Control method, device and equipment of up-down linear transmission system, medium and product

Abstract

The invention discloses a control method, device and equipment of an up-down linear transmission system, a medium and a product, and relates to the technical field of automatic control. The up-down linear transmission system comprises a controller and at least two up-down push rods; the upper and lower push rods jointly act on the load device to enable the load device to move up and down; the upper and lower push rods are respectively pushed by different motors; the control method of the up-down linear transmission system comprises the steps that an action instruction of an operator for the up-down linear transmission system is determined; obtaining the weight of a target load currently borne by a load device, the height of the load device and attribute parameters of a controller; determining a control strategy of the up-down linear transmission system according to the action instruction, the weight of the target load, the height of the load device and the attribute parameters; and controlling the up-down linear transmission system based on the control strategy. According to the scheme of the embodiment of the invention, the vertical linear transmission system can be safely controlled, and safety accidents can be prevented.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a control method, device, equipment, medium and product of an up and down linear transmission system. Background Art

[0002] In high, dangerous and difficult work scenarios such as station, dock and airport decoration, aerial work platforms are usually required to carry out operations; the key component of the aerial work platform is the upper and lower linear transmission system; at this stage, how to safely control the upper and lower linear transmission system to prevent the occurrence of safety accidents is the main research issue in the industry. Summary of the invention

[0003] The present invention provides a control method, device, equipment, medium and product for an up and down linear transmission system, which can safely control the up and down linear transmission system and thus prevent the occurrence of safety accidents.

[0004] According to one aspect of the present invention, a control method for an up-and-down linear transmission system is provided, wherein the up-and-down linear transmission system comprises: a controller and at least two up-and-down push rods; the up-and-down push rods act together on a load device to move the load device up and down; each of the up-and-down push rods is driven by a different motor, and the method comprises:

[0005] Determining an operator's action instructions for the upper and lower linear transmission system;

[0006] Obtaining the weight of the target load currently carried by the load device, the height of the load device, and attribute parameters of the controller;

[0007] Determining a control strategy of the vertical linear transmission system according to the action instruction, the weight of the target load, the height of the load device and the attribute parameters; the attribute parameters include at least one of the following: current, voltage, torque and rotation speed;

[0008] The upper and lower linear transmission systems are controlled based on the control strategy.

[0009] According to another aspect of the present invention, a control device for an up-and-down linear transmission system is provided, wherein the up-and-down linear transmission system comprises: a controller and at least two up-and-down push rods; the up-and-down push rods act together on a load device to move the load device up and down; each of the up-and-down push rods is driven by a different motor, and the device comprises:

[0010] An action instruction determination module, used to determine an operator's action instruction for the up and down linear transmission system;

[0011] An acquisition module, for acquiring the weight of the target load currently carried by the load device, the height of the load device, and attribute parameters of the controller;

[0012] A control strategy determination module, used to determine the control strategy of the up and down linear transmission system according to the action instruction, the weight of the target load, the height of the load device and the attribute parameter;

[0013] A control module, used for controlling the up and down linear transmission system based on the control strategy;

[0014] The attribute parameter includes at least one of the following: current, voltage, torque and rotation speed.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] at least one processor; and

[0017] a memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the control method of the upper and lower linear transmission system described in any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the control method of the upper and lower linear transmission system described in any embodiment of the present invention when executed by a processor.

[0020] According to another aspect of the present invention, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the control method of the upper and lower linear transmission system according to any embodiment of the present invention.

[0021] The up and down linear transmission system involved in the technical solution of the embodiment of the present invention includes: a controller, at least two up and down push rods; the up and down push rods act together on the load device to move the load device up and down; each of the up and down push rods is pushed by a different motor; by determining the operator's action instructions for the up and down linear transmission system; obtaining the weight of the target load currently carried by the load device, the height of the load device and the attribute parameters of the controller; determining the control strategy of the up and down linear transmission system according to the action instructions, the weight of the target load, the height of the load device and the attribute parameters; the attribute parameters include at least one of the following: current, voltage, torque and speed; the up and down linear transmission system is controlled based on the control strategy, and the up and down linear transmission system can be safely controlled to prevent the occurrence of safety accidents.

[0022] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 is a flow chart of a control method for an up and down linear transmission system provided according to Embodiment 1 of the present invention;

[0025] Figure 2 is a structural schematic diagram of an up and down linear transmission system provided according to Embodiment 1 of the present invention;

[0026] Figure 3 is a flow chart of a control method for an up and down linear transmission system provided according to a second embodiment of the present invention;

[0027] Figure 4 is a schematic structural diagram of a control device for an up and down linear transmission system provided according to a third embodiment of the present invention;

[0028] Figure 5 It is a structural schematic diagram of an electronic device for implementing the control method of the upper and lower linear transmission system of an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] Embodiment 1

[0032] Figure 1 This is a flow chart of a control method for an up and down linear transmission system provided according to a first embodiment of the present invention. This embodiment can be applicable to situations where the up and down linear transmission system applied to an aerial work platform is safely controlled. The method can be executed by a control device for the up and down linear transmission system. The control device for the up and down linear transmission system can be implemented in the form of hardware and / or software. The control device for the up and down linear transmission system can be configured in electronic devices such as computers, servers or tablet computers.

[0033] Figure 2 is a schematic diagram of a vertical linear transmission system according to the first embodiment of the present invention, with reference to Figure 2 The up and down linear transmission system mainly includes: a controller 210, at least two up and down push rods 220 and a load device 230; each of the up and down push rods acts on the load device together to move the load device up and down; each of the up and down push rods is driven by a different motor.

[0034] It should be noted that Figure 2 The central controller 210 may be located inside the vehicle chassis or in other structures. This is only for the convenience of description in this embodiment and is not a limitation of this embodiment.

[0035] In an optional implementation of this embodiment, when it is determined that the load device 230 needs to rise or descend to a set height to complete a specific work task, each motor can determine the corresponding rotation speed after receiving the instruction, thereby determining each upper and lower push rods so that each upper and lower push rods push the load device to move upward.

[0036] Specifically, refer to Figure 1 , the method comprising:

[0037] Step 110: Determine the operator's action instructions for the up and down linear transmission system.

[0038] Among them, the action instruction can be an ascending instruction, a descending instruction or a balancing instruction, etc., which is not limited in this embodiment; in this embodiment, the specific form of the action instruction can be an analog quantity or a digital quantity, which is not limited in this embodiment.

[0039] In this embodiment, determining the operator's action instructions for the upper and lower linear transmission system may include: obtaining the operator's operation simulation quantity for the upper and lower linear transmission system, and determining the action instructions corresponding to the operation simulation quantity; or, obtaining the operator's operation code for the upper and lower linear transmission system, and determining the action instructions based on the operation code; wherein the operation codes and action instructions are matched one by one.

[0040] Optionally, in this embodiment, the operator can operate the upper and lower linear transmission systems through a remote control or control buttons in the aerial work platform. It can be understood that after the operator operates the aerial work platform through the remote control, the operator can obtain the analog quantity of the operation of the upper and lower linear transmission systems, for example, the analog quantity corresponding to the up button or the analog quantity corresponding to the down button, etc., which is not limited in this embodiment.

[0041] In an optional implementation of this embodiment, after the operator's operation simulation quantity for the upper and lower linear transmission system is obtained, an action instruction corresponding to the operation simulation quantity can be further determined.

[0042] Optionally, in this embodiment, obtaining the operation simulation quantity of the operator for the upper and lower linear transmission system and determining the action instruction corresponding to the operation simulation quantity may include: obtaining the remote control instruction or switch instruction of the operator for the upper and lower linear transmission system to obtain the operation simulation quantity; parsing the operation simulation quantity to obtain the action instruction.

[0043] In an optional implementation of the present embodiment, the operator's remote control instructions or switch instructions for the upper and lower linear transmission systems can be obtained in real time to obtain operation simulation quantities. Furthermore, the obtained operation simulation quantities can be analyzed to obtain various analysis results. Furthermore, the analysis results can be matched with various preset action instructions to determine the action instructions corresponding to the operation simulation quantities.

[0044] In another optional implementation of the present embodiment, the operator can input an operation code in the control interface for the operation of the upper and lower linear transmission system. After obtaining the operation code of the operator for the upper and lower linear transmission system, the upper and lower linear transmission system can further parse the operation code to obtain specific action instructions; it can be understood that the operation code is a digital signal.

[0045] Step 120: Obtain the weight of the target load currently carried by the load device, the height of the load device, and attribute parameters of the controller.

[0046] The attribute reference for controlling it may include at least one of the following: current, voltage, torque and rotation speed, which are not limited in this embodiment.

[0047] It can be understood that if the weight of the current target load is 0, the current load device can be considered to be in an unloaded state; the load device is pushed by the upper and lower push rods together, so the height of the load device can be the current push rod length of any upper and lower push rods; the push rod length of any upper and lower push rods can be determined by the current voltage value of the motor acting on the push rod, and the calibration result of the upper and lower push rods.

[0048] In an optional implementation of this embodiment, after determining the operator's action instructions for the up and down linear transmission system, the weight of the target load currently carried by the load device, the height of the load device and the attribute parameters of the controller can be further obtained.

[0049] Optionally, in this embodiment, a weight sensor can be deployed in the load device, and the weight of the target load can be determined by the weight sensor; further, the current voltage value of the motor of any upper and lower push rods can be obtained, and the push rod length of the upper and lower push rods can be determined based on the current voltage value, and the push rod length is determined as the height of the load device; further, the current current of the controller can be measured by a current sensor, and the current voltage of the controller can be measured by a voltage sensor, and the current torque and speed of the motor can also be obtained.

[0050] Step 130 : determining a control strategy of the up and down linear transmission system according to the action instruction, the weight of the target load, the height of the load device, and the attribute parameters.

[0051] In an optional implementation of the present embodiment, after determining the action instruction corresponding to the operation simulation quantity and obtaining the weight of the target load currently carried by the load device, the height of the load device and the attribute parameters of the controller, the control strategy of the upper and lower linear transmission system can be further determined according to the action instruction, the weight of the target load, the height of the load device and the attribute parameters.

[0052] Optionally, in this embodiment, the control strategy of the upper and lower linear transmission system is determined according to the action instruction, the weight of the target load, the height of the load device and the attribute parameter, which may include: if it is determined that the attribute parameter is greater than a set attribute parameter threshold and the action instruction is an ascending instruction, the moving speed is determined to be zero, and a warning signal is issued.

[0053] In another optional implementation of this embodiment, if it is determined that the attribute parameter is greater than a set attribute parameter threshold and the action instruction is a descending instruction, the moving speed is determined as a minimum moving speed and a warning signal is issued.

[0054] In another optional implementation of this embodiment, if it is determined that the attribute parameter is greater than the set attribute parameter threshold and the action instruction is a balancing instruction, the target attribute parameter is determined based on the weight of the target load and the height of the load device, and the attribute parameter of the controller is adjusted to the target attribute parameter so that the upper and lower linear transmission system enters a balanced state.

[0055] The attribute parameter threshold may be a current threshold, a voltage threshold, a torque threshold or a speed threshold. In this embodiment, the specific value of each attribute parameter threshold is not limited.

[0056] In a specific implementation of the present embodiment, after obtaining the attribute parameters of the controller, if it is determined that the current current in the attribute parameters is greater than the set threshold current, and the action instruction obtained by analysis is an ascending instruction, then the moving speed of each upper and lower push rod can be determined to be zero, that is, the upper and lower push rods are kept stationary, that is, the load device is stationary, and a warning signal is issued to notify relevant operation and maintenance personnel.

[0057] In another specific implementation of this embodiment, after obtaining the attribute parameters of the controller, if it is determined that the attribute parameters are greater than the set threshold current, and the action instruction obtained by analysis is a descending instruction, then the moving speed of each upper and lower push rod can be determined as the minimum moving speed, that is, the load device is kept moving slowly, and a warning signal is issued to notify relevant operation and maintenance personnel.

[0058] In another specific implementation of this embodiment, after obtaining the attribute parameters of the controller, if it is determined that the current current is greater than the set threshold current, and the action instruction obtained by analysis is a balance instruction, that is, the action instruction is to keep the load device stationary, then the target current for keeping the controller stationary can be determined, and the attribute parameters of the controller can be adjusted to the target current, so that the upper and lower linear transmission systems enter a balanced state, that is, the load device is stationary.

[0059] Optionally, in another optional implementation of the present embodiment, the control strategy of the upper and lower linear transmission system is determined according to the action instruction, the weight of the target load, the height of the load device and the attribute parameter, and may also include: if it is determined that the attribute parameter is less than or equal to the set attribute parameter threshold, and the action instruction is a descending instruction, then determining the target motor speed for making the load device descend at a uniform speed, and adjusting the motor speed according to the target motor speed; in response to the descending instruction of the load device, determining the gravitational potential energy of the load device during the descent process according to the weight of the target load and the height of the load device; converting the gravitational potential energy into electrical energy, and feeding the electrical energy back to the target battery to charge the target battery.

[0060] In a specific implementation of the present embodiment, after obtaining the attribute parameters of the controller, if it is determined that the current current is less than or equal to the set threshold current, and the action instruction obtained by analysis is a descending instruction, then the target motor speed for making the load device descend at a uniform speed can be determined, that is, the target motor speed for making the upper and lower push rods descend at a uniform speed, and the motor speed is adjusted according to the target motor speed so that the load device can descend at a uniform speed.

[0061] In a specific implementation of this embodiment, during the descent of the load device, the gravitational potential energy generated by the load device during the descent can be determined in real time based on the weight of the target load and the height of the load device, and the gravitational potential energy can be converted into electrical energy, and the converted electrical energy can be fed back to the target battery to power the target battery.

[0062] Among them, the target battery can be any battery in the upper and lower linear transmission system involved in this embodiment, for example, a battery for powering the controller, a battery for powering the motor that drives the upper and lower push rods to move, etc., which is not limited in this embodiment.

[0063] The advantage of this arrangement is that, during the descent of the load device, its corresponding gravitational potential energy can be converted into electrical energy in real time to power the battery in the system, thereby saving electrical energy and ensuring that the up-and-down linear transmission system is powered on.

[0064] Step 140: Control the up and down linear transmission system based on the control strategy.

[0065] In an optional implementation of the present embodiment, after determining the control strategy of the upper and lower linear transmission system according to the action instruction, the weight of the target load, the height of the load device and the attribute parameters, the upper and lower linear transmission system can be further controlled according to various control measurements to ensure the safety of the aerial work platform deployed with the upper and lower linear transmission system during operation.

[0066] The up and down linear transmission system involved in the technical solution of this embodiment includes: a controller, at least two up and down push rods; the up and down push rods act together on the load device to move the load device up and down; each of the up and down push rods is pushed by a different motor; by determining the operator's action instructions for the up and down linear transmission system; obtaining the weight of the target load currently carried by the load device, the height of the load device and the attribute parameters of the controller; determining the control strategy of the up and down linear transmission system according to the action instructions, the weight of the target load, the height of the load device and the attribute parameters; controlling the up and down linear transmission system based on the control strategy, the up and down linear transmission system can be safely controlled, thereby preventing the occurrence of safety accidents.

[0067] Embodiment 2

[0068] Figure 3 1 is a flow chart of a control method for an upper and lower linear transmission system according to Embodiment 2 of the present invention. This embodiment is a further refinement of the above technical solution. The technical solution in this embodiment can be combined with various optional solutions in one or more of the above embodiments. Figure 3 As shown, the method includes:

[0069] Step 310: Determine the operator's action instructions for the up and down linear transmission system.

[0070] Step 320: Obtain the weight of the target load currently carried by the load device, the height of the load device, and attribute parameters of the controller.

[0071] Step 330: Determine a control strategy for the up and down linear transmission system according to the action instruction, the weight of the target load, the height of the load device, and the attribute parameters.

[0072] Step 340: In response to the action instruction of the load device, determine the current height of the load device; and determine whether the upper and lower linear transmission system triggers a push rod length fault according to the current height.

[0073] The action instruction may be an ascending instruction or a descending instruction, which is not limited in this embodiment.

[0074] In an optional implementation of the present embodiment, after determining the control strategy of the upper and lower linear transmission system according to the action instruction, the weight of the target load, the height of the load device and the attribute parameters, and controlling the upper and lower linear transmission system based on the control strategy, if an action instruction of the load device is received, the current height of the load device can be further determined, and based on the current height, it can be determined whether the upper and lower linear transmission system triggers a push rod length fault.

[0075] In this embodiment, the current height of the load device may include: a lower limit position, a lower limit position to the opening of the pit plate, or the opening of the pit plate to the upper limit position.

[0076] Optionally, in this embodiment, determining whether the upper and lower linear transmission systems trigger a push rod length fault according to the current height may include: when it is determined that the current height of the load device is the lower limit, not detecting the push rod length fault; when it is determined that the current height of the load device is from the lower limit to the opening of the pit plate, if it is determined that the difference between the first push rod length and the second push rod length is greater than a first set threshold, determining that a push rod length fault is triggered and giving an alarm; in response to the push rod length fault trigger instruction, prohibiting the load device from rising; during the descent of the load device, if it is determined that the difference between the first push rod length and the second push rod length is greater than a first set threshold, If the difference in push rod length is less than or equal to a first set threshold, the push rod length fault is canceled, otherwise, a continuous alarm is issued; when it is determined that the current height of the load device is that the pit plate is opened to the upper limit, if it is determined that the difference between the first push rod length and the second push rod length is greater than the second set threshold, it is determined that a push rod length fault is triggered, and an alarm is issued; in response to the push rod length fault trigger instruction, the load device is prohibited from rising; during the descent of the load device, if it is determined that the difference between the first push rod length and the second push rod length is less than or equal to the second set threshold, the push rod length fault is canceled, otherwise, a continuous alarm is issued.

[0077] The first set threshold value may be 20 mm, or other lengths; the second set threshold value may be 15 mm, or other lengths, which are not limited in this embodiment.

[0078] In an optional implementation of this embodiment, if it is determined that the current height of the load device is the lower limit, the push rod lengths of the upper and lower push rods are not detected to determine whether a push rod length fault is triggered. That is, by default, when the current height of the load device is the lower limit, the push rod length fault will not be triggered.

[0079] In another optional implementation of the present embodiment, if it is determined that the current height of the load device is at the lower limit to the opening of the pit plate, at this time, any hole in the left or right pit plate is opened, then the difference between the length of the first push rod and the length of the second push rod is determined, and if the difference is greater than the first set threshold of 20 mm, then it is determined that a push rod length fault is triggered at this time, and an alarm is issued; after receiving the alarm signal, the load device is prohibited from rising; at the same time, during the descent of the load device, if it is determined that the difference between the length of the first push rod and the length of the second push rod is less than or equal to the first set threshold of 20 mm, the push rod length fault can be canceled at this time; otherwise, the push rod length fault is maintained and an alarm is issued to notify relevant personnel to deal with the fault.

[0080] In another optional implementation of the present embodiment, if it is determined that the current height of the load device is when the pit plate is opened to the upper limit, at this time, the left pit plate is opened, or the right pit plate is opened, and if it is determined that the difference between the first push rod length and the second push rod length is greater than the second set threshold value of 15mm, it is determined that a push rod length fault is triggered, and an alarm is issued; after receiving the alarm signal, the load device is prohibited from rising; at the same time, during the descent of the load device, if it is determined that the difference between the first push rod length and the second push rod length is less than or equal to the second set threshold value of 15mm, the push rod length fault can be canceled at this time; otherwise, the push rod length fault is maintained and an alarm is issued to notify relevant personnel to deal with the fault.

[0081] Optionally, in this embodiment, before responding to the action instruction of the load device and determining the current height of the load device, it may also include: calibrating the length of the upper and lower push rods of the upper and lower linear transmission systems through at least one calibration mode; the calibration mode includes: no-load calibration mode, full-load calibration mode, indoor and outdoor calibration mode or anti-pinch calibration mode.

[0082] In an optional implementation of the present embodiment, the push rod length of each of the upper and lower push rods of the upper and lower linear transmission system is calibrated through at least one calibration mode, which may include: in response to the start instruction of the no-load calibration mode, recording the lower limit push rod length signal value of each of the upper and lower push rods at the lower limit position, and determining the lower limit push rod length signal value as the push rod length zero value; after rising to the upper limit position, recording the upper limit push rod length signal value of each of the upper and lower push rods, and determining the upper limit push rod length signal value as the full value of the push rod length.

[0083] Optionally, in this embodiment, during the process of calibrating the push rod length of the upper and lower push rods through the no-load mode, the lower limit push rod length signal value of the current upper and lower push rods can be recorded at the lower limit position, and the lower limit push rod length signal value can be determined as the push rod length zero value; the signal value can be a voltage value; when the upper and lower push rods rise to the upper limit position, the upper limit push rod length signal value of the current upper and lower push rods is recorded and the upper limit push rod length signal value is determined as the full value of the push rod length.

[0084] It can be understood that the lower limit position is the lowest position to which the upper and lower push rods can move; and the upper limit position is the highest position to which the push rods can move.

[0085] In an optional implementation of this embodiment, the method further includes: receiving target length signal values ​​of the upper and lower push rods; determining a push rod length that matches the target length signal value based on the target length signal value, a push rod length zero value, and a push rod length full value.

[0086] In an example of this embodiment, the push rod length that matches the target length signal value can be determined by the following formula: L = (U-U1) / (U2-U1)*850; wherein L is the push rod length; U is the push rod length signal value; U1 is the calibrated push rod length zero value; U2 is the calibrated push rod length full value. In this example, the push rod length is 850 mm.

[0087] In another optional implementation of the present embodiment, the push rod length of each of the upper and lower push rods of the upper and lower linear transmission system is calibrated through at least one calibration mode, and it may also include: in the no-load calibration mode, the full-load calibration mode, the indoor and outdoor calibration mode or the anti-pinching calibration mode, when each of the upper and lower push rods is raised or lowered; if it is determined that the current height of the load device is the lower limit, the push rod length fault is not detected; if it is determined that the current height of the load device is from the lower limit to the opening of the pit plate, if it is determined that the difference between the first push rod length and the second push rod length is greater than the third set threshold, it is determined that a push rod length fault is triggered, calibration is stopped, and calibration is exited until the push rod length fault is resolved; when it is determined that the current height of the load device is from the opening of the pit plate to the upper limit, if it is determined that the difference between the first push rod length and the second push rod length is greater than the fourth set threshold, it is determined that a push rod length fault is triggered, calibration is stopped, and calibration is exited until the push rod length fault is resolved.

[0088] The third set threshold value may be 25 mm, or other lengths; the fourth set threshold value may be 20 mm, or other lengths, which are not limited in this embodiment.

[0089] It can be understood that in this embodiment, the third set threshold value and the fourth set threshold value involved in the calibration are greater than the first set threshold value and the second set threshold value of the upper and lower linear transmission system during operation. This can prevent the upper and lower linear transmission system from being in danger due to the excessive difference between the length of the first push rod and the length of the second push rod during operation.

[0090] In an optional implementation of this embodiment, if it is determined that the current height of the load device is the lower limit, the push rod lengths of the upper and lower push rods are not detected to determine whether a push rod length fault is triggered. That is, by default, when the current height of the load device is the lower limit, the push rod length fault will not be triggered.

[0091] In another optional implementation of this embodiment, if it is determined that the current height of the load device is at the lower limit to the opening of the pit plate, at this time, any of the holes on the left and right sides are opened, then the difference between the first push rod length and the second push rod length is determined, if the difference is greater than the third set threshold of 25mm, then it is determined that the push rod length fault is triggered at this time, then the calibration is stopped, and the calibration program is exited until the push rod length fault is resolved.

[0092] In another optional implementation of the present embodiment, if it is determined that the current height of the load device is when the pit plate is opened to the upper limit position, at this time, the left pit plate is opened or the right pit plate is opened, and if it is determined that the difference between the first push rod length and the second push rod length is greater than the fourth set threshold value of 20 mm, it is determined that a push rod length fault is triggered, and calibration is stopped and the calibration program is exited until the push rod length fault is resolved.

[0093] The solution of this embodiment, after determining the control strategy of the upper and lower linear transmission system according to the action instruction, the weight of the target load, the height of the load device and the attribute parameters, and controlling the upper and lower linear transmission system based on the control strategy, if the action instruction of the load device is received, the current height of the load device can be further determined, and according to the current height, it can be determined whether the upper and lower linear transmission system triggers a push rod length fault. If the push rod length fault is triggered, an alarm is issued, which can prevent safety accidents caused by excessive difference in push rod lengths of different upper and lower push rods.

[0094] Embodiment 3

[0095] Figure 4 Schematic diagram of the structure of a control device for an up and down linear transmission system provided according to the third embodiment of the present invention. Figure 4 As shown, the device includes: an action instruction determination module 410, an acquisition module 420, a control strategy determination module 430 and a control module 440.

[0096] The action instruction determination module 410 is used to determine the action instruction of the operator for the upper and lower linear transmission system;

[0097] An acquisition module 420 is used to acquire the weight of the target load currently carried by the load device, the height of the load device, and attribute parameters of the controller;

[0098] A control strategy determination module 430, for determining a control strategy of the upper and lower linear transmission system according to the action instruction, the weight of the target load, the height of the load device and the attribute parameter;

[0099] The control module 440 is used to control the up and down linear transmission system based on the control strategy.

[0100] The solution of this embodiment is to determine the operator's action instructions for the upper and lower linear transmission system through an action instruction determination module; obtain the weight of the target load currently carried by the load device, the height of the load device and the attribute parameters of the controller through an acquisition module; determine the control strategy of the upper and lower linear transmission system according to the action instructions, the weight of the target load, the height of the load device and the attribute parameters through a control strategy determination module; and control the upper and lower linear transmission system based on the control strategy through a control module, thereby safely controlling the upper and lower linear transmission system and preventing the occurrence of safety accidents.

[0101] In an optional implementation of the present embodiment, the action instruction determination module 410 is specifically used to obtain the operation simulation quantity of the operator for the upper and lower linear transmission system, and determine the action instruction corresponding to the operation simulation quantity; or, obtain the operation code of the operator for the upper and lower linear transmission system, and determine the action instruction according to the operation code; wherein the operation code and the action instruction are matched one by one.

[0102] In an optional implementation of this embodiment, the action instruction determination module 410 is further specifically used to obtain the operator's remote control instructions or switch instructions for the upper and lower linear transmission system to obtain the operation simulation quantity; and analyze the operation simulation quantity to obtain the action instruction.

[0103] In an optional implementation of this embodiment, the action instruction includes: an ascending instruction;

[0104] Correspondingly, the control strategy determination module 430 is specifically configured to determine the moving speed to be zero and issue a warning signal if it is determined that the attribute parameter is greater than a set attribute parameter threshold and the action instruction is an ascending instruction.

[0105] In an optional implementation of this embodiment, the action instruction includes: a descending instruction;

[0106] Correspondingly, the control strategy determination module 430 is also specifically used to determine the moving speed as the minimum moving speed and issue a warning signal if it is determined that the attribute parameter is greater than the set attribute parameter threshold and the action instruction is a descending instruction.

[0107] In an optional implementation of this embodiment, the action instruction includes: a balancing instruction;

[0108] Correspondingly, the control strategy determination module 430 is also specifically used to determine the target attribute parameter according to the weight of the target load and the height of the load device if it is determined that the attribute parameter is greater than the set attribute parameter threshold and the action instruction is a balancing instruction, and adjust the attribute parameter of the controller to the target attribute parameter so that the upper and lower linear transmission system enters a balanced state.

[0109] In an optional implementation of this embodiment, the control strategy determination module 430 is further specifically configured to determine a target motor speed for causing the load device to decrease at a uniform speed if it is determined that the attribute parameter is less than or equal to a set attribute parameter threshold and the action instruction is a decrease instruction, and adjust the motor speed according to the target motor speed;

[0110] In response to a descending instruction of the load device, determining the gravitational potential energy of the load device during the descending process according to the weight of the target load and the height of the load device;

[0111] The gravitational potential energy is converted into electrical energy, and the electrical energy is fed back to the target battery to charge the target battery.

[0112] In an optional implementation of this embodiment, the control device of the upper and lower linear transmission system further includes: a push rod length fault determination module, which is used to determine the current height of the load device in response to the action instruction of the load device;

[0113] Determining whether the upper and lower linear transmission system triggers a push rod length fault according to the current height;

[0114] The current height includes: a lower limit, a lower limit to the opening of the pit plate, or the opening of the pit plate to the upper limit.

[0115] In an optional implementation of the present embodiment, the push rod length fault determination module is specifically used for not detecting the push rod length fault when it is determined that the current height of the load device is the lower limit; when it is determined that the current height of the load device is from the lower limit to the opening of the pit plate, if it is determined that the difference between the first push rod length and the second push rod length is greater than the first set threshold, it is determined that the push rod length fault is triggered and an alarm is issued; in response to the push rod length fault trigger instruction, the load device is prohibited from rising; during the descent of the load device, if it is determined that the difference between the first push rod length and the second push rod length is less than or equal to the first set threshold, the push rod length fault is cancelled, otherwise, the alarm is continuously issued; when it is determined that the current height of the load device is from the opening of the pit plate to the upper limit, if it is determined that the difference between the first push rod length and the second push rod length is greater than the second set threshold, it is determined that the push rod length fault is triggered and an alarm is issued; in response to the push rod length fault trigger instruction, the load device is prohibited from rising; during the descent of the load device, if it is determined that the difference between the first push rod length and the second push rod length is less than or equal to the second set threshold, the push rod length fault is cancelled, otherwise, the alarm is continuously issued.

[0116] In an optional implementation of this embodiment, the control device of the upper and lower linear transmission system further includes: a push rod length calibration module, which is used to calibrate the push rod length of each of the upper and lower push rods of the upper and lower linear transmission system through at least one calibration mode;

[0117] The calibration modes include: no-load calibration mode, full-load calibration mode, indoor and outdoor calibration mode, or anti-pinch calibration mode.

[0118] In an optional implementation of this embodiment, the push rod length calibration module is specifically used to record the lower limit push rod length signal value of each of the upper and lower push rods at the lower limit in response to the start instruction of the no-load calibration mode, and determine the lower limit push rod length signal value as the push rod length zero value;

[0119] After rising to the upper limit position, the upper limit push rod length signal value of the current upper limit push rods is recorded, and the upper limit push rod length signal value is determined as the full value of the push rod length.

[0120] In an optional implementation of this embodiment, the control device of the upper and lower linear transmission system further includes: a push rod length determination module, which is used to receive the target length signal value of the upper and lower push rods;

[0121] A push rod length matching the target length signal value is determined according to the target length signal value, the push rod length zero value, and the push rod length full value.

[0122] In an optional implementation of this embodiment, the push rod length calibration module is further specifically used to perform an ascending or descending action on each of the upper and lower push rods in the no-load calibration mode, the full-load calibration mode, the indoor and outdoor calibration mode, or the anti-pinch calibration mode;

[0123] If it is determined that the current height of the load device is at the lower limit, the push rod length fault is not detected;

[0124] If it is determined that the current height of the load device is at the lower limit until the pit plate is opened, and if it is determined that the difference between the first push rod length and the second push rod length is greater than a third set threshold, it is determined that a push rod length fault is triggered, calibration is stopped, and calibration is exited until the push rod length fault is resolved;

[0125] When it is determined that the current height of the load device is when the pit plate is opened to the upper limit, if it is determined that the difference between the first push rod length and the second push rod length is greater than a fourth set threshold, it is determined that a push rod length fault is triggered, calibration is stopped, and calibration is exited until the push rod length fault is resolved.

[0126] The control device of the up and down linear transmission system provided in the embodiment of the present invention can execute the control method of the up and down linear transmission system provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0127] Embodiment 4

[0128] Figure 5 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0129] like Figure 5As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0130] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0131] The processor 11 can be various general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The processor 11 executes the various methods and processes described above, such as a control method for an upper and lower linear transmission system, the method comprising: determining an operator's action instruction for the upper and lower linear transmission system; obtaining the weight of the target load currently carried by the load device, the height of the load device, and the attribute parameters of the controller; determining the control strategy of the upper and lower linear transmission system according to the action instruction, the weight of the target load, the height of the load device, and the attribute parameters; the attribute parameters include at least one of the following: current, voltage, torque, and speed; and controlling the upper and lower linear transmission system based on the control strategy.

[0132] In some embodiments, the control method of the upper and lower linear transmission system can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the control method of the upper and lower linear transmission system described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the control method of the upper and lower linear transmission system in any other appropriate manner (for example, by means of firmware).

[0133] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0134] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0135] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0136] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0137] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0138] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0139] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0140] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A control method for an up and down linear transmission system, characterized in that: The up-down linear transmission system comprises: a controller and at least two up-down push rods; the up-down push rods act together on the load device to move the load device up and down; each of the up-down push rods is driven by a different motor; the control method of the up-down linear transmission system comprises: Determining an operator's action instructions for the upper and lower linear transmission system; Obtaining the weight of the target load currently carried by the load device, the height of the load device, and attribute parameters of the controller; Determining a control strategy of the vertical linear transmission system according to the action instruction, the weight of the target load, the height of the load device and the attribute parameters; the attribute parameters include at least one of the following: current, voltage, torque and rotation speed; The upper and lower linear transmission systems are controlled based on the control strategy.

2. The control method of the vertical linear transmission system according to claim 1, characterized in that: The determining of the operator's action instructions for the upper and lower linear transmission system includes: Acquire an operation simulation quantity of the operator on the upper and lower linear transmission system, and determine an action instruction corresponding to the operation simulation quantity; Alternatively, obtaining an operation code of an operator for the upper and lower linear transmission system, and determining the action instruction according to the operation code; The operation codes are matched one by one with the action instructions.

3. The control method of the vertical linear transmission system according to claim 2, characterized in that: The step of obtaining an operation simulation value of the operator on the upper and lower linear transmission system and determining an action instruction corresponding to the operation simulation value includes: Obtaining a remote control instruction or a switch instruction of an operator for the up and down linear transmission system to obtain the operation analog value; The operation analog quantity is analyzed to obtain the action instruction.

4. The control method of the vertical linear transmission system according to claim 1, characterized in that: The action instructions include: an ascending instruction; Accordingly, the control strategy of the upper and lower linear transmission system is determined according to the action instruction, the weight of the target load, the height of the load device and the attribute parameter, including: If it is determined that the attribute parameter is greater than the set attribute parameter threshold and the action instruction is an ascending instruction, the moving speed is determined to be zero and a warning signal is issued.

5. The control method of the vertical linear transmission system according to claim 1, characterized in that: The action instructions also include: a descending instruction; Accordingly, the control strategy of the upper and lower linear transmission system is determined according to the action instruction, the weight of the target load, the height of the load device and the attribute parameter, including: If it is determined that the attribute parameter is greater than the set attribute parameter threshold and the action instruction is a descending instruction, the moving speed is determined as the minimum moving speed and an early warning signal is issued.

6. The control method of the vertical linear transmission system according to claim 1, characterized in that: The action instructions also include: balance instructions; Accordingly, the control strategy of the upper and lower linear transmission system is determined according to the action instruction, the weight of the target load, the height of the load device and the attribute parameter, including: If it is determined that the attribute parameter is greater than the set attribute parameter threshold and the action instruction is a balancing instruction, the target attribute parameter is determined based on the weight of the target load and the height of the load device, and the attribute parameter of the controller is adjusted to the target attribute parameter so that the upper and lower linear transmission system enters a balanced state.

7. The control method of the vertical linear transmission system according to claim 1, characterized in that: The step of determining the control strategy of the vertical linear transmission system according to the action instruction, the weight of the target load, the height of the load device and the attribute parameter further includes: If it is determined that the attribute parameter is less than or equal to the set attribute parameter threshold, and the action instruction is a descending instruction, a target motor speed for causing the load device to descend at a uniform speed is determined, and the motor speed is adjusted according to the target motor speed; In response to a descending instruction of the load device, determining the gravitational potential energy of the load device during the descending process according to the weight of the target load and the height of the load device; The gravitational potential energy is converted into electrical energy, and the electrical energy is fed back to the target battery to charge the target battery.

8. The control method of the vertical linear transmission system according to claim 1, characterized in that: The method further comprises: In response to the motion instruction of the load device, determining the current height of the load device; Determining whether the upper and lower linear transmission system triggers a push rod length fault according to the current height; The current height includes: a lower limit, a lower limit to the opening of the pit plate, or the opening of the pit plate to the upper limit.

9. The control method of the vertical linear transmission system according to claim 8, characterized in that: The method further comprises: Calibrate the push rod length of each of the upper and lower push rods of the upper and lower linear transmission system by using at least one calibration mode; The calibration modes include: no-load calibration mode, full-load calibration mode, indoor and outdoor calibration mode, or anti-pinch calibration mode.

10. The control method of the vertical linear transmission system according to claim 9, characterized in that: The step of calibrating the length of each of the upper and lower push rods of the upper and lower linear transmission system by at least one calibration mode includes: In response to the start instruction of the no-load calibration mode, the lower limit push rod length signal value of each of the upper and lower push rods is recorded at the lower limit, and the lower limit push rod length signal value is determined as the push rod length zero value; After rising to the upper limit position, the upper limit push rod length signal value of the current upper limit push rods is recorded, and the upper limit push rod length signal value is determined as the full value of the push rod length.

11. The control method of the vertical linear transmission system according to claim 10, characterized in that: Also includes: Receiving a target length signal value of the upper and lower push rods; A push rod length matching the target length signal value is determined according to the target length signal value, the push rod length zero value, and the push rod length full value.

12. The control method of the vertical linear transmission system according to claim 9, characterized in that: The step of calibrating the length of each of the upper and lower push rods of the upper and lower linear transmission system by at least one calibration mode further includes: In the no-load calibration mode, the full-load calibration mode, the indoor and outdoor calibration mode or the anti-pinch calibration mode, when each of the upper and lower push rods is raised or lowered; If it is determined that the current height of the load device is at the lower limit, the push rod length fault is not detected; If it is determined that the current height of the load device is from the lower limit to the lower limit to the opening of the pit plate, and the difference between the first push rod length and the second push rod length is greater than a third set threshold, it is determined that a push rod length fault is triggered, calibration is stopped, and calibration is exited until the push rod length fault is resolved; If it is determined that the current height of the load device is from the lower limit to the upper limit, and the difference between the first push rod length and the second push rod length is greater than the fourth set threshold, it is determined that a push rod length fault is triggered, calibration is stopped, and calibration is exited until the push rod length fault is resolved.

13. The control method of the vertical linear transmission system according to claim 8, characterized in that: Determining whether the upper and lower linear transmission system triggers a push rod length fault according to the current height includes: When it is determined that the current height of the load device is the lower limit, the push rod length fault is not detected; When it is determined that the current height of the load device is at the lower limit position until the pit plate is opened, and the difference between the first push rod length and the second push rod length is greater than a first set threshold, it is determined that a push rod length fault is triggered and an alarm is issued; In response to the push rod length fault trigger instruction, the load device is prohibited from ascending; during the descent of the load device, if it is determined that the difference between the first push rod length and the second push rod length is less than or equal to a first set threshold, the push rod length fault is cancelled, otherwise, a continuous alarm is issued; When it is determined that the current height of the load device is that the pit plate is opened to the upper limit, and the difference between the first push rod length and the second push rod length is greater than a second set threshold, it is determined that a push rod length fault is triggered and an alarm is issued; In response to the push rod length fault trigger instruction, the load device is prohibited from rising; during the descent of the load device, if it is determined that the difference between the first push rod length and the second push rod length is less than or equal to the second set threshold, the push rod length fault is cancelled, otherwise, the alarm continues.

14. A control device for an up and down linear transmission system, characterized in that: The up-down linear transmission system comprises: a controller and at least two up-down push rods; the up-down push rods act together on the load device to move the load device up and down; each of the up-down push rods is driven by a different motor; the control device of the up-down linear transmission system comprises: An action instruction determination module, used to determine an operator's action instruction for the up and down linear transmission system; An acquisition module, for acquiring the weight of the target load currently carried by the load device, the height of the load device, and attribute parameters of the controller; A control strategy determination module, used to determine the control strategy of the up and down linear transmission system according to the action instruction, the weight of the target load, the height of the load device and the attribute parameter; A control module, used for controlling the up and down linear transmission system based on the control strategy; The attribute parameter includes at least one of the following: current, voltage, torque and rotation speed.

15. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the control method of the upper and lower linear transmission system according to any one of claims 1-13.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the control method of the upper and lower linear transmission system according to any one of claims 1 to 13 when executed.

17. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the control method of the upper and lower linear transmission system according to any one of claims 1 to 13.

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