Crane movement control method and device, computer equipment and readable storage medium

Abstract

The invention relates to a crane movement control method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the following steps: receiving a pulse instruction for a crane, and determining a target movement parameter of the crane according to the pulse instruction; receiving a pulse signal fed back by the displacement sensor which keeps electrical connection, and determining a current movement parameter of the crane at the current moment according to the pulse signal; determining a movement error parameter of the crane at the current moment according to the target movement parameter and the current movement parameter; and according to the movement error parameter of the crane at the current moment, generating an adjusting electric signal, and outputting the adjusting electric signal to a motor which keeps electrical connection, so that the motor adjusts the rotation of the roller according to the adjusting electric signal. By adopting the method, the reliability and the precision of the travelling crane during motion operation execution can be improved.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a method and device for controlling the movement of an aerial vehicle, a computer device, a computer-readable storage medium, and a computer program product. Background Art

[0002] The trolley is a mechanical device used for material handling. It can realize the storage or retrieval of whole boxes of blood products in the low-temperature intelligent storage system. Specifically, the trolley moves to the location of the target shelf and controls the manipulator on it to extend to the specified shelf for storage and retrieval operations. Therefore, the trolley needs to reach the target location accurately, which requires high movement accuracy of the trolley.

[0003] However, in low temperature environments, the guide rail material will expand and contract due to heat and cold, which will cause the guide rail size to change, thus affecting the motion accuracy of the vehicle. The changes in material properties in low temperature environments are difficult to predict, which increases the complexity and uncertainty of the control system. In addition, the gear rack mechanism inside the vehicle may wear out after long-term operation, resulting in gaps between the gears. This gap will cause the vehicle to be unable to accurately reach the preset position when performing precise positioning tasks, affecting the operation accuracy. Summary of the invention

[0004] Based on this, it is necessary to provide a control method, device, computer equipment, computer-readable storage medium and computer program product for the movement of an aerial vehicle that can improve the accuracy of the aerial vehicle's movement operations in order to address the above technical problems.

[0005] In a first aspect, the present application provides a method for controlling the movement of an aerial vehicle, wherein the aerial vehicle at least comprises a servo drive, a motor, a roller, a connecting shaft and a displacement sensor, wherein the servo drive is electrically connected to the displacement sensor, the servo drive is electrically connected to the motor, the displacement sensor and the roller rotate synchronously via the connecting shaft, and the method is applied to the servo drive, comprising:

[0006] receiving a pulse instruction for the vehicle, and determining a target movement parameter of the vehicle according to the pulse instruction;

[0007] receiving a pulse signal fed back by the displacement sensor that is electrically connected, and determining a current movement parameter of the vehicle at the current moment according to the pulse signal;

[0008] Determining a movement error parameter of the vehicle at the current moment according to the target movement parameter and the current movement parameter;

[0009] An adjustment electrical signal is generated according to the movement error parameter of the vehicle at the current moment, and the adjustment electrical signal is output to the electrically connected motor so that the motor adjusts the rotation of the roller according to the adjustment electrical signal.

[0010] In one embodiment, determining the target movement parameter of the vehicle at the current moment according to the pulse instruction includes:

[0011] Determine the total number of the pulse instructions received; obtain the displacement represented by each pulse instruction; and determine the target movement parameters of the vehicle based on the total number of the pulse instructions and the displacement represented by each pulse instruction.

[0012] In one embodiment, generating the adjustment electrical signal according to the movement error parameter of the vehicle at the current moment includes:

[0013] The current position error of the vehicle is determined according to the movement error parameter of the vehicle at the current moment; the initial moment corresponding to the pulse instruction for the vehicle is determined; the historical accumulated position error is determined according to the current moment, the initial moment and the movement error parameter of the vehicle at the current moment; the position error change rate is determined according to the current moment and the movement error parameter of the vehicle at the current moment; the current position error, the historical accumulated position error and the position error change rate are summed to obtain a regulating electrical signal.

[0014] In one embodiment, determining the current position error of the vehicle according to the movement error parameter of the vehicle at the current moment includes:

[0015] A proportional gain coefficient is obtained, and the movement error parameter of the vehicle at the current moment is multiplied by the proportional gain parameter to obtain the current position error of the vehicle.

[0016] In one embodiment, determining the historical cumulative position error according to the current moment, the initial moment, and the movement error parameter of the vehicle at the current moment includes:

[0017] For each sampling moment between the initial moment and the current moment, determine the movement error parameter of the vehicle at the sampling moment; determine a first sampling duration between adjacent sampling moments, and multiply the first sampling duration by the movement error parameter of the vehicle at the sampling moment to obtain the historical error parameter of the vehicle at the sampling moment; accumulate the historical error parameters of the vehicle at each sampling moment to obtain the sum of the historical error parameters; obtain an integral gain coefficient, and multiply the integral gain coefficient by the sum of the historical error parameters to obtain the historical accumulated position error of the vehicle.

[0018] In one embodiment, determining the position error change rate according to the current moment and the movement error parameter of the vehicle at the current moment includes:

[0019] Determine the movement error parameter of the vehicle corresponding to the sampling moment before the current moment; subtract the movement error parameter of the vehicle at the current moment from the movement error parameter of the vehicle corresponding to the sampling moment before the current moment to obtain an adjacent error parameter; determine a second sampling duration between the current moment and the sampling moment before the current moment; obtain a position error ratio by the ratio of the adjacent error parameter to the second sampling duration, obtain a differential gain coefficient, and multiply the differential gain coefficient by the position error ratio to obtain a position error change rate of the vehicle.

[0020] In a second aspect, the present application further provides a control device for the movement of a trolley, the trolley at least comprising a servo drive, a motor, a roller, a connecting shaft and a displacement sensor, the servo drive being electrically connected to the displacement sensor, the servo drive being electrically connected to the motor, the displacement sensor and the roller rotating synchronously through the connecting shaft, the device being applied to the servo drive, comprising:

[0021] A first determination module is used to receive a pulse instruction for the vehicle and determine a target movement parameter of the vehicle according to the pulse instruction;

[0022] A second determination module is used to receive a pulse signal fed back by the displacement sensor that is electrically connected, and determine a current movement parameter of the vehicle at the current moment according to the pulse signal;

[0023] A third determination module is used to determine the movement error parameter of the vehicle at the current moment according to the target movement parameter and the current movement parameter;

[0024] The output module is used to generate an adjustment electric signal according to the movement error parameter of the vehicle at the current moment, and output the adjustment electric signal to the motor that maintains electrical connection, so that the motor adjusts the rotation of the roller according to the adjustment electric signal.

[0025] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0026] receiving a pulse instruction for the vehicle, and determining a target movement parameter of the vehicle according to the pulse instruction;

[0027] receiving a pulse signal fed back by the displacement sensor that is electrically connected, and determining a current movement parameter of the vehicle at the current moment according to the pulse signal;

[0028] Determining a movement error parameter of the vehicle at the current moment according to the target movement parameter and the current movement parameter;

[0029] An adjustment electrical signal is generated according to the movement error parameter of the vehicle at the current moment, and the adjustment electrical signal is output to the electrically connected motor so that the motor adjusts the rotation of the roller according to the adjustment electrical signal.

[0030] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0031] receiving a pulse instruction for the vehicle, and determining a target movement parameter of the vehicle according to the pulse instruction;

[0032] receiving a pulse signal fed back by the displacement sensor that is electrically connected, and determining a current movement parameter of the vehicle at the current moment according to the pulse signal;

[0033] Determining a movement error parameter of the vehicle at the current moment according to the target movement parameter and the current movement parameter;

[0034] An adjustment electrical signal is generated according to the movement error parameter of the vehicle at the current moment, and the adjustment electrical signal is output to the electrically connected motor so that the motor adjusts the rotation of the roller according to the adjustment electrical signal.

[0035] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0036] receiving a pulse instruction for the vehicle, and determining a target movement parameter of the vehicle according to the pulse instruction;

[0037] receiving a pulse signal fed back by the displacement sensor that is electrically connected, and determining a current movement parameter of the vehicle at the current moment according to the pulse signal;

[0038] Determining a movement error parameter of the vehicle at the current moment according to the target movement parameter and the current movement parameter;

[0039] An adjustment electrical signal is generated according to the movement error parameter of the vehicle at the current moment, and the adjustment electrical signal is output to the electrically connected motor so that the motor adjusts the rotation of the roller according to the adjustment electrical signal.

[0040] The control method, device, computer equipment, computer readable storage medium and computer program product of the above-mentioned aerial vehicle movement, the aerial vehicle at least includes a servo drive, a motor, a roller, a connecting shaft and a displacement sensor, the servo drive is electrically connected to the displacement sensor, the servo drive is electrically connected to the motor, the displacement sensor and the roller rotate synchronously through the connecting shaft, and the target movement parameters of the aerial vehicle are determined by receiving pulse instructions for the aerial vehicle and according to the pulse instructions; it ensures that the aerial vehicle receives accurate movement instructions and clarifies the target position that the aerial vehicle needs to reach. This step is the basis of the entire control system, ensures the accuracy of the subsequent control logic, and provides the prerequisite for achieving high-precision aerial vehicle positioning.

[0041] Receive the pulse signal fed back by the displacement sensor that is electrically connected, and determine the current movement parameters of the vehicle at the current moment based on the pulse signal; obtain the current position of the vehicle in a timely manner, and realize real-time monitoring of the position of the vehicle. This helps the control system to detect and correct the deviation of the vehicle position in a timely manner, and improves the positioning accuracy of the vehicle.

[0042] According to the target movement parameters and the current movement parameters, the movement error parameters of the vehicle at the current moment are determined; by comparing the target position and the actual position, the error of the current position is calculated. This step is the key to achieving closed-loop control, which allows the control system to make corresponding adjustments based on the actual error, thereby reducing position deviation and improving positioning accuracy.

[0043] According to the movement error parameters of the drone at the current moment, an adjustment electrical signal is generated, and the adjustment electrical signal is output to the motor that maintains electrical connection, so that the motor adjusts the rotation of the roller according to the adjustment electrical signal. The adjustment electrical signal generated based on the error parameter is sent to the motor to guide the motor to make necessary adjustments to reduce or eliminate the position error. This process realizes the dynamic adjustment of the drone movement, ensuring that the drone can accurately reach the target position and maintain high-precision positioning capabilities even in low temperature environments or under uncertain conditions caused by gear rack wear. It improves the reliability and accuracy of the drone when performing motion operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 This is a schematic diagram of the overall structure of a navigable vehicle in one embodiment;

[0046] Figure 2 It is a flowchart of a method for controlling the movement of a trolley in one embodiment;

[0047] Figure 3 It is an interactive schematic diagram of a method for controlling the movement of an aerial vehicle in one embodiment;

[0048] Figure 4 A schematic flow chart of a method for controlling the movement of a trolley in another embodiment;

[0049] Figure 5 It is a structural block diagram of a control device for the movement of an aerial vehicle in one embodiment;

[0050] Figure 6 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0052] The control method for the movement of the vehicle provided in the embodiment of the present application can be applied to Figure 1In the application environment shown. Among them, the terminal 102 communicates with the servo driver 104 through the network. The data storage system can store the data that the servo driver 104 needs to process. The data storage system can be integrated on the servo driver 104, or it can be placed on the cloud or other network servo drivers. The terminal 102 generates a control request for the movement of the trolley, and sends the control request for the movement of the trolley to the servo driver 104, so that the servo driver 104 generates an adjustment electric signal according to the movement error parameter of the trolley at the current moment, and outputs the adjustment electric signal to the motor that maintains the electrical connection, so that the motor adjusts the rotation of the roller according to the adjustment electric signal. Among them, the terminal 102 is a host computer controller, which is a high-level controller located in the control system, usually a computer or a microprocessor, responsible for high-level control tasks and decisions. It is responsible for sending control instructions to the lower-level controller (such as a servo driver) and receiving feedback information from the lower-level controller. The servo driver 104 is an electronic device specifically used to control a servo motor, also known as a servo controller or a servo amplifier. Its main function is to convert the command signal from the upper controller (such as a computer or a programmable logic controller) into an electrical signal that drives the servo motor to achieve precise control of the motor.

[0053] In an exemplary embodiment, Figure 2 As shown, a control method for the movement of an aerial vehicle is provided, and the method is applied to Figure 1 The servo driver 104 in the embodiment is taken as an example to illustrate, and the steps include the following steps 202 to 208. Among them:

[0054] Step 202, receiving a pulse instruction for the vehicle, and determining a target movement parameter of the vehicle according to the pulse instruction.

[0055] Among them, a pulse command refers to an electrical signal sent by a host controller (such as a computer or a programmable logic controller) to a servo driver to instruct the servo driver to control the motor to perform a specific motion task. It can be understood that a pulse command usually contains a series of pulse signals, each of which represents a certain movement distance or angle. The target movement parameters refer to the expected position that the vehicle needs to reach. These parameters are calculated based on the pulse command.

[0056] Specifically, first, the upper controller generates a pulse command according to the needs of the application. For example, when the vehicle needs to move to a certain position, the upper controller calculates the required number of pulses and sends it to the servo driver. For example, the pulse command is transmitted to the servo driver via a communication line (such as a cable).

[0057] Then, after receiving the pulse command, the servo driver analyzes the number and frequency of pulses. Based on the number of pulses, the total distance that the vehicle needs to move is calculated, and then the expected position that the vehicle needs to reach, i.e., the target moving parameters, are determined. For example, 10,000 pulses represent a moving distance of 1 meter, and the servo driver receives 10,000 pulse commands. The servo driver analyzes these pulse commands and determines the expected position that the vehicle needs to reach after moving 1 meter.

[0058] Step 204, receiving the pulse signal fed back by the displacement sensor that is electrically connected, and determining the current movement parameters of the vehicle at the current moment according to the pulse signal.

[0059] Among them, the pulse signal refers to an electrical signal emitted by a displacement sensor (such as an encoder), which is used to indicate the current position or movement of the vehicle platform (i.e., the current movement parameters). It can be understood that the pulse signal is usually a voltage change in a short period of time, and each pulse represents a certain position change or angle change. The current movement parameters refer to the actual position of the vehicle at the current moment. These parameters are obtained by analyzing the pulse signal fed back by the displacement sensor. The current moment refers to a specific time point at which the control system performs real-time monitoring and adjustment. In this application, the current moment is a constantly updated time point that will be continuously monitored and adjusted in real time.

[0060] Specifically, the displacement sensor is first installed at the terminal of the vehicle motion mechanism, and rotates synchronously with the roller through the connecting shaft. When the roller rotates, the encoder will also rotate and send out a pulse signal. The pulse signal sent by the encoder is transmitted to the servo drive through the connecting line. For example, assuming that the roller on the vehicle platform rotates 1 circle, the encoder sends 36,000 pulse signals (assuming that the accuracy of the encoder is 36,000 pulses / circle). These pulse signals are transmitted to the servo drive through the connecting line.

[0061] The servo drive then analyzes the received pulse signal and determines the actual position of the vehicle platform at the current moment, i.e. the current movement parameter, by counting the number of pulse signals. Each pulse signal represents a certain position change or angle change. For example, if 36,000 pulse signals are received, it means that the vehicle platform has moved 3.6 meters.

[0062] Step 206, determining the movement error parameter of the vehicle at the current moment according to the target movement parameter and the current movement parameter.

[0063] The movement error parameter refers to the difference between the actual position of the vehicle at the current moment and the target position. It is obtained by comparing the target movement parameter with the current movement parameter.

[0064] Specifically, the servo driver compares the target position (i.e., the target movement parameter) with the actual position (i.e., the current movement parameter) to calculate the position error. For example, if the target movement parameter is the expected position that the vehicle needs to reach after moving 1 meter, and the actual position of the vehicle platform at the current moment (i.e., the current movement parameter) is the actual position after the vehicle platform has moved 0.8 meters, then the movement error parameter is equal to the target position minus the actual position, i.e., 0.2 meters.

[0065] Step 208, generating an adjustment electric signal according to the movement error parameter of the vehicle at the current moment, and outputting the adjustment electric signal to the electrically connected motor, so that the motor adjusts the rotation of the roller according to the adjustment electric signal.

[0066] Among them, the servo driver generates an electrical signal based on the movement error parameter, which is used to adjust the rotation position and speed of the motor to reduce or eliminate the position error and ensure that the drone can accurately reach the target position.

[0067] Specifically, the servo driver first calculates the electrical signal parameters that need to be adjusted based on the movement error parameters using the PID control algorithm (Proportional-Integral-Derivative Control Algorithm). According to the calculated adjustment parameters, the corresponding electrical signals are generated. For example, if the movement error parameter is 0.2 meters, the servo driver uses the PID control algorithm to calculate the electrical signals that need to be adjusted when the movement error parameter is 0.2 meters. Optionally, these electrical signals contain instructions for adjusting the rotation position and speed of the motor.

[0068] The servo driver then sends the generated adjustment electrical signal to the motor through the electrical connection. After the motor receives the adjustment electrical signal, it adjusts its rotational position and speed according to these signals. For example, the servo driver sends the generated adjustment electrical signal to the motor. After the motor receives the adjustment electrical signal, it adjusts its rotational position and speed so that the trolley platform continues to move 0.2 meters and finally reaches the target position. It can be understood that the trolley continuously generates adjustment electrical signals multiple times in the process of moving to the target movement parameter, and outputs the adjustment electrical signals to the motor that maintains the electrical connection, so that the motor adjusts the rotation of the roller according to the adjustment electrical signals.

[0069] In one embodiment, the vehicle includes at least a servo drive, a motor, a roller, a connecting shaft and a displacement sensor. The servo drive is electrically connected to the displacement sensor, the servo drive is electrically connected to the motor, and the displacement sensor and the roller rotate synchronously through the connecting shaft.

[0070] Among them, the trolley refers to a mechanical device used for material handling. In the low-temperature intelligent storage system, the trolley goes to the location of the target shelf and controls the manipulator on it to extend and retract to the designated shelf position for storage and retrieval operations. The servo drive refers to an electronic device specifically used to control the servo motor, also often referred to as a servo controller or servo amplifier. The motor refers to a device that converts electrical energy into mechanical energy, which is used to drive the movement of the trolley. It can be understood that under the control of the servo drive, the motor rotates according to the received electrical signal, driving the roller and the trolley platform to move. The roller refers to the wheel installed at the bottom of the trolley, which is used to support and move the trolley platform, and rotates synchronously with the displacement sensor through the connecting shaft to ensure that the displacement sensor can accurately detect the moving position of the trolley platform. The connecting shaft refers to the mechanical component that connects the roller and the displacement sensor, ensuring that the rotation of the roller can be transmitted to the displacement sensor, so that the displacement sensor can accurately detect the rotation of the roller. A displacement sensor refers to a sensor used to detect changes in the position of an object. In this application, the displacement sensor is installed at the terminal of the vehicle motion mechanism and rotates synchronously with the roller through the connecting shaft to detect the position changes of the vehicle platform in real time and convert the position information into a pulse signal to feed back to the servo driver.

[0071] Specifically, refer to Figure 1 First, the host computer controller sends pulse instructions to the servo driver according to the needs of the application. The servo driver determines the target position (i.e., target movement parameters) that the vehicle needs to reach based on these pulse instructions.

[0072] Then the displacement sensor detects the position change of the vehicle platform in real time and converts the position information into pulse signals to feed back to the servo driver. The servo driver determines the current actual position of the vehicle (i.e. the current movement parameters) based on these feedback pulse signals.

[0073] Next, the servo drive compares the target position with the actual position and calculates the error parameter of the current position (i.e. the movement error parameter of the vehicle at the current moment). This step is the key to achieving closed-loop control, allowing the control system to make corresponding adjustments based on the actual error.

[0074] Finally, the servo driver generates adjustment electrical signals according to the calculated error parameters and outputs these signals to the motor. The motor adjusts its rotation position and speed according to the adjustment electrical signals to ensure that the aerial vehicle platform can accurately reach the target position.

[0075] In one embodiment, the displacement sensor uses a high-precision, low-temperature-resistant external incremental encoder (the encoder has an accuracy of 36,000 pulses / turn, a non-binary line number measurement step deviation of ±0.002°, and an error limit of ±0.03°)

[0076] In one embodiment, when the vehicle is moving, the roller will roll with the vehicle, and the displacement sensor connected to the roller through the connecting shaft will rotate synchronously, and when the displacement sensor rotates, an A / B phase pulse signal, ie, a pulse signal, will be emitted.

[0077] In one embodiment, reference Figure 3 In the present application, the aerial vehicle mainly includes five components, namely, the aerial vehicle moving platform 301, the roller 302, the encoder (displacement sensor) 303, the spring mechanism 304, and the roller support mechanism 305.

[0078] The mobile platform 301 is the core part of the entire mobile mechanism, responsible for carrying other components and moving on the guide rails to achieve horizontal displacement of the vehicle. The mobile platform 301 is the "chassis" of the entire mechanism, and its stability and accuracy directly affect the working performance of the vehicle.

[0079] The roller 302 is installed below the vehicle moving platform 301 to support the vehicle moving platform 301 and enable it to slide smoothly along the guide rail. The roller 302 moves together with the vehicle moving platform 301 and also drives the encoder 303 coaxial therewith to rotate.

[0080] The encoder 303 may be an external incremental encoder installed at the terminal of the vehicle motion mechanism, i.e., the coaxial position of the roller 302. The encoder 303 generates A / B phase pulse signals when the roller 302 moves with the vehicle mobile platform 301. These signals reflect the actual position of the vehicle. The encoder 303 has a very high accuracy and can effectively reduce the position deviation caused by mechanical errors or environmental factors (such as temperature changes).

[0081] The spring mechanism 304 is installed on the top of the roller support seat to ensure close contact between the roller 302 and the vehicle moving platform 301, and to maintain good tracking performance even on an uneven guide rail. The spring mechanism 304 ensures that the roller 302 always keeps in contact with the guide rail by applying appropriate force, thereby ensuring that the encoder 303 can accurately reflect the position of the vehicle.

[0082] The roller support mechanism 305 is used to fix the roller 302 and the encoder 303 to ensure that they can move with the vehicle mobile platform as a whole. The roller support mechanism 305 not only has to withstand the pressure from the vehicle mobile platform 301, but also has to ensure that the roller 302 and the encoder 303 can rotate freely to accurately feedback the position information.

[0083] In one embodiment, the total number of received pulse instructions is determined; the displacement represented by each pulse instruction is obtained; and the target movement parameters of the vehicle are determined based on the total number of pulse instructions and the displacement represented by each pulse instruction.

[0084] The displacement refers to the distance the vehicle moves represented by each pulse command. In the control system, the displacement is usually a fixed value, indicating the actual physical displacement corresponding to each pulse command.

[0085] Specifically, the servo driver first receives the pulse command sent by the host controller. And counts the total number of pulse commands received. For example, the host controller requires the vehicle to move from the current position to the target position 1 meter away, and calculates that 10,000 pulse commands need to be sent (for example, each pulse command represents a moving distance of 0.1 mm). The servo driver receives these 10,000 pulse commands and counts the total number as 10,000.

[0086] Then, since the displacement corresponding to each pulse instruction has been preset, the servo driver calculates the actual displacement represented by each pulse instruction, that is, the target movement parameter, based on this preset displacement. For example, each pulse instruction represents a movement distance of 0.1 mm. Then, the displacement of each pulse instruction is 0.1 mm.

[0087] Since the displacement of each pulse command is determined in advance, the total displacement can be quickly calculated after receiving the pulse command, which speeds up the response speed. In addition, the displacement of each pulse command is fixed. Through accurate calculation, the cumulative error caused by multiple accumulations can be reduced, and the accuracy of position control can be improved.

[0088] In one of the embodiments, the current position error of the vehicle is determined based on the movement error parameters of the vehicle at the current moment; the initial moment corresponding to the reception of the pulse command for the vehicle is determined; the historical cumulative position error is determined based on the current moment, the initial moment and the movement error parameters of the vehicle at the current moment; the position error change rate is determined based on the current moment and the movement error parameters of the vehicle at the current moment; the current position error, the historical cumulative position error and the position error change rate are summed to obtain a regulating electrical signal.

[0089] Among them, the current position error refers to the difference between the actual position of the vehicle at the current moment and the target position. The initial moment refers to the time point when the pulse command for the vehicle is received. The historical cumulative position error refers to the cumulative value of all position errors from the initial moment to the current moment. The position error change rate refers to the rate of change of the error at the current moment relative to the error at the previous moment.

[0090] Specifically, taking the current moment k as an example, first determine the current position error of the vehicle based on the difference between the target position and the actual position of the vehicle at the current moment k (i.e., the moving error parameter). Then determine the first sampling moment when the upper controller sends a pulse command as k0, i.e., the initial moment, and add up the position errors of the vehicle at all sampling moments from the initial moment k0 to the current moment k to obtain the historical cumulative position error of the vehicle. Next, determine the previous sampling moment k1 of the current moment k, and determine the rate of change of the position error of the vehicle based on the position error of the vehicle at the current moment k and the position error of the previous sampling moment k1. Finally, sum the current position error, the historical cumulative position error, and the rate of change of the position error to obtain the control output signal, i.e., the regulating electrical signal.

[0091] Since the error calculation and control output are updated at each sampling moment, the real-time performance of the system is ensured. This enables the drone to continuously adjust during the movement process and respond to various changes in a timely manner, ensuring the timeliness and effectiveness of the control. And by combining the current position error, historical cumulative position error and position error change rate, it has stronger robustness. Even in the presence of external interference or changes in system parameters, it can maintain good control performance.

[0092] In one embodiment, a proportional gain coefficient is obtained, and the movement error parameter of the vehicle at the current moment is multiplied by the proportional gain parameter to obtain the current position error of the vehicle.

[0093] The proportional gain coefficient refers to a constant used to amplify or reduce the influence of the current position error on the adjustment electrical signal. It can be understood that the proportional gain coefficient can be preset based on experiments or experience.

[0094] Specifically, the current position error of the vehicle is obtained by multiplying the movement error parameter of the vehicle at the current moment by the proportional gain coefficient, which is specifically implemented by the following formula, including:

[0095] Q1=K P ×e(k)

[0096] Among them, k is the current moment, e(k) is the moving error parameter of the vehicle at the current moment, K P is the proportional gain coefficient, and Q1 is the current position error of the vehicle.

[0097] Since the proportional gain coefficient can be set flexibly, a larger proportional gain coefficient can significantly improve the response speed of the system, allowing the vehicle to approach the target position faster. And the proportional gain coefficient can quickly reduce transient errors, especially when the system starts or a large error suddenly occurs, the proportional term can quickly adjust the control output to restore the system to the desired state as soon as possible.

[0098] In one of the embodiments, for each sampling moment between an initial moment and a current moment, a movement error parameter corresponding to the vehicle at the sampling moment is determined; a first sampling duration between adjacent sampling moments is determined, and the first sampling duration is multiplied by the movement error parameter corresponding to the vehicle at the sampling moment to obtain a historical error parameter corresponding to the vehicle at the sampling moment; the historical error parameters corresponding to the vehicle at each sampling moment are accumulated to obtain a sum of the historical error parameters; an integral gain coefficient is obtained, and the integral gain coefficient is multiplied by the sum of the historical error parameters to obtain a historical accumulated position error of the vehicle.

[0099] The sampling time refers to the time point at which the system state is sampled in the control system. It can be understood that the position data of the vehicle is collected once at each sampling time for calculating the error and control output.

[0100] The first sampling duration refers to the time interval between adjacent sampling moments. In the present application, the first sampling duration is fixed, indicating the time interval between each sampling.

[0101] The historical error parameter refers to the error corresponding to each sampling moment, ie, the product of the moving error parameter and the sampling time interval, ie, the first sampling duration.

[0102] The integral gain coefficient is an important parameter in the PID controller, which is used to adjust the weight of the integral term. The integral term is the product of the sum of the historical error parameters and the integral gain coefficient.

[0103] The historical cumulative position error refers to the error accumulated through the integral term during the control process, which is used to reflect the cumulative error of the system over a period of time.

[0104] Specifically, first determine the initial moment and the current moment, traverse each sampling moment, and calculate the movement error parameter corresponding to each sampling moment. Then determine the time interval between two adjacent sampling moments, that is, the first sampling duration, and calculate the product of the movement error parameter and the first sampling duration at each sampling moment to obtain the historical error parameter at each sampling moment. Next, add up the historical error parameters at each sampling moment to obtain the sum of the historical error parameters. Finally, multiply the sum of the historical error parameters by the preset integral gain coefficient to obtain the historical cumulative position error of the vehicle.

[0105] Optionally, the historical cumulative position error is determined according to the current moment, the initial moment and the movement error parameter of the vehicle at the current moment, which is specifically implemented by the following formula, including:

[0106]

[0107] Among them, Q2 is the historical cumulative position error of the vehicle, K i is the integral gain coefficient, K is the current time, K0 is the initial time, Ts is the first sampling duration, and e(i) is the movement error parameter corresponding to the vehicle at the i-th sampling time.

[0108] By continuously accumulating and adjusting the movement error parameters, the rotation position of the motor can be adjusted more accurately, ensuring that the movement of the vehicle is more accurate. This is especially important in applications that require high-precision positioning, such as in low-temperature intelligent storage systems, where the vehicle needs to be accurately moved to a specified position for access operations. And through the accumulation of historical accumulated position errors, it can respond more quickly to changes in errors and adjust control outputs in a timely manner, thereby speeding up the response speed of the system. This is especially important for dynamically changing environments, and can restore stability more quickly in the face of external interference.

[0109] In one of the embodiments, a movement error parameter corresponding to a sampling moment before the current moment of the vehicle is determined; the movement error parameter of the vehicle at the current moment and the movement error parameter corresponding to the sampling moment before the current moment are subtracted to obtain an adjacent error parameter; a second sampling duration between the current moment and the sampling moment before the current moment is determined; a position error ratio is obtained by taking the ratio of the adjacent error parameter to the second sampling duration, a differential gain coefficient is obtained, and the differential gain coefficient and the position error ratio are multiplied to obtain a position error change rate of the vehicle.

[0110] The sampling time refers to the time point when data is collected and calculated. For example, if the current time is the kth sampling time, then the sampling time before the current time is the k-1th sampling time.

[0111] The adjacent error parameter refers to the difference between the moving error parameter at the current moment and the moving error parameter at the previous sampling moment.

[0112] The second sampling duration refers to the time interval between the current moment and the previous sampling moment of the current moment. For example, the second sampling duration refers to the time interval between the current moment k and the previous sampling moment k-1. It can be understood that in the present application, the sampling time interval is fixed, so the first sampling duration and the second sampling duration are the same.

[0113] The differential gain coefficient is a proportional parameter used to adjust the effect of the position error change rate on the control output.

[0114] Specifically, first determine the current moment and the sampling moment before the current moment, calculate the distance difference between the target position of the vehicle at the previous sampling moment (i.e., the target movement parameter at the previous sampling moment) and the actual position (i.e., the current movement parameter at the previous sampling moment), and obtain the movement error parameter corresponding to the vehicle at the previous sampling moment. Then subtract the movement error parameter of the vehicle at the current moment from the movement error parameter of the vehicle at the previous sampling moment to obtain the adjacent error parameter. Next, determine the second sampling duration between the current moment and the moment before the current moment. Then obtain the position error ratio by taking the ratio between the calculated adjacent error parameter and the second sampling duration. Finally, multiply the position error ratio by the preset differential gain coefficient to obtain the position error change rate of the vehicle.

[0115] Optionally, the position error change rate is determined according to the current moment and the movement error parameter of the vehicle at the current moment, which is specifically implemented by the following formula, including:

[0116] Q3=K d ×[e(k)-e(k-1)]\Tv

[0117] Among them, Q3 is the rate of change of the position error of the vehicle, K d is the differential gain coefficient, e(k) is the movement error parameter corresponding to the current moment k, e(k-1) is the movement error parameter corresponding to the sampling moment k-1 before the current moment, and Tv is the second sampling duration.

[0118] By calculating the rate of change of the position error, we can understand the rate of change of the error over time. This helps to adjust the control output in advance to cope with possible future error changes, thereby improving response speed and accuracy. And by monitoring and adjusting the rate of change of the position error, the output can be better controlled to avoid overshoot and oscillation caused by excessive control actions. This makes the system smoother when reaching the target position and improves the stability of the system. And by considering the rate of change of the error, the output can be adjusted more accurately to ensure that the actual position is closer to the target position. This is especially important in applications that require high-precision positioning, such as in cryogenic intelligent storage systems, where the drone needs to move accurately to the specified position for access operations.

[0119] In an exemplary embodiment, Figure 4 As shown, it includes steps 402 to 408. Among them:

[0120] Step 402, receiving pulse instructions for the vehicle, and determining the total number of pulse instructions received; obtaining the displacement represented by each pulse instruction; determining the target movement parameter of the vehicle according to the total number of pulse instructions and the displacement represented by each pulse instruction; the vehicle at least includes a servo drive, a motor, a roller, a connecting shaft and a displacement sensor, the servo drive is electrically connected to the displacement sensor, the servo drive is electrically connected to the motor, the displacement sensor and the roller rotate synchronously through the connecting shaft, and the method is applied to the servo drive;

[0121] Step 404, receiving a pulse signal fed back by the displacement sensor that is electrically connected, and determining the current movement parameters of the vehicle at the current moment according to the pulse signal;

[0122] Step 406, determining the movement error parameter of the vehicle at the current moment according to the target movement parameter and the current movement parameter;

[0123] Step 408, obtain the proportional gain coefficient, multiply the movement error parameter of the vehicle at the current moment by the proportional gain parameter to obtain the current position error of the vehicle; determine the initial moment corresponding to the reception of the pulse command for the vehicle; for each sampling moment between the initial moment and the current moment, determine the movement error parameter corresponding to the vehicle at the sampling moment; determine the first sampling duration between adjacent sampling moments, and multiply the first sampling duration by the movement error parameter corresponding to the vehicle at the sampling moment to obtain the historical error parameter corresponding to the vehicle at the sampling moment; accumulate the historical error parameters corresponding to the vehicle at each sampling moment to obtain the sum of the historical error parameters; obtain the integral gain coefficient, and multiply the integral gain coefficient by the sum of the historical error parameters to obtain The historical accumulated position error of the vehicle; determine the movement error parameter corresponding to the sampling moment before the current moment; subtract the movement error parameter of the vehicle at the current moment from the movement error parameter corresponding to the sampling moment before the current moment to obtain the adjacent error parameter; determine the second sampling duration between the current moment and the sampling moment before the current moment; obtain the position error ratio by the ratio of the adjacent error parameter and the second sampling duration; obtain the differential gain coefficient, and multiply the differential gain coefficient and the position error ratio to obtain the position error change rate of the vehicle; sum the current position error, the historical accumulated position error and the position error change rate to obtain the adjustment electrical signal; output the adjustment electrical signal to the motor that maintains electrical connection, so that the motor adjusts the rotation of the roller according to the adjustment electrical signal.

[0124] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0125] Based on the same inventive concept, the embodiment of the present application also provides a control device for the movement of a trolley for implementing the control method for the movement of a trolley involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiments of one or more control devices for the movement of a trolley provided below can refer to the limitations of the control method for the movement of a trolley above, and will not be repeated here.

[0126] In an exemplary embodiment, Figure 5 As shown, a control device 500 for the movement of an aerial vehicle is provided, comprising: a first determination module 502, a second determination module 504, a third determination module 505 and an output module 508, wherein:

[0127] The first determination module 502 is used to receive a pulse instruction for the vehicle and determine the target movement parameter of the vehicle according to the pulse instruction;

[0128] The second determination module 504 is used to receive the pulse signal fed back by the displacement sensor which is kept electrically connected, and determine the current movement parameter of the vehicle at the current moment according to the pulse signal;

[0129] The third determination module 506 is used to determine the movement error parameter of the vehicle at the current moment according to the target movement parameter and the current movement parameter;

[0130] The output module 508 is used to generate an adjustment electric signal according to the movement error parameter of the vehicle at the current moment, and output the adjustment electric signal to the electrically connected motor so that the motor adjusts the rotation of the roller according to the adjustment electric signal.

[0131] In one embodiment, the first determination module 502 is used to determine the total number of pulse instructions received; obtain the displacement represented by each pulse instruction; and determine the target movement parameters of the vehicle based on the total number of pulse instructions and the displacement represented by each pulse instruction.

[0132] In one embodiment, the output module 508 is used to determine the current position error of the vehicle according to the movement error parameters of the vehicle at the current moment; determine the initial moment corresponding to the reception of the pulse command for the vehicle; determine the historical cumulative position error according to the current moment, the initial moment and the movement error parameters of the vehicle at the current moment; determine the position error change rate according to the current moment and the movement error parameters of the vehicle at the current moment; sum the current position error, the historical cumulative position error and the position error change rate to obtain a regulating electrical signal.

[0133] In one embodiment, the output module 508 is used to obtain a proportional gain coefficient, and multiply the movement error parameter of the vehicle at the current moment by the proportional gain parameter to obtain the current position error of the vehicle.

[0134] In one embodiment, the output module 508 is used to determine, for each sampling moment between an initial moment and a current moment, a movement error parameter corresponding to the vehicle at the sampling moment; determine a first sampling duration between adjacent sampling moments, and multiply the first sampling duration by the movement error parameter corresponding to the vehicle at the sampling moment to obtain a historical error parameter corresponding to the vehicle at the sampling moment; accumulate the historical error parameters corresponding to the vehicle at each sampling moment to obtain a sum of the historical error parameters; obtain an integral gain coefficient, and multiply the integral gain coefficient by the sum of the historical error parameters to obtain a historical accumulated position error of the vehicle.

[0135] In one embodiment, the output module 508 is used to determine the movement error parameter of the vehicle corresponding to the sampling moment before the current moment; subtract the movement error parameter of the vehicle at the current moment from the movement error parameter corresponding to the sampling moment before the current moment to obtain an adjacent error parameter; determine the second sampling duration between the current moment and the sampling moment before the current moment; obtain the position error ratio by the ratio of the adjacent error parameter to the second sampling duration; obtain the differential gain coefficient, and multiply the differential gain coefficient and the position error ratio to obtain the position error change rate of the vehicle.

[0136] Each module in the above-mentioned control device for the movement of the aerial vehicle can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0137] In an exemplary embodiment, a computer device is provided. The computer device may be a servo drive, and its internal structure diagram may be as shown in FIG. Figure 6As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data related to the control of the movement of the trolley. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for controlling the movement of the trolley is implemented.

[0138] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0139] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0140] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0141] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0142] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0143] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited thereto.

[0144] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0145] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for controlling the movement of a vehicle, characterized in that: The vehicle at least includes a servo drive, a motor, a roller, a connecting shaft and a displacement sensor, the servo drive is electrically connected to the displacement sensor, the servo drive is electrically connected to the motor, the displacement sensor and the roller rotate synchronously via the connecting shaft, the method is applied to the servo drive, and the method includes: receiving a pulse instruction for the vehicle, and determining a target movement parameter of the vehicle according to the pulse instruction; receiving a pulse signal fed back by the displacement sensor that is electrically connected, and determining a current movement parameter of the vehicle at the current moment according to the pulse signal; Determining a movement error parameter of the vehicle at the current moment according to the target movement parameter and the current movement parameter; An adjustment electrical signal is generated according to the movement error parameter of the vehicle at the current moment, and the adjustment electrical signal is output to the electrically connected motor so that the motor adjusts the rotation of the roller according to the adjustment electrical signal.

2. The method according to claim 1, characterized in that Determining the target movement parameters of the vehicle according to the pulse instruction includes: determining a total number of said pulse instructions received; Obtaining the displacement represented by each of the pulse instructions; The target movement parameters of the vehicle are determined according to the total number of the pulse instructions and the displacement represented by each pulse instruction.

3. The method according to claim 1, characterized in that: The step of generating an adjustment electrical signal according to the movement error parameter of the vehicle at the current moment includes: Determining a current position error of the vehicle according to a movement error parameter of the vehicle at the current moment; Determining an initial time corresponding to receiving a pulse instruction for the vehicle; Determine a historical accumulated position error according to the current moment, the initial moment, and a movement error parameter of the vehicle at the current moment; Determining a position error change rate according to the current moment and a movement error parameter of the vehicle at the current moment; The current position error, the historical accumulated position error and the position error change rate are summed to obtain an adjustment electrical signal.

4. The method according to claim 3, characterized in that The determining the current position error of the vehicle according to the movement error parameter of the vehicle at the current moment includes: A proportional gain coefficient is obtained, and the movement error parameter of the vehicle at the current moment is multiplied by the proportional gain parameter to obtain the current position error of the vehicle.

5. The method according to claim 3, characterized in that: The determining of the historical accumulated position error according to the current moment, the initial moment and the movement error parameter of the vehicle at the current moment includes: For each sampling moment between the initial moment and the current moment, determining a movement error parameter of the vehicle corresponding to the sampling moment; Determine a first sampling duration between adjacent sampling moments, and multiply the first sampling duration by a movement error parameter corresponding to the vehicle at the sampling moment to obtain a historical error parameter corresponding to the vehicle at the sampling moment; Accumulating the historical error parameters corresponding to the vehicle at each sampling moment to obtain the sum of the historical error parameters; An integral gain coefficient is obtained, and the integral gain coefficient is multiplied by the sum of the historical error parameters to obtain the historical cumulative position error of the vehicle.

6. The method according to claim 3, characterized in that The determining the position error change rate according to the current moment and the movement error parameter of the vehicle at the current moment includes: Determine the movement error parameter of the vehicle corresponding to a sampling time before the current time; Subtracting the movement error parameter of the vehicle at the current moment from the movement error parameter of the vehicle corresponding to a sampling moment before the current moment to obtain an adjacent error parameter; Determine a second sampling duration between the current moment and a sampling moment before the current moment; The ratio of the adjacent error parameter to the second sampling time length is used to obtain a position error ratio; A differential gain coefficient is obtained, and the differential gain coefficient is multiplied by the position error ratio to obtain a position error change rate of the vehicle.

7. A control device for the movement of a vehicle, characterized in that: The vehicle at least includes a servo drive, a motor, a roller, a connecting shaft and a displacement sensor. The servo drive is electrically connected to the displacement sensor, the servo drive is electrically connected to the motor, the displacement sensor and the roller rotate synchronously through the connecting shaft, and the device is applied to the servo drive. The device includes: A first determination module is used to receive a pulse instruction for the vehicle and determine a target movement parameter of the vehicle according to the pulse instruction; A second determination module is used to receive a pulse signal fed back by the displacement sensor that is electrically connected, and determine a current movement parameter of the vehicle at the current moment according to the pulse signal; A third determination module is used to determine the movement error parameter of the vehicle at the current moment according to the target movement parameter and the current movement parameter; The output module is used to generate an adjustment electric signal according to the movement error parameter of the vehicle at the current moment, and output the adjustment electric signal to the motor that maintains electrical connection, so that the motor adjusts the rotation of the roller according to the adjustment electric signal.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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