Control method and device of lifting mechanism and computer storage medium

Abstract

The invention relates to the technical field of mechanical control, in particular to a control method and device of a lifting mechanism and a computer storage medium. The lifting mechanism comprises a plurality of supporting shafts, a lifting platform and driving mechanisms corresponding to the supporting shafts respectively, the supporting shafts comprise a main shaft and at least one auxiliary shaft, and the control method comprises the steps that the current platform angle of the lifting platform, the current platform height of the lifting platform and a target lifting instruction are obtained; the target lifting instruction comprises a target platform angle and a target platform height; under the condition that the current platform angle is not consistent with the target platform angle, a driving mechanism corresponding to at least one slave shaft is controlled to operate; a driving mechanism corresponding to the main shaft and a driving mechanism corresponding to at least one auxiliary shaft are controlled to operate synchronously; the adjusting efficiency and accuracy of the lifting platform are improved by controlling the supporting shafts corresponding to the lifting platform, the angle of the lifting platform is adjusted firstly, then the height of the lifting platform is adjusted, and then the transferring stability of the lifting mechanism is improved.

Description

Technical Field

[0001] The present application relates to the field of mechanical control technology, and in particular to a control method, device and computer storage medium for a lifting mechanism. Background Art

[0002] A lifting mechanism refers to a device that transfers items from a low place to a high place or from a high place to a low place. A lifting platform usually uses a servo axis to connect the screw rods on both sides through a connecting rod and an angle adjuster. The angle of the lifting platform is adjusted by adjusting the angle of the connecting rod. This mechanical connection method of adjusting the lifting platform is time-consuming and labor-intensive, and the adjustment error is large, which results in the platform angle of the lifting platform not meeting actual needs. Summary of the Invention

[0003] In response to the above-mentioned problems of the prior art, the purpose of this application is to control the support axes corresponding to the lifting platform through algorithms, so as to flexibly and conveniently adjust the angle of the lifting platform, improve the adjustment efficiency and accuracy of the lifting platform, and first adjust the angle of the lifting platform and then adjust the height of the lifting platform, thereby improving the transportation stability of the lifting mechanism.

[0004] In order to solve the above problems, the present application provides a control method for a lifting mechanism, wherein the lifting mechanism includes a plurality of support shafts, a lifting platform, and a driving mechanism corresponding to each of the plurality of support shafts. The plurality of support shafts are used to support the lifting platform when driven by the driving mechanism. The plurality of support shafts include a main shaft and at least one slave shaft. The control method for the lifting mechanism includes:

[0005] Acquiring a current platform angle of the lifting platform, a current platform height of the lifting platform, and a target lifting instruction; the target lifting instruction includes a target platform angle and a target platform height;

[0006] When the current platform angle is inconsistent with the target platform angle, controlling the driving mechanism corresponding to the at least one slave axis to operate so as to adjust the current platform angle to the target platform angle;

[0007] The driving mechanism corresponding to the main shaft and the driving mechanism corresponding to the at least one slave shaft are controlled to operate synchronously so that the current platform height is adjusted to the target platform height.

[0008] In an embodiment of the present application, when the current platform angle is inconsistent with the target platform angle, controlling the driving mechanism corresponding to the at least one slave axis to operate so as to adjust the current platform angle to the target platform angle includes:

[0009] When the current platform angle is inconsistent with the target platform angle, obtaining a first current position of the main axis and a second current position of the at least one slave axis;

[0010] generating an angle adjustment instruction for the at least one slave axis based on the target platform angle, the first current position, and the second current position;

[0011] The driving mechanism corresponding to the at least one slave axis is controlled to operate based on the angle adjustment instruction of the at least one slave axis.

[0012] In an embodiment of the present application, the control method of the lifting mechanism further includes:

[0013] When the current platform angle is consistent with the target platform angle, the drive mechanism corresponding to the main axis and the drive mechanism corresponding to the at least one slave axis are controlled to operate synchronously so that the current platform height is adjusted to the target platform height.

[0014] In an embodiment of the present application, the control method of the lifting mechanism further includes:

[0015] acquiring a third current position of the main shaft and a fourth current position of the at least one slave shaft upon receiving an interruption recovery signal, wherein the interruption recovery signal indicates that the operation control of the lifting mechanism has changed from a power-off state to an operating state;

[0016] Performing a state judgment based on the target lifting instruction, the third current position, and the fourth current position to determine the current operating state of the lifting mechanism;

[0017] The driving mechanisms corresponding to the plurality of support shafts are controlled to operate based on the current operating state and the target lifting instruction.

[0018] In the embodiment of the present application, the performing of state judgment based on the target lifting instruction, the third current position, and the fourth current position to determine the current operating state of the lifting mechanism further includes:

[0019] Obtaining the interruption positions corresponding to the plurality of support shafts; the interruption positions are the positions corresponding to the plurality of support shafts when the lifting mechanism changes from the running state to the power-off state;

[0020] Calculating the height difference between the third current position, the fourth current position, and the interruption positions corresponding to each of the plurality of support shafts to obtain the drop height difference corresponding to each of the plurality of support shafts; the drop height difference represents the height change value of the plurality of support shafts in the process of the plurality of support shafts changing from the power-off state to the running state;

[0021] When the drop height difference corresponding to any supporting shaft is greater than the preset height difference, the current operating state is determined to be a fault state and an alarm is issued.

[0022] In the embodiment of the present application, performing state judgment based on the target lifting instruction, the third current position, and the fourth current position to determine the current operating state of the lifting mechanism includes:

[0023] When the drop height differences corresponding to the plurality of support shafts are all smaller than the preset height differences, determining that the current operating state is a state to be adjusted;

[0024] The controlling the operation of the driving mechanisms corresponding to the plurality of support shafts based on the current operation state and the target lifting instruction includes:

[0025] performing angle calculation based on the third current position and the fourth current position to determine a current platform angle of the lifting platform;

[0026] In a case where the current platform angle is inconsistent with the target platform angle, determining an adjusted height difference of the at least one slave axis based on the current platform angle and the target platform angle; the adjusted height difference represents the operating height of the at least one slave axis during the process of recovering from the current platform angle to the target platform angle;

[0027] The driving mechanisms corresponding to the plurality of support shafts are controlled to operate based on the adjusted height differences.

[0028] In an embodiment of the present application, the control method of the lifting mechanism further includes:

[0029] Acquire association information of the plurality of support shafts; the association information indicates that there is associated motion between the plurality of support shafts;

[0030] The plurality of support shafts are divided into the main shaft and the at least one slave shaft based on the association information.

[0031] On the other hand, the present application also provides a control system for an elevator, the system comprising:

[0032] An information acquisition module is used to acquire the current platform angle of the lifting platform, the current platform height of the lifting platform, and a target lifting instruction; the target lifting instruction includes a target platform angle and a target platform height;

[0033] an angle adjustment module, configured to control the operation of a driving mechanism corresponding to the at least one slave axis so as to adjust the current platform angle to the target platform angle when the current platform angle is inconsistent with the target platform angle;

[0034] The platform lifting module is used to control the driving mechanism corresponding to the main axis and the driving mechanism corresponding to the at least one slave axis to operate synchronously so that the current platform height is adjusted to the target platform height.

[0035] On the other hand, the present application also provides a transfer device, which includes a lifting mechanism and a controller. The lifting mechanism includes multiple support shafts, a lifting platform and driving mechanisms corresponding to the multiple support shafts. The multiple support shafts are used to support the lifting platform to rise and fall under the drive of the driving mechanism. The multiple support shafts include a main shaft and at least one slave shaft. The controller is used to execute the control method of the lifting mechanism described in the embodiment of the present application.

[0036] On the other hand, the present application also provides a robot, which includes a lifting mechanism and a controller. The lifting mechanism includes multiple support shafts, a lifting platform and driving mechanisms corresponding to the multiple support shafts. The multiple support shafts are used to support the lifting platform to rise and fall under the drive of the driving mechanism. The multiple support shafts include a main shaft and at least one slave shaft. The controller is used to execute the control method of the lifting mechanism described in the embodiment of the present application.

[0037] On the other hand, the present application also provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the control method of the lifting mechanism as described above.

[0038] On the other hand, the present application also provides a computer storage medium, which stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by a processor to implement the control method of the lifting mechanism as described above.

[0039] Due to the above technical solution, the control method of a lifting mechanism described in this application has the following beneficial effects:

[0040] By respectively setting corresponding driving mechanisms between multiple support shafts, it is avoided that multiple support shafts are connected by mechanical structures, and the heights of multiple support shafts can be controlled separately through control algorithms, thereby realizing the angle adjustment of the lifting platform, improving the flexibility and convenience of the platform angle adjustment of the lifting platform, and automatically adjusting through algorithm control can improve the efficiency and adjustment accuracy of the lifting platform adjustment; in addition, in the control method of the lifting mechanism, the platform angle of the lifting mechanism is adjusted first and then the platform height of the lifting mechanism is adjusted, thereby improving the transportation stability of the lifting mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] To more clearly illustrate the technical solution of this application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are merely some embodiments of this application, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0042] Figure 1 This is a flow chart of a control method for a lifting mechanism provided in an embodiment of the present application;

[0043] Figure 2 This is a schematic diagram of the angle adjustment process of the control method of the lifting mechanism provided in an embodiment of the present application;

[0044] Figure 3 This is a schematic diagram of an interruption recovery process of a control method for a lifting mechanism provided in an embodiment of the present application;

[0045] Figure 4 This is a schematic diagram of a fault warning process in a control method for a lifting mechanism provided in an embodiment of the present application;

[0046] Figure 5 This is a schematic diagram of the recovery angle adjustment process in the control method of the lifting mechanism provided in an embodiment of the present application;

[0047] Figure 6 This is a schematic diagram of the master-slave axis classification process in the control method of the lifting mechanism provided in an embodiment of the present application;

[0048] Figure 7 Schematic diagram of the control system structure of the lifting mechanism provided in an embodiment of the present application;

[0049] Figure 8 This is a hardware structure block diagram of the control method of the lifting mechanism provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0051] References to "one embodiment" or "embodiment" herein refer to specific features, structures, or characteristics that may be included in at least one implementation of the present application. Throughout the description of this application, it should be understood that the terms "upper," "lower," "left," "right," "top," and "bottom," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplification. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and are therefore not to be construed as limiting the present application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly specifying the number of the technical features referred to. Thus, a feature designated "first" or "second" may explicitly or implicitly include one or more of the features. Furthermore, the terms "first," "second," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential sequence. It should be understood that such terms are interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0052] Below, a lifting mechanism provided in an embodiment of the present application is introduced. The lifting mechanism includes multiple support shafts, a lifting platform, and driving mechanisms corresponding to the multiple support shafts. The multiple support shafts are used to support the lifting platform to rise and fall under the drive of the driving mechanism. The multiple support shafts include a main shaft and at least one slave shaft.

[0053] In an embodiment of the present application, the driving mechanism is used to drive the lifting and lowering of the support shaft, the slave shaft moves with the main shaft as a reference for movement, and the lifting platform is used to carry the transferred items.

[0054] In a specific embodiment of the present application, there may be two or four support shafts.

[0055] In a specific embodiment of the present application, multiple support shafts can support the same lifting platform, or multiple support shafts can support different lifting platforms respectively, and different lifting platforms can be assembled into a large lifting platform.

[0056] In a specific embodiment of the present application, since the support shaft supports the lifting platform, the heights of different support shafts can make the platform angle of the lifting platform different. For example, when there are two support shafts, the height of the support shaft at one end is higher than that of the other end, then the lifting platform is an inclined platform; when there are two support shafts, the heights of the support shafts at both ends are the same, then the lifting platform is a horizontal platform.

[0057] refer to Figure 1 , the following describes a control method for a lifting mechanism provided by an embodiment of the present application, the method comprising:

[0058] S1001. Obtain the current platform angle, current platform height and target lifting instruction of the lifting platform; the target lifting instruction includes the target platform angle and target platform height; the current platform angle refers to the platform angle of the lifting platform at the current time node; the current platform height refers to the platform height of the lifting platform at the current time node; the target lifting instruction refers to the lifting instruction for controlling the lifting platform; the target platform angle refers to the platform angle ultimately reached by the lifting platform; the target platform height refers to the platform height ultimately reached by the lifting platform.

[0059] S1002. When the current platform angle is inconsistent with the target platform angle, control the driving mechanism corresponding to at least one slave axis to operate so as to adjust the current platform angle to the target platform angle; the inconsistency between the current platform angle and the target platform angle indicates that the current platform angle cannot meet the transfer angle requirement.

[0060] S1003. Control the driving mechanism corresponding to the main shaft and the driving mechanism corresponding to at least one slave shaft to operate synchronously so that the current platform height is adjusted to the target platform height; synchronous operation means that the operating parameters of the driving mechanism corresponding to the main shaft are consistent with the operating parameters of the driving mechanism corresponding to the slave shaft, wherein the operating parameters include but are not limited to the operating time node and the operating power, etc. The operating parameters of the driving mechanism represent the operating speed and operating acceleration of the support shaft.

[0061] In an embodiment of the present application, corresponding driving mechanisms are respectively provided between the multiple support shafts to avoid connection between the multiple support shafts through mechanical structures. The heights of the multiple support shafts can be controlled separately through a control algorithm, thereby realizing angle adjustment of the lifting platform, improving the flexibility and convenience of the platform angle adjustment of the lifting platform, and improving the efficiency and accuracy of the adjustment of the lifting platform through algorithm control. In addition, in the control method of the lifting mechanism, the platform angle of the lifting mechanism is first adjusted and then the platform height of the lifting mechanism is adjusted, thereby improving the transportation stability of the lifting mechanism.

[0062] In the embodiment of the present application, the driving mechanism of the slave axis is adjusted to the target platform angle, thereby avoiding excessive parameter input, simplifying the logical complexity of the lifting mechanism control, and improving the convenience of the lifting mechanism control.

[0063] In a specific embodiment of the present application, assuming that the current platform angle is 5°, the current platform height is 0m, and the target platform angle is 0°, and the target platform height is 3m, then in the control method of the lifting mechanism, the platform angle of the lifting platform is first adjusted from 5° to 0°, and then the platform height of the lifting platform is adjusted from 0m to 3m.

[0064] refer to Figure 2 In the embodiment of the present application, S1002 includes:

[0065] S2001. When the current platform angle is inconsistent with the target platform angle, obtain the first current position of the main axis and the second current position of at least one slave axis; the first current position refers to the height position of the main axis at the current time node; the second current position refers to the height position of the slave axis at the current time node.

[0066] S2002. Generate at least one slave axis angle adjustment instruction based on the target platform angle, the first current position, and the second current position; the slave axis angle adjustment instruction refers to an instruction for controlling the movement of the slave axis to adjust the lifting platform angle.

[0067] In a specific embodiment of the present application, S2002 includes:

[0068] S20021. Perform angle calculation based on the target angle platform and the first current position to obtain the adjusted position of the slave axis; the adjusted position of the slave axis refers to the angle of the lifting platform that is jointly supported by the main axis in the first current position and is capable of being the target platform angle.

[0069] S20022. Generate at least one slave axis angle adjustment instruction based on the adjusted position of the slave axis and the second current position.

[0070] In a specific embodiment of the present application, when there is at least one slave axis and the master axis and the slave axis are respectively arranged on both sides of the lifting platform, S20021 can use the following formula to calculate the adjustment position:

[0071] H2=tan -1 αL+H1

[0072] Among them, H2 is the adjustment position, α is the target platform angle, L is the distance between the main axis and the slave axis, and H1 is the first current position.

[0073] In a specific embodiment of the present application, the slave axis angle adjustment instruction is used to adjust the height of the slave axis from the second current position to the adjustment position.

[0074] In a specific embodiment of the present application, when there are multiple slave axes, the adjustment position corresponding to each slave axis is calculated based on the specific setting position of the support axis, which will not be elaborated here.

[0075] S2003 : Control the operation of a driving mechanism corresponding to at least one slave axis based on an angle adjustment instruction of at least one slave axis.

[0076] In an embodiment of the present application, an angle adjustment instruction is generated based on the target platform angle, the first current position, and the second current position, thereby improving the accuracy of the angle adjustment of the lifting mechanism and thereby improving the operational reliability of the lifting mechanism.

[0077] In an embodiment of the present application, the control method of the lifting mechanism further includes:

[0078] When the current platform angle is consistent with the target platform angle, the drive mechanism corresponding to the main axis and the drive mechanism corresponding to at least one slave axis are controlled to operate synchronously so that the current platform height is adjusted to the target platform height.

[0079] In the embodiment of the present application, the consistency between the current platform angle and the target platform angle indicates that the current platform angle can meet the transfer angle requirement.

[0080] In an embodiment of the present application, by directly controlling the drive mechanism to operate synchronously when the current platform angle is consistent with the target platform angle, the flexibility and convenience of adjusting the platform angle of the lifting platform are improved.

[0081] refer to Figure 3 In the embodiment of the present application, the control method of the lifting mechanism further includes:

[0082] S4001. Upon receiving an interruption recovery signal, obtain a third current position of the main axis and a fourth current position of at least one slave axis; the interruption recovery signal indicates that the operation control of the lifting mechanism has changed from a power-off state to an operating state.

[0083] S4002: Perform status judgment based on the target lifting instruction, the third current position, and the fourth current position to determine the current operating status of the lifting mechanism.

[0084] In the embodiment of the present application, the current operating state refers to the diagnostic result of the lifting mechanism on itself after the power is restored. The current operating state includes but is not limited to a fault state, a state to be adjusted, and a normal state; wherein, the fault state means that the structure or control of the lifting mechanism is greatly affected after the power is restored, and a fault occurs; the state to be adjusted means that the structure or control of the lifting mechanism is slightly affected after the power is restored, but these effects can be adjusted by themselves; the normal state means that the structure or control of the lifting mechanism is not affected at all after the power is restored.

[0085] S4003. Control the operation of the driving mechanisms corresponding to the multiple support shafts based on the current operation status and the target lifting instruction.

[0086] In an embodiment of the present application, the operating status of the lifting mechanism is judged after the power is restored after the lifting mechanism is powered off, and the operation of the support shaft drive mechanism is controlled according to different operating states, thereby improving the accuracy and reliability of the lifting mechanism control, and thus improving the lifting mechanism transfer accuracy and reliability.

[0087] refer to Figure 4 In the embodiment of the present application, S4002 includes:

[0088] S5001. Obtain the interruption positions corresponding to the plurality of support shafts; the interruption positions are the positions corresponding to the plurality of support shafts when the lifting mechanism changes from a running state to a power-off state.

[0089] S5002. Calculate the height difference between the third current position, the fourth current position, and the interruption positions corresponding to the multiple support shafts to obtain the drop height difference corresponding to the multiple support shafts; the drop height difference represents the height change value of the multiple support shafts in the process of the multiple support shafts changing from the power-off state to the running state.

[0090] S5003. When the drop height difference corresponding to any supporting axis is greater than the preset height difference, determine that the current operating state is a fault state and issue an alarm.

[0091] In an embodiment of the present application, the drop height difference of the lifting mechanism is calculated based on the interruption position, and whether the lifting mechanism is in a fault state is determined based on the drop height difference, thereby avoiding the control of the lifting mechanism in a fault state, and issuing an alarm, thereby enabling manual intervention, thereby improving the accuracy and reliability of the lifting mechanism control, and thereby improving the lifting mechanism transfer accuracy and reliability.

[0092] In the embodiment of the present application, after S5003, S4003 includes:

[0093] When the current operating state is a fault state, the driving mechanisms corresponding to the multiple support shafts are controlled to stop running; by interrupting the operation of the driving mechanisms, secondary damage is avoided and the reliability of the lifting mechanism control is improved.

[0094] refer to Figure 5 In the embodiment of the present application, S4002 further includes:

[0095] S6001: When the drop height differences corresponding to the plurality of support shafts are all smaller than the preset height differences, determining that the current operating state is a state to be adjusted.

[0096] S4003 includes:

[0097] S6002: Perform angle calculation based on the third current position and the fourth current position to determine the current platform angle of the lifting platform.

[0098] S6003. When the current platform angle is inconsistent with the target platform angle, determine an adjusted height difference of at least one slave axis based on the current platform angle and the target platform angle; the adjusted height difference represents the operating height of at least one slave axis during the process of recovering from the current platform angle to the target platform angle.

[0099] S6004. Control the operation of the driving mechanisms corresponding to the multiple support shafts based on the adjusted height difference.

[0100] In a specific embodiment of the present application, S6004 includes:

[0101] S60041. Control the operation of a driving mechanism of at least one slave axis based on the adjusted height difference, so that the current platform angle is adjusted to the target platform angle.

[0102] S60042. Control the drive mechanism corresponding to the main axis and the drive mechanism corresponding to at least one slave axis to operate synchronously, so that the current platform height is adjusted to the target platform height.

[0103] In an embodiment of the present application, by determining the adjustment height difference of at least one slave axis and readjusting the angle of the lifting platform based on the height adjustment difference when the current operating state is a waiting-for-adjustment state, the angle adjustment of the lifting platform is achieved, thereby improving the flexibility and convenience of the platform angle adjustment of the lifting platform; in addition, in the control method of the lifting mechanism, the platform angle of the lifting mechanism is first adjusted and then the platform height of the lifting mechanism is adjusted, thereby improving the transportation stability of the lifting mechanism.

[0104] refer to Figure 6 In the embodiment of the present application, the control method of the lifting mechanism further includes:

[0105] S7001. Obtain correlation information of multiple support axes; the correlation information indicates that there is correlated motion between the multiple support axes.

[0106] S7002. Divide the plurality of support axes into a main axis and at least one slave axis based on the association information.

[0107] In an embodiment of the present application, the main axis and the slave axis are customized through the association relationship, so as to make the lifting and anchoring flexibility of the lifting platform higher and lower, thereby improving the flexibility and convenience of the lifting mechanism control and improving the transportation stability of the lifting mechanism.

[0108] The control method of the lifting mechanism in the embodiment of the present application has the following beneficial effects:

[0109] By respectively setting corresponding driving mechanisms between multiple support shafts, it is avoided that multiple support shafts are connected by mechanical structures, and the heights of multiple support shafts can be controlled separately through control algorithms, thereby realizing the angle adjustment of the lifting platform, improving the flexibility and convenience of the platform angle adjustment of the lifting platform, and improving the efficiency and adjustment accuracy of the platform adjustment through algorithm control; in addition, in the control method of the lifting mechanism, the platform angle of the lifting mechanism is adjusted first and then the platform height of the lifting mechanism is adjusted, thereby improving the transportation stability of the lifting mechanism.

[0110] refer to Figure 7 , an embodiment of the present application further provides a control system for a lifting mechanism, the system comprising:

[0111] The information acquisition module 101 is used to obtain the current platform angle of the lifting platform, the current platform height of the lifting platform and the target lifting instruction; the target lifting instruction includes the target platform angle and the target platform height.

[0112] The angle adjustment module 102 is used to control the operation of a driving mechanism corresponding to at least one slave axis to adjust the current platform angle to the target platform angle when the current platform angle is inconsistent with the target platform angle.

[0113] The platform lifting module 103 is used to control the driving mechanism corresponding to the main axis and the driving mechanism corresponding to at least one slave axis to operate synchronously so as to adjust the current platform height to the target platform height.

[0114] The angle adjustment module includes:

[0115] The first position acquisition unit is configured to acquire a first current position of the main axis and a second current position of at least one slave axis when the current platform angle is inconsistent with the target platform angle.

[0116] The instruction generating unit is configured to generate at least one slave axis angle adjustment instruction based on the target platform angle, the first current position, and the second current position.

[0117] The slave axis driving unit is used to control the operation of a driving mechanism corresponding to at least one slave axis based on an angle adjustment instruction of at least one slave axis.

[0118] The control system of the lifting mechanism also includes:

[0119] The lifting control module is used to control the driving mechanism corresponding to the main axis and the driving mechanism corresponding to at least one slave axis to operate synchronously when the current platform angle is consistent with the target platform angle, so as to adjust the current platform height to the target platform height.

[0120] The interrupt acquisition module is used to obtain the third current position of the main shaft and the fourth current position of at least one slave shaft when an interrupt recovery signal is received; the interrupt recovery signal indicates that the operation control of the lifting mechanism has changed from a power-off state to a running state.

[0121] The state judgment module is used to perform state judgment based on the target lifting instruction, the third current position and the fourth current position to determine the current operating state of the lifting mechanism.

[0122] The drive recovery module is used to control the operation of the drive mechanisms corresponding to the multiple support shafts based on the current operating state and the target lifting instruction.

[0123] The status judgment module includes:

[0124] The interruption position acquisition unit is used to acquire the interruption positions corresponding to each of the multiple support shafts; the interruption positions are the positions corresponding to each of the multiple support shafts when the lifting mechanism changes from a running state to a power-off state.

[0125] The first height difference calculation unit is used to calculate the height difference of the third current position, the fourth current position and the interruption positions corresponding to each of the multiple support shafts to obtain the drop height difference corresponding to each of the multiple support shafts; the drop height difference represents the height change value of the multiple support shafts in the process of the multiple support shafts changing from the power-off state to the running state.

[0126] The fault state determination unit is used to determine that the current operating state is a fault state and issue an alarm when the drop height difference corresponding to any support axis is greater than a preset height difference.

[0127] The adjustment state determining unit is used to determine that the current operating state is a state to be adjusted when the drop height differences corresponding to the multiple support shafts are all less than the preset height differences.

[0128] The driver recovery module includes:

[0129] The angle calculation unit is used to perform angle calculation based on the third current position and the fourth current position to determine the current platform angle of the lifting platform.

[0130] The second height difference calculation unit is used to determine the adjusted height difference of at least one slave axis based on the current platform angle and the target platform angle when the current platform angle is inconsistent with the target platform angle; the adjusted height difference represents the operating height of at least one slave axis during the process of recovering from the current platform angle to the target platform angle.

[0131] The recovery drive unit is used to control the operation of the drive mechanisms corresponding to the multiple support shafts based on the adjusted height difference.

[0132] The control system of the lifting mechanism also includes:

[0133] The correlation acquisition module is used to obtain the correlation information of multiple support axes; the correlation information represents the existence of correlated motion between the multiple support axes.

[0134] The classification module is used to classify the plurality of supporting shafts into a main shaft and at least one slave shaft based on the association information.

[0135] An embodiment of the present application also provides a transfer device, which includes a lifting mechanism and a controller. The lifting mechanism includes multiple support shafts, a lifting platform, and driving mechanisms corresponding to the multiple support shafts. The multiple support shafts are used to support the lifting platform to rise and fall under the drive of the driving mechanism. The multiple support shafts include a main shaft and at least one slave shaft. The controller is used to execute the above-mentioned control method of the lifting mechanism.

[0136] An embodiment of the present application also provides a robot, which includes a lifting mechanism and a controller. The lifting mechanism includes multiple support shafts, a lifting platform and driving mechanisms corresponding to each of the multiple support shafts. The multiple support shafts are used to support the lifting platform to rise and fall under the drive of the driving mechanism. The multiple support shafts include a main shaft and at least one slave shaft. The controller is used to execute the above-mentioned lifting mechanism control method.

[0137] An embodiment of the present application also provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the control method of the lifting mechanism as described above.

[0138] The memory can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area. The program storage area can store the operating system, application programs required for the functions, etc.; the data storage area can store data created based on the use of the device, etc. In addition, the memory can include high-speed random access memory and non-volatile memory, such as at least one hard disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0139] The method embodiments provided in the embodiments of the present application can be executed in electronic devices such as mobile terminals, computer terminals, servers or similar computing devices. Figure 8 This is an electronic device provided by the embodiment of the present application. Figure 8As shown, the electronic device 900 may have relatively large differences due to different configurations or performances, and may include one or more central processing units (CPUs) 910 (the processor 910 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 930 for storing data, and one or more storage media 920 (such as one or more mass storage devices) for storing application programs 923 or data 922. Among them, the memory 930 and the storage medium 920 can be temporary storage or permanent storage. The program stored in the storage medium 920 may include one or more modules, each of which may include a series of instruction operations on the electronic device. Furthermore, the central processing unit 910 may be configured to communicate with the storage medium 920 to execute a series of instruction operations in the storage medium 920 on the electronic device 900. The electronic device 900 may also include one or more power supplies 960, one or more wired or wireless network interfaces 950, one or more input and output interfaces 940, and / or one or more operating systems 921, such as Wi ndows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0140] The input / output interface 940 can be used to receive or send data via a network. Specific examples of the aforementioned network may include a wireless network provided by a communications provider of the electronic device 900. In one embodiment, the input / output interface 940 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the input / output interface 940 can be a radio frequency (RF) module for wireless communication with the Internet.

[0141] It can be understood by those skilled in the art that Figure 8 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 8 More or fewer components than shown, or with Figure 8 Different configurations shown.

[0142] An embodiment of the present application further provides a storage medium storing at least one instruction or at least one program, which is loaded and executed by a processor to implement the control method of the lifting mechanism as described above.

[0143] The above description has fully disclosed the specific embodiments of this application. It should be noted that any changes made by those skilled in the art to the specific embodiments of this application do not depart from the scope of the claims of this application. Accordingly, the scope of the claims of this application is not limited to the above specific embodiments.

Claims

1. A control method for a lifting mechanism, characterized in that: The lifting mechanism comprises a plurality of supporting shafts, a lifting platform and driving mechanisms corresponding to the plurality of supporting shafts, the plurality of supporting shafts are used to support the lifting platform to rise and fall under the drive of the driving mechanisms, the plurality of supporting shafts comprise a main shaft and at least one slave shaft, and the method comprises: Acquire the current platform angle of the lifting platform, the current platform height of the lifting platform and a target lifting instruction; the target lifting instruction includes a target platform angle and a target platform height; When the current platform angle is inconsistent with the target platform angle, controlling the driving mechanism corresponding to the at least one slave axis to operate so that the current platform angle is adjusted to the target platform angle; The driving mechanism corresponding to the main axis and the driving mechanism corresponding to the at least one slave axis are controlled to operate synchronously so that the current platform height is adjusted to the target platform height.

2. The control method of the lifting mechanism according to claim 1, characterized in that: When the current platform angle is inconsistent with the target platform angle, controlling the driving mechanism corresponding to the at least one slave axis to operate so that the current platform angle is adjusted to the target platform angle includes: When the current platform angle is inconsistent with the target platform angle, acquiring a first current position of the main axis and a second current position of the at least one slave axis; generating an angle adjustment instruction for the at least one slave axis based on the target platform angle, the first current position, and the second current position; The driving mechanism corresponding to the at least one slave axis is controlled to operate based on the angle adjustment instruction of the at least one slave axis.

3. The control method of the lifting mechanism according to claim 1, characterized in that: The method further comprises: When the current platform angle is consistent with the target platform angle, the drive mechanism corresponding to the main axis and the drive mechanism corresponding to the at least one slave axis are controlled to operate synchronously, so that the current platform height is adjusted to the target platform height.

4. The control method of the lifting mechanism according to claim 1, characterized in that: The method further comprises: When receiving an interruption recovery signal, obtaining a third current position of the main shaft and a fourth current position of the at least one slave shaft; the interruption recovery signal indicates that the operation control of the lifting mechanism changes from a power-off state to an operation state; Performing state judgment based on the target lifting instruction, the third current position, and the fourth current position to determine the current operating state of the lifting mechanism; The driving mechanisms corresponding to the plurality of support shafts are controlled to operate based on the current operating state and the target lifting instruction.

5. The control method of the lifting mechanism according to claim 4, characterized in that: The performing state judgment based on the target lifting instruction, the third current position, and the fourth current position to determine the current operating state of the lifting mechanism further includes: Obtaining interruption positions corresponding to each of the plurality of support shafts; the interruption positions are positions corresponding to each of the plurality of support shafts when the lifting mechanism changes from the running state to the power-off state; Calculate the height difference between the third current position, the fourth current position and the interruption positions corresponding to each of the plurality of support shafts to obtain the drop height difference corresponding to each of the plurality of support shafts; the drop height difference represents the height change value of the plurality of support shafts in the process of the plurality of support shafts changing from the power-off state to the running state; When the drop height difference corresponding to any supporting shaft is greater than the preset height difference, the current operating state is determined to be a fault state and an alarm is issued.

6. The control method of the lifting mechanism according to claim 4, characterized in that: The performing state judgment based on the target lifting instruction, the third current position, and the fourth current position to determine the current operating state of the lifting mechanism includes: When the drop height differences corresponding to each of the plurality of support shafts are all smaller than the preset height difference, determining that the current operating state is a state to be adjusted; The controlling the operation of the driving mechanisms corresponding to the plurality of support shafts respectively based on the current operation state and the target lifting instruction comprises: Performing angle calculation based on the third current position and the fourth current position to determine a current platform angle of the lifting platform; In the case where the current platform angle is inconsistent with the target platform angle, determining an adjustment height difference of the at least one slave axis based on the current platform angle and the target platform angle; the adjustment height difference represents the operating height of the at least one slave axis during the process of recovering from the current platform angle to the target platform angle; The driving mechanisms corresponding to the plurality of support shafts are controlled to operate based on the adjusted height difference.

7. The control method of the lifting mechanism according to claim 1, characterized in that: The method further comprises: Acquire association information of the plurality of support axes; the association information indicates that there is an associated movement between the plurality of support axes; The plurality of support shafts are divided into the main shaft and the at least one slave shaft based on the association information.

8. A control system for an elevator, characterized in that: The lifting mechanism includes a plurality of supporting shafts, a lifting platform, and driving mechanisms corresponding to the plurality of supporting shafts, the plurality of supporting shafts are used to support the lifting platform under the drive of the driving mechanisms, the plurality of supporting shafts include a main shaft and at least one slave shaft, and the system includes: An information acquisition module, used to acquire the current platform angle of the lifting platform, the current platform height of the lifting platform and a target lifting instruction; the target lifting instruction includes a target platform angle and a target platform height; An angle adjustment module, used for controlling the operation of the driving mechanism corresponding to the at least one slave axis so as to adjust the current platform angle to the target platform angle when the current platform angle is inconsistent with the target platform angle; The platform lifting module is used to control the driving mechanism corresponding to the main axis and the driving mechanism corresponding to at least one slave axis to operate synchronously so that the current platform height is adjusted to the target platform height.

9. A transfer device, characterized in that: It includes a lifting mechanism and a controller, the lifting mechanism includes multiple supporting shafts, a lifting platform and driving mechanisms corresponding to the multiple supporting shafts, the multiple supporting shafts are used to support the lifting and lowering of the lifting platform under the drive of the driving mechanism, the multiple supporting shafts include a main shaft and at least one slave shaft, and the controller is used to execute the control method of the lifting mechanism as described in any one of claims 1-7.

10. A robot, characterized in that: It includes a lifting mechanism and a controller, the lifting mechanism includes multiple supporting shafts, a lifting platform and driving mechanisms corresponding to the multiple supporting shafts, the multiple supporting shafts are used to support the lifting and lowering of the lifting platform under the drive of the driving mechanism, the multiple supporting shafts include a main shaft and at least one slave shaft, and the controller is used to execute the control method of the lifting mechanism as described in any one of claims 1-7.

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