is a servo motor; and the lifting drive device further includes a displacement detection device for obtaining the position value of each lifting axis in real time. Figure 3 — Figure 5 The dual-drive lifting system shown is provided with a first displacement detection device 31 for acquiring the position value of the first lifting shaft 21 in real time and a second displacement detection device 32 for acquiring the position value of the second lifting shaft 22 in real time.

[0086] Although the servo motor itself is equipped with a position encoder to achieve closed-loop position control, for a lifting platform with high levelness requirements, the position encoder of the servo motor cannot meet the control requirements due to the processing accuracy of the mechanical transmission mechanism. Therefore, this embodiment is also equipped with a high-precision displacement detection device. Figure 3-Figure 5 As shown, in the dual-drive lifting system of this embodiment, the first displacement detection device 31 is installed on the outside of the first end 11 of the lifting platform, and is used to obtain the position value of the first lifting shaft 21 in real time; the second displacement detection device 32 is installed on the outside of the second end 12 of the lifting platform, and is used to obtain the position value of the second lifting shaft 22 in real time.

[0087] The levelness of the lifting platform during operation is related to the installation error of the drive devices at both ends of the lifting platform and other factors. Figure 3As shown, under ideal conditions, that is, when the above-mentioned errors do not exist, the lifting platform can maintain a horizontal state during operation. In fact, the above-mentioned errors cannot be eliminated. Taking the displacement detection devices at both ends of the lifting platform as an example, in order to ensure the horizontality of the lifting platform, the two displacement detection devices need to be completely consistent in height after installation. Any slight position deviation between the two will cause the lifting platform to tilt. However, these two displacement detection devices are arranged at both ends of the lifting platform, which makes it difficult to align them completely; moreover, each displacement detection device needs to be fixed with fasteners. During the fixing process, the displacement detection device will deform under the action of stress, for example Figure 4 and Figure 5 The second displacement detection device 32 is bent, resulting in asymmetry of the two displacement detection devices. If the solution in the prior art is adopted, the displacement detection device needs to be reinstalled after the level error exceeds the allowable range, and because the level accuracy requirement is too high, it is necessary to install it multiple times to achieve the required accuracy.

[0088] The method of the present application reduces the requirements for hardware installation accuracy. There is no need to reinstall hardware related to the levelness, such as the displacement detection device mentioned above. It is only necessary to use the method of the present application to obtain the position value of each lifting axis used to keep the lifting platform in a horizontal state at each path point, and obtain the electronic cam curve used to control the lifting axis based on these position values. The lifting platform can meet the levelness accuracy requirements during operation, thereby reducing the labor and material costs of rework.

[0089] For example, the displacement detection device may be a barcode or a grating ruler, and the displacement detection device may be connected to the programmable logic controller 50, such as Figure 3-Figure 5 As shown, the precise position value of the lifting platform can be obtained in real time.

[0090] In some implementations, before step S104, step S200 is further included:

[0091] The levelness of the lifting platform is calibrated to meet a preset levelness.

[0092] The levelness of the lifting platform directly affects the accuracy of various operations performed on it. If the lifting platform is not level, it will cause errors in the workpiece during processing or measurement, which will affect the product quality. After calibration, the lifting platform can provide a unified and stable reference surface, which cooperates with the synchronization method of the electronic cam curve to keep the levelness consistent at different positions of the lifting platform, thereby making the operation results of the lifting platform at different positions and at different times consistent.

[0093] It can be understood that step S200 may be before step S102 or after step S102.

[0094] In some embodiments, the method further comprises step S101:

[0095] When the preset conditions are met, steps S102 to S108 are executed, wherein the preset conditions are one of the following conditions: receiving a level alarm message, exceeding a preset time since the last calibration, or updating hardware or software related to the level, for example, replacing or reinstalling a displacement detection device.

[0096] Example 2

[0097] Embodiment 2 provides a horizontal calibration device for a lifting platform, which includes a determination module, an electronic gear module, a control module and an electronic cam module. The driving device of the lifting platform includes N lifting axes, N ≥ 2. It should be noted that since the following embodiments are to implement the aforementioned method embodiments, each module in the device is designed to implement each step of the aforementioned method. Therefore, the present invention is not limited to the following embodiments, and any device or module that can implement the above method should be included in the protection scope of the present invention. In addition, since the device of this embodiment is a device corresponding to the embodiment of the aforementioned calibration method, all the technical details in the embodiment of the aforementioned detection method are applicable to the device of this embodiment. In order to save space, some of the same contents as the aforementioned method are omitted here.

[0098] A determination module, which is used to determine that one of the N lifting axes is a main axis and the others are slave axes;

[0099] An electronic gear module, used to configure each slave shaft and the master shaft to be in an electronic gear synchronization mode respectively;

[0100] A control module, which is used to control the synchronous movement of the N lifting axes, and determine the target position value of each lifting axis corresponding to each path point by obtaining the reference position values ​​corresponding to a number of path points within the lifting range of the lifting platform and the horizontal error value at each slave axis;

[0101] The electronic cam module is used to determine that one of the N lifting axes is the main axis and the others are slave axes; determine the electronic cam curve of each slave axis based on the target position value of each lifting axis corresponding to each path point; and configure each slave axis and the main axis to be in electronic cam synchronization mode respectively.

[0102] Example 3

[0103] Embodiment 3 provides an electronic device, and the specific embodiments of the present application do not limit the specific implementation of the electronic device. The electronic device provided in the embodiment of the present application includes: a processor, a communications interface, a memory, and a bus. Among them:

[0104] The processor, the communication interface, and the memory communicate with each other via the bus.

[0105] Communication interface, used to communicate with other electronic devices or servers.

[0106] The processor is used to execute the program, and specifically can execute the relevant steps in the above-mentioned embodiment of the horizontality calibration of the lifting platform.

[0107] Specifically, the program may include program codes including computer operation instructions.

[0108] The processor may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0109] The memory is used to store programs. The memory may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory.

[0110] The program can specifically be used to enable the processor to execute the horizontal calibration of the lifting platform in any of the aforementioned embodiments.

[0111] The specific implementation of each step in the program can refer to the corresponding steps and corresponding descriptions in the units in the above-mentioned embodiment of the horizontal calibration of the lifting platform, which will not be repeated here. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described equipment and modules can refer to the corresponding process description in the above-mentioned method embodiment, which will not be repeated here.

[0112] Example 4

[0113] Embodiment 4 provides a computer-readable storage medium storing instructions for causing a machine to perform the horizontal calibration of the lifting platform as described herein. Specifically, a system or device equipped with a storage medium may be provided, on which a software program code for implementing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or device reads and executes the program code stored in the storage medium.

[0114] In this case, the program code read from the storage medium itself can implement the function of any one of the above embodiments, so the program code and the storage medium storing the program code constitute part of the present application.

[0115] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0116] Example 5

[0117] Embodiment 5 provides a computer program product, including computer instructions, which instruct a computing device to perform any corresponding operation in the above-mentioned multiple method embodiments.

[0118] It should be pointed out that, according to the needs of implementation, the various components / steps described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.

[0119] The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or implemented as software or computer code that can be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk or magneto-optical disk), or implemented as a computer code originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded through a network and to be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a special-purpose processor or programmable or special-purpose hardware (such as an ASIC or FPGA). It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, a processor or hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown here, the execution of the code converts the general-purpose computer into a special-purpose computer for executing the method shown here.

[0120] It should be noted that not all steps and modules in the above-mentioned processes and system structure diagrams are necessary, and some steps or modules can be ignored according to actual needs. The execution order of each step is not fixed and can be adjusted as needed. The system structure described in the above-mentioned embodiments can be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or some components in multiple independent devices may be implemented together.

[0121] Nouns and pronouns relating to persons in this patent application are not limited to a specific gender.

[0122] In the above embodiments, the hardware module can be implemented mechanically or electrically. For example, a hardware module can include permanent dedicated circuits or logic (such as special processors, FPGA or ASIC) to complete the corresponding operation. The hardware module can also include programmable logic or circuits (such as general-purpose processors or other programmable processors), which can be temporarily set by software to complete the corresponding operation. The specific implementation method (mechanical method, or dedicated permanent circuit, or temporarily set circuit) can be determined based on cost and time considerations.

Claims

1. A method for calibrating the levelness of a lifting platform, characterized in that: The driving device of the lifting platform includes N lifting axes, N≥2, and the method includes the following steps: Determine that one of the N lifting axes is the main axis, and the others are slave axes; Each slave shaft and the master shaft are configured to be in electronic gear synchronization mode respectively; Control the N lifting axes to move synchronously, and determine the target position value of each lifting axis corresponding to each path point by obtaining the reference position values ​​corresponding to a number of path points within the lifting range of the lifting platform and the horizontal error value at each slave axis; Determine one of the N lifting axes as the main axis and the others as slave axes; determine the electronic cam curve of each slave axis based on the target position value of each lifting axis corresponding to each path point; and configure each slave axis and the main axis to be in electronic cam synchronization mode respectively.

2. The method for calibrating the levelness of a lifting platform according to claim 1, characterized in that: Each lifting axis is driven by a servo motor respectively; and the lifting drive device also includes a displacement detection device for obtaining the position value of each lifting axis in real time.

3. The method for calibrating the levelness of a lifting platform according to claim 2, characterized in that: Before the step of controlling the N lifting axes to move synchronously and determining the target position value of each lifting axis corresponding to each path point by obtaining the reference position values ​​corresponding to a plurality of path points within the lifting range of the lifting platform and the horizontal error value at each slave axis, the method further includes the following steps: The levelness of the lifting platform is calibrated to meet a preset levelness.

4. The method for calibrating the levelness of a lifting platform according to claim 3, characterized in that: The step of controlling the N lifting axes to move synchronously and determining the target position value of each lifting axis corresponding to each path point by acquiring reference position values ​​corresponding to a plurality of path points within the lifting range of the lifting platform and a horizontal error value at each slave axis further comprises: Determine a number of preset path points; Controlling the N lifting axes to move synchronously so that the lifting platform stops at each preset path point; Whenever the lifting platform stops at a preset path point, a reference position value corresponding to each preset path point and a horizontal error value at each slave axis are obtained; According to the reference position value corresponding to each preset path point and the horizontal error value at each slave axis, the target position value of each lifting axis corresponding to each preset path point is obtained.

5. The method for calibrating the levelness of a lifting platform according to claim 4, characterized in that: The reference position value is a position given value of the main shaft used to control the lifting platform to stop at a preset path point; or an actual position value of the main shaft obtained when the lifting platform stops at a preset path point.

6. The method for calibrating the levelness of a lifting platform according to claim 5, characterized in that: The step of obtaining the target position value of each lifting axis corresponding to each preset path point according to the reference position value corresponding to each preset path point and the horizontal error value at each slave axis further includes: According to the reference position value corresponding to each preset path point and the horizontal error value at each slave axis, a corrected position value of each slave axis corresponding to each path point is obtained; The reference position value of each preset path point is determined as the target position value of the main axis, and the corrected position value of each slave axis is determined as the target position value of the corresponding slave axis.

7. A level calibration device for a lifting platform, characterized in that: The driving device of the lifting platform includes N lifting axes, N≥2, and the calibration device includes: A determination module, which is used to determine that one of the N lifting axes is a main axis and the others are slave axes; An electronic gear module, used to configure each slave shaft and the master shaft to be in an electronic gear synchronization mode respectively; A control module, which is used to control the synchronous movement of the N lifting axes, and determine the target position value of each lifting axis corresponding to each path point by obtaining the reference position values ​​corresponding to a number of path points within the lifting range of the lifting platform and the horizontal error value at each slave axis; The electronic cam module is used to determine that one of the N lifting axes is the main axis and the others are slave axes; determine the electronic cam curve of each slave axis based on the target position value of each lifting axis corresponding to each path point; and configure each slave axis and the main axis to be in electronic cam synchronization mode respectively.

8. An electronic device comprising: A processor, a communication interface, a memory and a bus, wherein the processor, the communication interface and the memory communicate with each other via the bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform an operation corresponding to the method as claimed in any one of claims 1 to 6.

9. A computer-readable storage medium having computer instructions stored thereon, wherein when the computer instructions are executed by a processor, the processor is caused to execute the method according to any one of claims 1 to 6.

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