Positioning control method for medical medium-sized box type logistics vertical sorting machine

Abstract

The invention discloses a medical medium-sized box-type logistics vertical sorting machine positioning control method, and relates to the field of logistics equipment transportation, and the method comprises the following steps: step 1, obtaining the current position of a lift car; 2, comparing the current position with the destination position to obtain a position difference value; step 3, entering step 4 when the position difference value is greater than or equal to the deceleration threshold value, entering step 5 when the position difference value is smaller than the deceleration threshold value, and entering step 6 when the position difference value is smaller than or equal to the shutdown threshold value; 4, constructing a linear function, and calculating an output frequency according to the position difference value; 5, constructing a PID algorithm, and calculating an output frequency according to the position difference value; and 6, when the position difference value is smaller than or equal to the shutdown threshold value, the lift car automatically stops. The position difference value is obtained by comparing the current position of the lift car with the target position, the output frequency of the frequency converter is dynamically adjusted by combining the position difference value with an algorithm, accurate control over the rotating speed of the motor is achieved, and the lift car can accurately stop at the set destination position.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics equipment transportation, and in particular to a positioning control method for a medical medium-sized box-type vertical logistics sorting machine. Background Art

[0002] With the continuous expansion of the scale of modern hospitals and the accelerated advancement of the intelligent process, the transportation of materials such as medicines, infusions, and consumables in hospitals faces extremely stringent timeliness tests. The traditional mode of transporting materials in hospitals that relies on manual handling is unable to meet the actual needs of modern hospital operations due to its inherent defects such as low efficiency, high error rate, and difficulty in meeting the needs of large-scale rapid circulation of materials. In this context, the application of automated logistics and transportation systems in hospitals is becoming increasingly widespread, among which the medium-sized box-type logistics system has become one of the most commonly used systems due to its advantages in carrying capacity and transportation stability.

[0003] However, even in the process of continuous development of automated logistics systems, there is still a lot of room for improvement in the positioning control accuracy and efficiency of medical medium-sized box-type logistics vertical sorting machines. At present, during the vertical transportation process of medium-sized box-type logistics vertical sorting machines, positioning deviations are prone to occur, and it is difficult to achieve precise positioning, which affects the rapid and accurate delivery of materials and reduces the overall operation of the hospital logistics system. For this reason, a positioning control method for medical medium-sized box-type logistics vertical sorting machines is proposed. Summary of the invention

[0004] The purpose of the present invention is to provide a positioning control method for a medium-sized box-type medical logistics vertical sorting machine to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: a positioning control method for a medium-sized box-type vertical sorting machine for medical logistics, comprising the following steps:

[0006] Step 1: Use the position monitoring tool to monitor the position of the car in the sorting machine in real time and obtain the current accurate position information of the car;

[0007] Step 2, comparing the obtained current position coordinates of the car with the destination position coordinates to obtain the position difference between the two;

[0008] Step 3, setting the deceleration threshold and the stop threshold of the car according to the size of the position difference. When the position difference is greater than or equal to the deceleration threshold, proceed to step 4; when the position difference is less than the deceleration threshold, proceed to step 5; when the position difference is less than or equal to the stop threshold, proceed to step 6;

[0009] Step 4, construct a linear function of the output frequency and the position difference during the car startup phase, and calculate the output frequency of the car startup based on the position difference greater than the startup threshold;

[0010] Step 5, constructing a PID algorithm between the output frequency and the position difference during the car deceleration phase, and calculating the output frequency of the car deceleration based on the position difference that is less than or equal to the deceleration threshold;

[0011] Step 6, setting the output frequency of the car when it stops to zero, so that the car stops automatically when the position difference is less than or equal to the stop threshold, completing the positioning of the car.

[0012] Preferably, in step 2, the position difference is obtained by:

[0013] S201, obtaining the current position coordinates of the car in the vertical direction from the position monitoring tool in step 1;

[0014] S202, setting the destination coordinates of the car in the vertical direction;

[0015] S203, constructing a difference formula between the current position coordinates of the car and the destination coordinates, and calculating the position difference through the difference formula, wherein the difference formula is:

[0016] x=|ij|

[0017] Where i represents the vertical height coordinate of the current position of the car, j represents the vertical height coordinate of the car at the destination position, and x represents the position difference.

[0018] Preferably, in step 4, the linear function of the output frequency and the position difference in the car startup phase is specifically:

[0019] y 启 =ax+b

[0020] In the formula, y 启 It represents the output frequency during the car startup phase, and a and b represent constant coefficients respectively.

[0021] Preferably, in step 5, the PID algorithm between the output frequency and the position difference in the car deceleration stage is specifically:

[0022]

[0023] In the formula, y 减 Indicates the output frequency of the car deceleration stage, K p e(t) represents the proportional term, K p represents the proportionality coefficient, e(t) represents the error at time t; K i ∫e(t)dt represents the integral term, K i represents the integral coefficient, ∫e(t)dt represents the error integral; represents the differential term, K dis the differential coefficient, is the error derivative.

[0024] Preferably, in step 4 and step 5, the maximum value y0 of the output frequency is set, and the output frequency y 启 Or the output frequency y during the car deceleration phase 减 When the output frequency is greater than the maximum output frequency y0, y is set 启 =y 减 =y0, where the maximum output frequency y0 is converted into the actual speed v 实 Less than the maximum speed v of the car max .

[0025] Preferably, in step 3, the deceleration threshold of the car position difference is 1000 mm, and the shutdown threshold of the car position difference is 5 mm.

[0026] Preferably, the operation phase of the car specifically includes:

[0027] When x ≥ 1000mm, the car is in the starting acceleration stage;

[0028] When 1000mm>x>5mm, the car is in the deceleration stage;

[0029] When x≤5mm, the car is in the shutdown stage.

[0030] In addition, the present invention also provides a positioning control system for a medium-sized medical box-type logistics vertical sorting machine, comprising:

[0031] A position monitoring module, which is used to monitor the real-time position information of the car in the medical medium-sized box-type logistics vertical sorting machine and obtain the current position coordinates of the car;

[0032] A position difference calculation module, which is used to calculate the difference between the car target position coordinates and the car current position coordinates;

[0033] The processing module receives and processes the position difference calculated by the position difference module, calculates the output frequency of the inverter according to the size of the position difference, and enables the inverter to control the motor to drive the car to accelerate, decelerate or stop, thereby completing the precise positioning of the car.

[0034] In addition, the present invention also provides a positioning control device for a medical medium-sized box-type logistics vertical sorting machine, comprising a storage device and at least one processor, wherein the storage device stores computer-readable instructions;

[0035] At least one of the processors calls the computer-readable instructions in the storage to execute the positioning control method of a medical medium-sized box-type logistics vertical sorting machine as described above.

[0036] In addition, the present invention also provides a computer-readable storage medium, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor, the various steps of the positioning control method of a medical medium-sized box-type logistics vertical sorting machine as described above are implemented.

[0037] Technical effects and advantages of the present invention:

[0038] The core of the control method provided by the present invention is to build a closed-loop control system, obtain the current position of the car by real-time monitoring of the car position coordinates, and compare it with the target position to obtain the position difference. The output frequency of the inverter is dynamically adjusted by combining the position difference with the algorithm to achieve precise control of the motor speed, so that the car can accurately stop at the set destination position, complete the positioning task of the vertical sorting machine, ensure that hospital supplies can be quickly and accurately transported to the designated floors and positions, and significantly improve the overall operating efficiency of the hospital logistics system. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 The figure is a flow chart of the positioning control method of the present invention. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0041] The present invention provides Figure 1 A positioning control method for a medium-sized medical box-type logistics vertical sorting machine is shown, comprising the following steps:

[0042] Step 1, using a position monitoring tool to monitor the position of the car in the sorting machine in real time, and obtain the current accurate position information of the car; the car is one of the important components of the vertical sorting machine, and can be stably moved up and down along the shaft under the drive of the vertical sorting machine, providing a basic platform for the vertical transportation of materials, and the monitoring tool in this embodiment can use a grating ruler, which is precisely arranged in the shaft of the vertical sorting machine along the vertical direction to form a close detection and feedback link with the vertical sorting machine. Through the high-precision measurement principle of the grating ruler, the position coordinate information of the car in the vertical direction is read in real time and accurately, and it is transmitted to the control system in time to obtain the real-time current position coordinates of the car;

[0043] Step 2, compare the obtained current position coordinates of the car with the destination position coordinates to obtain the position difference between the two. By comparing the destination position coordinates with the current position coordinates of the car monitored by the grating ruler, the position difference between the current position of the car and the destination position can be obtained. The position difference can be used to know the distance between the car and the destination coordinates, thereby providing a basis for subsequent control of the car to accelerate, maintain a constant speed or decelerate;

[0044] Step 3, according to the size of the position difference, the deceleration threshold and the stop threshold of the car are set. In this embodiment, the deceleration threshold of the car position difference is 1000mm, and the stop threshold of the car position difference is 5mm; when the position difference is greater than or equal to the deceleration threshold, step 4 is entered; when the position difference is less than the deceleration threshold, step 5 is entered; when the position difference is less than or equal to the stop threshold, step 6 is entered. Through this step, the interval of the position difference obtained in step 2 is determined, so that the control system can dynamically adjust the output frequency of the inverter on the vertical sorting machine according to the interval where the position difference is located, so that the inverter can control the vertical The motor driving the car on the vertical sorter is precisely controlled, so that the car can be instructed to accelerate, decelerate or stop, so that the car can quickly and accurately reach the predetermined target position, and efficiently and stably complete the positioning task of the vertical sorter; in the vertical sorter, the distance between the two adjacent stop points above and below the car is generally required to be greater than 1000mm, so that the car can start acceleration, deceleration and stop after being positioned at any stop point and transported to other subsequent stop points, so that the car can be accurately positioned at each stop point;

[0045] Step 4, when x≥1000mm, the car is in the start-up acceleration stage, and a linear function of the output frequency and position difference in the car start-up stage is constructed. The output frequency of the car start-up is calculated based on the position difference greater than the start threshold. The output frequency of the inverter is calculated through the linear function, so that the inverter can accurately control the speed of acceleration when the motor drives the car to start, and realize a smooth and efficient start-up process of the car, which can shorten the time used in the car start-up stage and make the positioning of the car more efficient. In addition, in order to ensure the stability of the car in the acceleration stage and avoid the problem of vertical sorting machine failure or safety hazards caused by excessive start-up speed, the output frequency on the inverter needs to set a maximum protection mechanism. When the output frequency calculated by the linear function is greater than the maximum value set on the inverter, the inverter controller forces the received output frequency to be adjusted to the maximum output frequency value, so as to ensure the safe and stable use of the inverter, and when the maximum output frequency of the inverter is converted to the working speed of the motor, the speed should be less than the maximum speed set on the motor to ensure the safety of the vertical sorting machine during operation and reduce the failure rate and safety hazards;

[0046] Step 5, when 1000mm>x>5mm, the car is in the deceleration stage, and a PID algorithm (generally written in the PID controller) is constructed between the output frequency and the position difference in the car deceleration stage, and the output frequency of the car deceleration is calculated according to the position difference that is less than or equal to the deceleration threshold. In this process, the PID algorithm in the PID controller is introduced to perform a comprehensive calculation on the difference according to the three control strategies of proportion (P), integration (I), and differentiation (D), and then dynamically adjust the output of the frequency converter to obtain the corresponding output frequency. In this process, the car on the vertical sorting machine is controlled by a variable acceleration method, and the speed of the car changes with time and presents a continuous and smooth change curve, which is compared with the car's The traditional deceleration method can effectively avoid possible speed changes or setbacks. This not only improves the positioning accuracy of the car, but also makes the car more stable during the deceleration process, reduces impact and wear of parts, and helps to improve the protection of the car and the items in the car, making the vertical sorting machine safer for the transportation of items, while reducing the failure rate and extending the service life of the vertical sorting machine. During this process, the maximum output frequency still needs to be set on the inverter. If the output frequency calculated at this stage is greater than or equal to the maximum output frequency of the inverter, the output frequency of the inverter is forcibly set to the preset maximum value to ensure the safe and stable operation of the car, thereby avoiding equipment failure or safety hazards caused by excessive starting speed.

[0047] Step 6, when ≤5mm, the car is in the shutdown stage, and the output frequency of the car when it is shut down is set to zero, so that the car stops automatically when the position difference is less than or equal to the shutdown threshold, completing the positioning of the car; when the position difference is in the shutdown value range, the output frequency of the inverter becomes 0, so that the motor can be shut down and the car can be parked smoothly at the destination position, completing the positioning process of the entire vertical sorting machine, and making the car positioning accurate, with an error of no more than 5mm, achieving the purpose of precise positioning, and realizing precise positioning of the vertical sorting machine car in the vertical direction, thereby ensuring that hospital materials can be quickly and accurately transported to the designated floors and locations, significantly improving the overall operating efficiency of the hospital logistics system.

[0048] It should be noted that, in step 2, the position difference is obtained as follows:

[0049] S201, obtaining the current position coordinates of the car in the vertical direction from the position monitoring tool (grating ruler) in step 1;

[0050] S202, setting the destination coordinates of the car in the vertical direction, the destination coordinates are generally the floor corresponding to the hoistway or the window at the corresponding height, etc., so that after the car moves to the destination position, the medical staff can take and put medicines, equipment or cuttings;

[0051] S203, constructing a difference formula between the current position coordinates of the car and the destination coordinates, and calculating the position difference through the difference formula, wherein the difference formula is:

[0052] x=|ij|

[0053] In the formula, i represents the vertical height coordinate of the current position of the car, j represents the vertical height coordinate of the car at the destination position, and x represents the position difference. The absolute value of the difference between the current position coordinate of the car and the destination position coordinate can make the output position difference a positive number, which not only can intuitively represent the distance between the current position coordinate and the destination position coordinate, but also facilitates the subsequent calculation of the corresponding output frequency through the position difference.

[0054] It should be noted that in step 4, the linear function of the output frequency and position difference during the car startup phase is specifically:

[0055] y 启 =ax+b

[0056] In the formula, y 启 represents the output frequency of the car start-up phase, a and b represent constant coefficients respectively; the output frequency of the inverter is obtained according to the linear function to realize the rapid start-up of the vertical sorting machine car. In this process, by flexibly adjusting the values ​​of coefficients a and b, the speed of acceleration of the car when starting can be accurately controlled to achieve a smooth and efficient starting process, which helps to improve the stability of the car start-up acceleration process while achieving the best starting speed and acceleration speed, shorten the time from the smallest run to the next positioning point, and improve the working efficiency of the vertical sorting machine.

[0057] It should be noted that in step 5, the PID algorithm between the output frequency and the position difference during the car deceleration stage is specifically:

[0058]

[0059] In the formula, y 减 Indicates the output frequency of the car deceleration stage, K p e(t) represents the proportional term, which is used to respond to the error immediately to reduce the error; K p It represents the proportional coefficient, which is mainly used to adjust the control output proportionally according to the size of the error, and quickly respond to the deviation change of the control system on the vertical sorting machine. e(t) represents the error at time t; K i ·∫e(t)dt represents the integral term, which is used to eliminate the static error by compensating for the accumulation of the error; K iIt represents the integral coefficient, which is mainly used to eliminate the steady-state error of the system and ensure that the car can finally stop stably at the target position. ∫e(t)dt represents the error integral; represents the differential term, which is used to enhance the stability and response speed of the system through the sensitivity to the error change rate; K d is the differential coefficient, and its main function is to predict the changing trend of the error in advance, so as to adjust the control output in time before the error increases significantly, and enhance the dynamic response performance of the system. is the error derivative.

[0060] In addition, in order to ensure the safety of the vertical sorting machine, two protective measures, namely, a forced deceleration mechanism at the hoistway boundary and multi-factor safety signal monitoring and emergency stop response, can be added in this embodiment to enhance the safety protection performance during the operation of the car; the forced deceleration mechanism at the hoistway boundary is specifically:

[0061] In order to ensure the safety and stability of the medical medium-sized box-type logistics vertical sorting machine during operation, especially when approaching key areas such as the top and bottom of the shaft, a protection mechanism of forced deceleration mark coordinates and corresponding speed limit values ​​can be established. For example, at the top of the shaft, after precise measurement and calibration, the upper forced deceleration mark coordinates are determined, and the matching safety speed value is set; when the car is in an ascending state and its actual position coordinates exceed the upper forced deceleration mark coordinates, the control system on the vertical sorting machine will immediately monitor and judge the current running speed of the car in real time; if it is found that the running speed at this time is greater than the pre-defined speed value, in order to avoid serious safety accidents such as collision with the top of the shaft caused by overspeeding, the control system will quickly start the forced deceleration program and force the running speed of the car to be adjusted to the pre-defined speed value, thereby ensuring that the car can approach the top of the shaft at a safe speed and complete subsequent running operations or docking actions;

[0062] Similarly, similar calibration operations are performed at the bottom of the shaft to determine the lower forced deceleration mark coordinates and speed limit values. For example, when the car is in a descending state and the actual position of the car is less than the lower forced deceleration mark coordinates, if the current running speed is greater than the set speed value, the control system will also decisively implement forced deceleration measures on the vertical sorting machine and set the speed to the preset speed value to ensure that the car will not collide with the bottom of the shaft due to overspeed during the descent process, effectively protecting the safety of the equipment and the transported hospital materials, and also providing a solid guarantee for maintaining the normal operation order of the hospital.

[0063] Among them, the multiple safety signal monitoring and emergency stop response mechanism is specifically as follows:

[0064] During the entire process of the vertical sorting machine performing vertical positioning tasks, a comprehensive and strict safety monitoring system is built, covering real-time monitoring and abnormal handling mechanisms for multiple safety signals; once the system detects the triggering of any safety alarm signal, the vertical sorting machine will stop operating immediately to minimize possible safety risks and accident losses;

[0065] These safety signals include but are not limited to safety photoelectric signals, car door signals, floor door signals, limit switch signals, emergency stop signals, and speed detection signals. Each safety signal plays an indispensable role in the safety protection network of the vertical sorter, and each has a specific safety monitoring function. For example, in terms of safety photoelectric protection, when the vertical sorter is in the positioning process, if the safety photoelectric signal is triggered, it means that there may be abnormal situations such as foreign objects blocking or people intruding on the car's running path. In order to prevent possible collision accidents from causing harm to personnel and equipment, the system will respond quickly and immediately order the elevator to stop running, so that the car remains in the current position and does not move until the safety photoelectric signal returns to normal and is confirmed again by the system. After confirmation, it will decide whether to restore the normal operation of the vertical sorting machine according to the specific situation; for example, the speed abnormality alarm mechanism, the vertical sorting machine is equipped with a high-precision speed detection device, which can detect the running speed of the car in real time and accurately. If during operation, the current running speed is greater than the maximum speed set by the sorting machine, this indicates that the car may be out of control or other abnormal operating conditions. At this time, the system will immediately trigger an alarm signal and start the emergency stop program at the same time to stop the vertical sorting machine quickly to avoid serious safety accidents such as car derailment and collision caused by excessive speed, ensure that the safe channel for hospital material transportation is always in a controllable and safe state, and provide a reliable safety protection barrier for the hospital's logistics automation operations.

[0066] In one embodiment, a positioning control system for a medical medium-sized box-type logistics vertical sorting machine is provided, including a position monitoring module, a position difference calculation module and a processing module. The position monitoring module is used to monitor the real-time position information of the car in the medical medium-sized box-type logistics vertical sorting machine, obtain the current position coordinates of the car, and collect the position coordinates of the car in the shaft in real time through the position monitoring module. The current position coordinates of the car can be accurately obtained, which provides an indispensable key data basis for subsequent precise positioning control; the position difference calculation module is used to calculate the difference between the target position coordinates of the car and the current position coordinates of the car. The position difference calculation module has a preset destination position coordinate (the destination position coordinate can be input through the human-computer interaction module installed in the system), and the position difference calculation module calculates the destination position coordinates of the car and the current position coordinates of the car. The difference between the position coordinates is calculated and the difference is given an absolute value, so as to obtain a positive position difference, so as to facilitate the subsequent difference range judgment and processing; the processing module receives the position difference calculated by the position difference module and processes it, calculates the output frequency of the inverter according to the size of the position difference, and makes the inverter control the motor to drive the car to accelerate, decelerate or stop, so as to complete the precise positioning of the car. The processing module first analyzes and judges the received position difference to make it fall into the preset threshold interval, and then the processing module selects the corresponding processing method (such as the method described in the above steps 4, 5 and 6) to dynamically adjust the output frequency of the inverter, and finally realizes the inverter to accurately control the speed of the motor driving the car on the vertical sorting machine, so that the car can accurately stop at the set destination position, and complete the positioning task of the vertical sorting machine.

[0067] In one embodiment, a positioning control device for a medical medium-sized box-type logistics vertical sorting machine is provided, comprising a storage device and at least one processor, wherein the storage device stores computer-readable instructions; at least one processor calls the computer-readable instructions in the storage device to execute the steps of the positioning control method for the medical medium-sized box-type logistics vertical sorting machine in the above embodiment.

[0068] In one embodiment, a computer-readable storage medium is provided. The computer-readable storage medium may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions are executed on a computer, the computer executes the steps of a positioning control method for a medical medium-sized box-type logistics vertical sorting machine.

[0069] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A positioning control method for a medium-sized medical box-type logistics vertical sorting machine, characterized in that: The following steps are involved: Step 1: Use the position monitoring tool to monitor the position of the car in the sorting machine in real time and obtain the current accurate position information of the car; Step 2, comparing the obtained current position coordinates of the car with the destination position coordinates to obtain the position difference between the two; Step 3, setting the deceleration threshold and the stop threshold of the car according to the size of the position difference. When the position difference is greater than or equal to the deceleration threshold, proceed to step 4; when the position difference is less than the deceleration threshold, proceed to step 5; when the position difference is less than or equal to the stop threshold, proceed to step 6; Step 4, construct a linear function of the output frequency and the position difference during the car startup phase, and calculate the output frequency of the car startup based on the position difference greater than the startup threshold; Step 5, constructing a PID algorithm between the output frequency and the position difference during the car deceleration phase, and calculating the output frequency of the car deceleration based on the position difference that is less than or equal to the deceleration threshold; Step 6, setting the output frequency of the car when it stops to zero, so that the car stops automatically when the position difference is less than or equal to the stop threshold, completing the positioning of the car.

2. A positioning control method for a medical medium-sized box-type logistics vertical sorting machine according to claim 1, characterized in that: In step 2, the position difference is obtained specifically as follows: S201, obtaining the current position coordinates of the car in the vertical direction from the position monitoring tool in step 1; S202, setting the destination coordinates of the car in the vertical direction; S203, constructing a difference formula between the current position coordinates of the car and the destination coordinates, and calculating the position difference through the difference formula, wherein the difference formula is: x=|ij| Where i represents the vertical height coordinate of the current position of the car, j represents the vertical height coordinate of the car at the destination position, and x represents the position difference.

3. The positioning control method of a medical medium-sized box-type logistics vertical sorting machine according to claim 1 is characterized in that: In step 4, the linear function of the output frequency and the position difference in the car startup phase is specifically: y 启 =ax+b In the formula, y 启 It represents the output frequency during the car startup phase, and a and b represent constant coefficients respectively.

4. A positioning control method for a medical medium-sized box-type logistics vertical sorting machine according to claim 1, characterized in that: In step 5, the PID algorithm between the output frequency and the position difference in the car deceleration stage is specifically: In the formula, y 减 Indicates the output frequency of the car deceleration stage, K p e(t) represents the proportional term, K p represents the proportionality coefficient, e(t) represents the error at time t; K i ∫e(t)dt represents the integral term, K i represents the integral coefficient, ∫e(t)dt represents the error integral; represents the differential term, K d is the differential coefficient, is the error derivative.

5. A positioning control method for a medical medium-sized box-type logistics vertical sorting machine according to claim 3, characterized in that: In step 4 and step 5, the maximum value y0 of the output frequency is set, and the output frequency y 启 Or the output frequency y during the car deceleration phase 减 When the output frequency is greater than the maximum output frequency y0, y is forced to be set 启 =y 减 =y0, where the maximum output frequency y0 is converted into the actual speed v 实 Less than the maximum speed v of the car max .

6. A positioning control method for a medical medium-sized box-type logistics vertical sorting machine according to claim 1, characterized in that: In step 3, the deceleration threshold of the car position difference is 1000 mm, and the shutdown threshold of the car position difference is 5 mm.

7. A positioning control method for a medical medium-sized box-type logistics vertical sorting machine according to claim 6, characterized in that: The operation phase of the car specifically includes: When x ≥ 1000mm, the car is in the starting acceleration stage; When 1000mm>x>5mm, the car is in the deceleration stage; When x≤5mm, the car is in the shutdown stage.

8. A positioning control system for a medium-sized medical box-type logistics vertical sorting machine, characterized in that: include: A position monitoring module, which is used to monitor the real-time position information of the car in the medical medium-sized box-type logistics vertical sorting machine and obtain the current position coordinates of the car; A position difference calculation module, which is used to calculate the difference between the car target position coordinates and the car current position coordinates; The processing module receives and processes the position difference calculated by the position difference module, calculates the output frequency of the inverter according to the size of the position difference, and enables the inverter to control the motor to drive the car to accelerate, decelerate or stop, thereby completing the precise positioning of the car.

9. A positioning control device for a medium-sized medical box-type logistics vertical sorting machine, characterized in that: comprising a memory and at least one processor, wherein the memory stores computer-readable instructions; At least one of the processors calls the computer-readable instructions in the storage to execute the positioning control method of the medical medium-sized box-type logistics vertical sorting machine as described in any one of claims 1-7.

10. A computer-readable storage medium having computer-readable instructions stored thereon, characterized in that: When the computer-readable instructions are executed by the processor, the various steps of the positioning control method of the medical medium-sized box-type logistics vertical sorting machine as described in any one of claims 1-7 are implemented.

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