Position adjusting method, device, system, equipment, storage medium and program product

Abstract

The invention relates to a position adjusting method, device and system, equipment, a storage medium and a program product. The method comprises the following steps: firstly, acquiring a plurality of displacement adjustment parameter groups comprising displacement adjustment parameters corresponding to each suspension device, and then for each displacement adjustment parameter group, controlling the plurality of suspension devices to move based on the displacement adjustment parameters in the displacement adjustment parameter groups, the method comprises the following steps: moving a plurality of suspension devices to a target object, acquiring a bearing value of each suspension device to the target object after moving to obtain a bearing value set, finally, determining a target displacement adjustment parameter group from a plurality of displacement adjustment parameter groups according to the bearing value set corresponding to each displacement adjustment parameter group, and controlling the plurality of suspension devices to work according to the target displacement adjustment parameter group. By means of the method, the positions of the multiple suspension devices can be adjusted at the same time, the positions do not need to be adjusted one by one, and therefore the position adjusting efficiency of the multiple suspension devices is improved.

Description

Technical Field

[0001] This application relates to the field of stage control technology, and in particular, to a position adjustment method, device, system, equipment, storage medium, and program product. Background Art

[0002] With the increase in performance scenarios, the demand for the diversity of the stage is also growing, and stage suspension equipment for hanging actors, props, and scenery in stage performances has emerged. The stage numerical control hoist is a special suspension equipment applied in the field of stage performances, mainly used for lifting stage lighting fixtures, audio equipment, and stage scenery props, etc., to achieve the rapid arrangement and flexible adjustment of stage equipment. The stage numerical control hoist needs to have a certain load capacity and at the same time ensure a high positioning accuracy.

[0003] Currently, usually multiple stage numerical control hoists are used to jointly hang the same object, and multiple stage numerical control hoists need to be positioned and adjusted to ensure that the load-bearing of each stage numerical control hoist is within its load requirement range. The positioning adjustment method of the stage numerical control hoist is generally to adjust each numerical control hoist sequentially, and the adjustment efficiency is not high. Summary of the Invention

[0004] Based on this, it is necessary to provide a position adjustment method, device, system, equipment, storage medium, and program product that can improve the position adjustment efficiency for the above technical problems.

[0005] In a first aspect, this application provides a position adjustment method, which is applied to a position adjustment system. The position adjustment system includes multiple suspension devices, and the multiple suspension devices are used to jointly suspend a target object. The method includes:

[0006] Obtain multiple displacement adjustment parameter groups, where each displacement adjustment parameter group includes displacement adjustment parameters corresponding to each suspension device respectively;

[0007] For each displacement adjustment parameter group, control the multiple suspension devices to move based on the displacement adjustment parameters in the displacement adjustment parameter group, and obtain the load-bearing values of each suspension device on the target object after the movement to obtain a set of load-bearing values;

[0008] Determine a target displacement adjustment parameter group from the multiple displacement adjustment parameter groups according to the set of load-bearing values corresponding to each displacement adjustment parameter group, and control the multiple suspension devices to work according to the target displacement adjustment parameter group.

[0009] In one of the embodiments, determining a target displacement adjustment parameter group from the multiple displacement adjustment parameter groups according to the set of load-bearing values corresponding to each displacement adjustment parameter group includes:

[0010] Determine the error value of each displacement adjustment parameter group according to the set of load-bearing values corresponding to each displacement adjustment parameter group, where the error value is used to characterize the error between the load-bearing value of the suspension device in the position adjustment system and the standard load-bearing value;

[0011] Determine the target displacement adjustment parameter group according to the error value of each displacement adjustment parameter group.

[0012] In one embodiment, determining the target displacement adjustment parameter group according to the error value of each displacement adjustment parameter group includes:

[0013] Determine the minimum value among the error values of each displacement adjustment parameter group;

[0014] If the minimum value is less than or equal to the preset error threshold, determine the displacement adjustment parameter group corresponding to the minimum value as the target displacement adjustment parameter group;

[0015] If the minimum value is greater than the preset error threshold, preprocess each displacement adjustment parameter group, and determine the target displacement adjustment parameter group based on the preprocessed displacement adjustment parameter groups.

[0016] In one embodiment, if the minimum value is greater than the preset error threshold, preprocessing each displacement adjustment parameter group includes:

[0017] Perform selection, crossover, and mutation processing on each displacement adjustment parameter group to obtain the preprocessed displacement adjustment parameter groups.

[0018] In one embodiment, determining the target displacement adjustment parameter group based on the preprocessed displacement adjustment parameter groups includes:

[0019] For each preprocessed displacement adjustment parameter group, control multiple suspension devices to move based on the displacement adjustment parameters in the preprocessed displacement adjustment parameter group, and obtain the load-bearing value of each suspension device for the target object after the movement, so as to obtain an updated set of load-bearing values;

[0020] Determine the target displacement adjustment parameter group from multiple preprocessed displacement adjustment parameter groups according to the updated set of load-bearing values corresponding to each preprocessed displacement adjustment parameter group.

[0021] In a second aspect, the present application also provides a position adjustment device, which is applied to a position adjustment system. The position adjustment system includes multiple suspension devices, and the multiple suspension devices are used to jointly suspend a target object. The device includes:

[0022] An acquisition module, configured to acquire multiple displacement adjustment parameter groups, where each displacement adjustment parameter group includes displacement adjustment parameters corresponding to each suspension device respectively;

[0023] A control module, configured to, for each displacement adjustment parameter group, control a plurality of suspension devices to move based on the displacement adjustment parameters in the displacement adjustment parameter group, and obtain the load-bearing values of each suspension device for the target object after the movement, so as to obtain a set of load-bearing values;

[0024] A determination module, configured to determine a target displacement adjustment parameter group from a plurality of displacement adjustment parameter groups according to the set of load-bearing values corresponding to each displacement adjustment parameter group, and control the plurality of suspension devices to work according to the target displacement adjustment parameter group.

[0025] In a third aspect, the present application further provides a position adjustment system, where the position adjustment system includes a plurality of suspension devices, a computer device, and a controller;

[0026] The plurality of suspension devices are configured to jointly suspend a target object;

[0027] The computer device is configured to determine target displacement adjustment parameters according to the position adjustment method described in any one of the first aspects above, and send the target displacement adjustment parameters to the controller;

[0028] The controller is configured to perform position adjustment on the plurality of suspension devices according to the target displacement adjustment parameters.

[0029] In a fourth aspect, the present application further provides a computer device, including a memory and a processor, where the memory stores a computer program, and when the processor executes the computer program, it implements the position adjustment method described in any one of the first aspects above.

[0030] In a fifth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the position adjustment method described in any one of the first aspects above.

[0031] In a sixth aspect, the present application further provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the position adjustment method described in any one of the first aspects above.

[0032] The above-mentioned position adjustment method, device, system, equipment, storage medium and program product. The position adjustment method is applied to a position adjustment system, which includes multiple suspension devices for jointly suspending a target object. The method includes: First, obtain multiple displacement adjustment parameter groups each including displacement adjustment parameters corresponding to respective suspension devices. Then, for each displacement adjustment parameter group, control the multiple suspension devices to move based on the displacement adjustment parameters in the displacement adjustment parameter group, and obtain the load-bearing values of the target object by each suspension device after the movement to obtain a set of load-bearing values. Finally, determine a target displacement adjustment parameter group from the multiple displacement adjustment parameter groups according to the set of load-bearing values corresponding to each displacement adjustment parameter group, and control the multiple suspension devices to work according to the target displacement adjustment parameter group. In this way, when adjusting the positions of multiple suspension devices, determining the target displacement adjustment parameter group according to multiple displacement adjustment parameter groups and then controlling the multiple suspension devices to work according to the target displacement adjustment parameter group can achieve simultaneous position adjustment of multiple suspension devices without adjusting their positions one by one, thereby improving the position adjustment efficiency of multiple suspension devices. Description of the Drawings

[0033] To more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments of the present application or related technologies. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0034] Figure 1 It is an application environment diagram of the position adjustment method in an embodiment;

[0035] Figure 2 It is a flowchart of the position adjustment method in an embodiment;

[0036] Figure 3 It is a flowchart of the step of determining the target displacement adjustment parameter group in an embodiment;

[0037] Figure 4 It is a flowchart of the step of determining the target displacement adjustment parameter group in another embodiment;

[0038] Figure 5 It is a flowchart of the step of determining the target displacement adjustment parameter group in another embodiment;

[0039] Figure 6 It is a flowchart of the position adjustment method in another embodiment;

[0040] Figure 7 It is a flowchart of the position adjustment method in another embodiment;

[0041] Figure 8 is a structural block diagram of a position adjustment device in an embodiment;

[0042] Figure 9 is an internal structure diagram of a computer device in an embodiment. Detailed implementation manners

[0043] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] The position adjustment method provided by the embodiments of the present application can be applied to, for example, Figure 1 the application environment shown in the figure. Among them, the computer device 102 communicates with multiple axis controllers 104 through the switch 103. The axis controller 104 is used to control the operation of the suspension device 101. The axis controllers 104 of the multiple suspension devices 101 are connected to the switch 103 through network cables, and the other end of the switch 103 is connected to the computer device 102. The multiple suspension devices 101 are used to jointly suspend an object through their respective chains, and the connection point between the chain of each suspension device 101 and the object is the connection point. Among them, the computer device 102 can be, but is not limited to, various personal computers, laptop computers, smart phones, tablet computers, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, projection devices, etc. The portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The head-mounted device can be a virtual reality (VR) device, an augmented reality (AR) device, a smart glasses, etc. The suspension device 101 can be a stage numerical control hoist.

[0045] In an exemplary embodiment, as Figure 2 shown in the figure, a position adjustment method is provided. Taking the computer device in Figure 1 as an example, the method includes the following steps 201 to 203. When performing position adjustment, first, a sampling interval can be set. The sampling interval is to divide the target distance into multiple distances, and each distance is a sampling interval. Within each sampling interval, after each suspension device moves, position adjustment is performed so that the weights borne by each suspension device meet the allowable error range. Among them, the position adjustment steps for each sampling interval include:

[0046] Step 201, obtain multiple displacement adjustment parameter groups.

[0047] Among them, each displacement adjustment parameter group includes displacement adjustment parameters corresponding to each suspension device. Each suspension device can be a stage numerical control hoist. Each displacement adjustment parameter group includes displacement adjustment parameters corresponding one by one to each suspension device. According to each displacement adjustment parameter, the position of each suspension device can be adjusted so that the weights of the suspension devices meet the design requirements.

[0048] Optionally, multiple displacement adjustment parameter groups can be generated according to the allowable error of the displacement ratio of each suspension device. For example, the initial value of the displacement ratio is 1.0, and the generated error value causes the displacement ratio to fluctuate around 1.0, that is, 1 plus or minus the precision, such as 1±0.001. Then, multiple displacement adjustment parameter groups are randomly generated within the allowable error range, and binary encoding is performed on the generated multiple displacement adjustment parameter groups.

[0049] Step 202: For each displacement adjustment parameter group, control multiple suspension devices to move based on the displacement adjustment parameters in the displacement adjustment parameter group, and obtain the load-bearing values of each suspension device on the target object after the movement to obtain a load-bearing value set.

[0050] Optionally, after the multiple suspension devices move based on the displacement adjustment parameters corresponding to them in the displacement adjustment parameter group, the load-bearing values of each suspension device on the target object are obtained through the weighing sensors on each suspension device, that is, the actual weight values of the target object borne by each suspension device. The actual weight values corresponding to the multiple suspension devices form a load-bearing value set.

[0051] Step 203: Determine the target displacement adjustment parameter group from the multiple displacement adjustment parameter groups according to the load-bearing value set corresponding to each displacement adjustment parameter group, and control the multiple suspension devices to work according to the target displacement adjustment parameter group.

[0052] Optionally, by measuring the connection point coordinates of each suspension device and the target object, the connection situation between each suspension device and the target object can be determined. Through force analysis based on the connection situation, the theoretical load-bearing value assigned to each suspension device can be calculated. For example, the total weight of the target object is 100 kg, which is connected by 10 suspension devices and is evenly distributed, then the theoretical load-bearing value of each suspension device is 10 kg. According to the load-bearing value set corresponding to each displacement adjustment parameter group and the theoretical load-bearing values calculated by each suspension device through force analysis, the error between the theoretical load-bearing value and the actual load-bearing value of each suspension device after the position adjustment of each displacement adjustment parameter group can be calculated. According to the errors between the theoretical load-bearing values and the actual load-bearing values corresponding to the multiple displacement adjustment parameter groups, the target displacement adjustment parameter group is determined. Optionally, the target displacement adjustment parameter group is the displacement adjustment parameter group with the smallest error. Control the multiple suspension devices to work according to the target displacement adjustment parameter group, so that the error between the theoretical load-bearing value and the actual weighing value of each suspension device after the displacement adjustment parameter group is adjusted is the smallest.

[0053] In the above embodiments, first, a plurality of displacement adjustment parameter groups including displacement adjustment parameters respectively corresponding to each suspension device are obtained. Then, for each displacement adjustment parameter group, a plurality of suspension devices are controlled to move based on the displacement adjustment parameters in the displacement adjustment parameter group, and after the movement, the load-bearing values of each suspension device on the target object are obtained to obtain a set of load-bearing values. Finally, according to the set of load-bearing values corresponding to each displacement adjustment parameter group, a target displacement adjustment parameter group is determined from the plurality of displacement adjustment parameter groups, and a plurality of suspension devices are controlled to work according to the target displacement adjustment parameter group. In this way, when adjusting the positions of a plurality of suspension devices, the target displacement adjustment parameter group is determined according to the plurality of displacement adjustment parameter groups, and then a plurality of suspension devices are controlled to work according to the target displacement adjustment parameter group, so that the positions of a plurality of suspension devices can be adjusted simultaneously, instead of adjusting the positions one by one, thereby improving the position adjustment efficiency of the plurality of suspension devices.

[0054] In the embodiments of the present application, the steps of determining the target displacement adjustment parameter group in step 203 are as Figure 3 shown and include:

[0055] Step 301, determine the error value of each displacement adjustment parameter group according to the set of load-bearing values corresponding to each displacement adjustment parameter group.

[0056] Among them, the error value is used to characterize the error between the load-bearing value of the suspension device in the position adjustment system and the standard load-bearing value. The load-bearing value of the suspension device is also the actual load-bearing value, and the standard load-bearing value is also the theoretical load-bearing value. Optionally, according to the set of load-bearing values corresponding to the displacement adjustment parameter group, the error between the load-bearing value of each suspension device and the standard load-bearing value is determined, and then the errors of the plurality of suspension devices are summed to obtain the error value of the displacement adjustment parameter group.

[0057] Calculate the error value of the displacement adjustment parameter group, and the calculation formula is as follows:

[0058]

[0059] Among them, W 总 is the error value of the displacement adjustment parameter group, Wi is the actual load-bearing value of each suspension device, wi is the theoretical load-bearing value calculated according to the actual distribution position of each suspension device, and n is the number of suspension devices.

[0060] Step 302, determine the target displacement adjustment parameter group according to the error values of each displacement adjustment parameter group.

[0061] The error values corresponding to each displacement adjustment parameter group calculated according to each displacement adjustment parameter group. To improve the accuracy of position adjustment of multiple suspension devices, the displacement adjustment parameter group with the smallest total error in each displacement adjustment parameter group can be determined as the target displacement adjustment parameter group. Optionally, the steps for determining the target displacement adjustment parameter group are as follows Figure 4 shown, including:

[0062] Step 401, determine the minimum value among the error values of each displacement adjustment parameter group.

[0063] According to the calculated error values of multiple displacement adjustment parameter groups, determine the minimum value among the error values.

[0064] Step 402, if the minimum value is less than or equal to the preset error threshold, determine the displacement adjustment parameter group corresponding to the minimum value as the target displacement adjustment parameter group.

[0065] Among them, if the minimum value is less than or equal to the preset error threshold, it means that the displacement adjustment parameter group corresponding to this minimum error value meets the fitness condition, and it is used as the target displacement adjustment parameter group. Optionally, the preset error threshold is the standard total error calculated according to the actual allowable error. For example, if the total weight of a circular object is 100 kg and it is connected by 10 evenly distributed suspension devices, the theoretical load-bearing value of each suspension device is 10 kg. Assuming that the allowable error of each suspension device is ±1 kg, the sum of the absolute values of the standard errors is 10 kg.

[0066] Step 403, if the minimum value is greater than the preset error threshold, preprocess each displacement adjustment parameter group, and based on the preprocessed displacement adjustment parameter groups, determine the target displacement adjustment parameter group.

[0067] If the minimum value among the error values is greater than the preset error threshold, that is, each displacement adjustment parameter group does not meet the fitness adjustment, then preprocess each displacement adjustment parameter group, and then continue to repeat the above steps for calculation based on the preprocessed displacement adjustment parameter groups until the minimum value of the error value is less than or equal to the preset error threshold to obtain the target displacement adjustment parameter group.

[0068] Optionally, perform selection, crossover, and mutation processing on each displacement adjustment parameter group to obtain the preprocessed displacement adjustment parameter groups.

[0069] Among them, in the first step, a selection process is performed, including randomly selecting a displacement ratio combination, that is, randomly selecting two groups of displacement adjustment parameters from N groups of displacement adjustment parameters. Then, in the second step, a crossover process is performed, including performing a crossover operation on the selected adjustment parameter groups, specifically as follows: randomly select two displacement adjustment parameter groups A and B, find the same displacement adjustment parameters, intercept the same part in group A, remove the same displacement adjustment parameters in group B, and then recombine the same part and the remaining displacement adjustment parameters in group B, and generate N / 2 groups of displacement adjustment parameters according to requirements. In the third step, a mutation process is performed, including performing a mutation operation on the selected displacement adjustment parameter groups, specifically as follows: randomly select one of the displacement adjustment parameter groups, intercept a part of it, randomly shuffle and combine it, and reconnect it to the original displacement adjustment parameter group, and generate N / 2 groups of displacement adjustment parameters according to requirements.

[0070] Combine the N / 2 groups of displacement adjustment parameters generated by the above crossover process and mutation process to obtain N groups of displacement adjustment parameters after preprocessing.

[0071] In one embodiment, as Figure 5 shown, based on the displacement adjustment parameter groups after preprocessing, the steps of determining the target displacement adjustment parameter group include:

[0072] Step 501, for each displacement adjustment parameter group after preprocessing, control multiple suspension devices to move based on the displacement adjustment parameters in the displacement adjustment parameter group after preprocessing, and obtain the load-bearing values of each suspension device on the target object after the movement, so as to obtain an updated load-bearing value set.

[0073] Step 502, according to the updated load-bearing value set corresponding to each displacement adjustment parameter group after preprocessing, determine the target displacement adjustment parameter group from multiple displacement adjustment parameter groups after preprocessing.

[0074] According to the displacement adjustment parameter groups after preprocessing, repeat the above steps, that is, control multiple suspension devices to move based on the displacement adjustment parameters in the displacement adjustment parameter group after preprocessing, and obtain the actual load-bearing values of each suspension device collected after the movement on the target object, obtain an updated load-bearing value set, then calculate the error values corresponding to each displacement adjustment parameter group after preprocessing according to the updated load-bearing value set and the theoretical load-bearing value, and continue to perform the above steps 401 to 403. If the conditions are met, determine the target displacement adjustment parameter group according to the minimum value of the error value. If the conditions are not met, continue to perform the selection, crossover, and mutation processes on each displacement adjustment parameter group until a target displacement adjustment parameter group that meets the conditions is obtained.

[0075] In the embodiments of the present application, as Figure 6 shown, a position adjustment method is provided, including:

[0076] Step 601: Obtain multiple displacement adjustment parameter groups.

[0077] Step 602: For each displacement adjustment parameter group, control multiple suspension devices to move based on the displacement adjustment parameters in the displacement adjustment parameter group, and obtain the load-bearing values of each suspension device for the target object after the movement, so as to obtain a load-bearing value set.

[0078] Step 603: Determine the error values of each displacement adjustment parameter group according to the load-bearing value set corresponding to each displacement adjustment parameter group.

[0079] Step 604: Determine the minimum value among the error values of each displacement adjustment parameter group.

[0080] Step 605: If the minimum value is less than or equal to the preset error threshold, determine the displacement adjustment parameter group corresponding to the minimum value as the target displacement adjustment parameter group.

[0081] Step 606: If the minimum value is greater than the preset error threshold, perform selection, crossover, and mutation processing on each displacement adjustment parameter group to obtain the preprocessed displacement adjustment parameter groups.

[0082] Step 607: For each preprocessed displacement adjustment parameter group, control multiple suspension devices to move based on the displacement adjustment parameters in the preprocessed displacement adjustment parameter group, and obtain the load-bearing values of each suspension device for the target object after the movement, so as to obtain an updated load-bearing value set.

[0083] Step 608: Determine the target displacement adjustment parameter group from multiple preprocessed displacement adjustment parameter groups according to the updated load-bearing value set corresponding to each preprocessed displacement adjustment parameter group.

[0084] Step 609: Control multiple suspension devices to work according to the target displacement adjustment parameter group.

[0085] In the above embodiments, the position of multiple suspension devices can be adjusted simultaneously according to the target displacement adjustment parameter group, without the need for individual adjustment one by one, and the position adjustment efficiency is higher. Further, through overall adjustment, various system errors are considered during the adjustment process, such as measurement errors at connection points and errors caused by minute movements of connection points, etc., and the accuracy of position adjustment is higher.

[0086] Such as Figure 7As shown in the figure, it is a schematic diagram of the adjustment process of the position adjustment method provided by the embodiment of the present application. After determining the target displacement adjustment parameter group for position adjustment at each sampling interval, the target displacement adjustment parameter groups obtained in multiple sampling intervals can be averaged or weighted averaged to obtain the overall optimal solution. The multiple suspension devices of the position adjustment system are adjusted according to the overall optimal solution, and it is verified whether the overall position optimal solution meets the design requirements. If not, the above steps can be repeated to continue the position adjustment.

[0087] It should be understood that although the steps in the flowcharts involved in the above-mentioned embodiments are sequentially shown according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or steps or stages in other steps.

[0088] Based on the same inventive concept, the embodiment of the present application also provides a position adjustment device for implementing the above-mentioned position adjustment method. The implementation solution provided by this device to solve the problem is similar to the implementation solution described in the above method. Therefore, the specific limitations in one or more embodiments of the position adjustment device provided below can refer to the limitations on the position adjustment method in the above text, and will not be repeated here.

[0089] In an exemplary embodiment, as Figure 8 shown, a position adjustment device 800 is provided, which is applied to a position adjustment system. The position adjustment system includes multiple suspension devices, and the multiple suspension devices are used to jointly suspend a target object. The device includes: an acquisition module, a control module, and a determination module, where:

[0090] The acquisition module is configured to acquire multiple displacement adjustment parameter groups, where each displacement adjustment parameter group includes displacement adjustment parameters corresponding to each suspension device respectively;

[0091] The control module is configured to, for each displacement adjustment parameter group, control the multiple suspension devices to move based on the displacement adjustment parameters in the displacement adjustment parameter group, and obtain the load-bearing values of the target object by each suspension device after the movement, so as to obtain a load-bearing value set;

[0092] A determination module, configured to determine a target displacement adjustment parameter group from multiple displacement adjustment parameter groups according to a set of load-bearing values corresponding to each displacement adjustment parameter group, and control multiple suspension devices to work according to the target displacement adjustment parameter group.

[0093] In one embodiment, the determination module is specifically configured to determine an error value for each displacement adjustment parameter group according to the set of load-bearing values corresponding to each displacement adjustment parameter group, where the error value is used to characterize the error between the load-bearing value of the suspension device in the position adjustment system and the standard load-bearing value; and determine the target displacement adjustment parameter group according to the error values of each displacement adjustment parameter group.

[0094] In one embodiment, the determination module is specifically configured to determine the minimum value among the error values of each displacement adjustment parameter group; if the minimum value is less than or equal to a preset error threshold, determine the displacement adjustment parameter group corresponding to the minimum value as the target displacement adjustment parameter group; if the minimum value is greater than the preset error threshold, perform preprocessing on each displacement adjustment parameter group, and determine the target displacement adjustment parameter group based on the preprocessed displacement adjustment parameter groups.

[0095] In one embodiment, the determination module is specifically configured to perform selection, crossover, and mutation processing on each displacement adjustment parameter group to obtain the preprocessed displacement adjustment parameter groups.

[0096] In one embodiment, the determination module is specifically configured to, for each preprocessed displacement adjustment parameter group, control multiple suspension devices to move based on the displacement adjustment parameters in the preprocessed displacement adjustment parameter group, and obtain the load-bearing value of each suspension device for the target object after the movement to obtain an updated set of load-bearing values; and determine the target displacement adjustment parameter group from multiple preprocessed displacement adjustment parameter groups according to the updated set of load-bearing values corresponding to each preprocessed displacement adjustment parameter group.

[0097] Each module in the above position adjustment device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above modules.

[0098] An embodiment of the present application further provides a position adjustment system, which includes multiple suspension devices, a computer device, and a controller; wherein, the multiple suspension devices are used to jointly suspend a target object; the computer device is used to determine target displacement adjustment parameters according to the position adjustment method in the above method embodiment, and send the target displacement adjustment parameters to the controller; the controller is used to perform position adjustment on the multiple suspension devices according to the target displacement adjustment parameters determined by the computer device.

[0099] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in Figure 9 . The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals in a wired or wireless manner. The wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC), or other technologies. The computer program, when executed by the processor, implements a position adjustment method. The display unit of the computer device is used to form a visually visible picture, which may be a display screen, a projection device, or a virtual reality imaging device. The display screen may be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device may be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the housing of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0100] Those skilled in the art can understand that Figure 9 the structure shown in is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0101] In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the following steps are implemented: obtaining a plurality of displacement adjustment parameter groups, where each displacement adjustment parameter group includes displacement adjustment parameters respectively corresponding to each suspension device; for each displacement adjustment parameter group, controlling a plurality of suspension devices to move based on the displacement adjustment parameters in the displacement adjustment parameter group, and obtaining the load-bearing values of each suspension device on the target object after the movement to obtain a load-bearing value set; according to the load-bearing value set corresponding to each displacement adjustment parameter group, determining a target displacement adjustment parameter group from the plurality of displacement adjustment parameter groups, and controlling the plurality of suspension devices to work according to the target displacement adjustment parameter group.

[0102] In one embodiment, when the processor executes the computer program, the following steps are further implemented: determining an error value for each displacement adjustment parameter group according to the set of load-bearing values corresponding to each displacement adjustment parameter group, where the error value is used to characterize the error between the load-bearing value of the suspension device in the position adjustment system and the standard load-bearing value; determining a target displacement adjustment parameter group according to the error values of each displacement adjustment parameter group.

[0103] In one embodiment, when the processor executes the computer program, the following steps are further implemented: determining the minimum value among the error values of each displacement adjustment parameter group; if the minimum value is less than or equal to a preset error threshold, determining the displacement adjustment parameter group corresponding to the minimum value as the target displacement adjustment parameter group; if the minimum value is greater than the preset error threshold, performing preprocessing on each displacement adjustment parameter group, and determining a target displacement adjustment parameter group based on the preprocessed displacement adjustment parameter groups.

[0104] In one embodiment, when the processor executes the computer program, the following steps are further implemented: performing selection, crossover, and mutation processing on each displacement adjustment parameter group to obtain the preprocessed displacement adjustment parameter groups.

[0105] In one embodiment, when the processor executes the computer program, the following steps are further implemented: for each preprocessed displacement adjustment parameter group, controlling a plurality of suspension devices to move based on the displacement adjustment parameters in the preprocessed displacement adjustment parameter group, and obtaining the load-bearing value of each suspension device for the target object after the movement to obtain an updated set of load-bearing values; determining a target displacement adjustment parameter group from the plurality of preprocessed displacement adjustment parameter groups according to the updated set of load-bearing values corresponding to each preprocessed displacement adjustment parameter group.

[0106] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: obtaining a plurality of displacement adjustment parameter groups, where each displacement adjustment parameter group includes displacement adjustment parameters corresponding to each suspension device respectively; for each displacement adjustment parameter group, controlling a plurality of suspension devices to move based on the displacement adjustment parameters in the displacement adjustment parameter group, and obtaining the load-bearing value of each suspension device for the target object after the movement to obtain a set of load-bearing values; determining a target displacement adjustment parameter group from the plurality of displacement adjustment parameter groups according to the set of load-bearing values corresponding to each displacement adjustment parameter group, and controlling the plurality of suspension devices to work according to the target displacement adjustment parameter group.

[0107] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determining an error value for each displacement adjustment parameter group according to the set of load-bearing values corresponding to each displacement adjustment parameter group, where the error value is used to characterize the error between the load-bearing value of the suspension device in the position adjustment system and the standard load-bearing value; determining a target displacement adjustment parameter group according to the error values of each displacement adjustment parameter group.

[0108] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: determining the minimum value among the error values of each displacement adjustment parameter group; if the minimum value is less than or equal to a preset error threshold, determining the displacement adjustment parameter group corresponding to the minimum value as the target displacement adjustment parameter group; if the minimum value is greater than the preset error threshold, preprocessing each displacement adjustment parameter group, and based on the preprocessed displacement adjustment parameter groups, determining the target displacement adjustment parameter group.

[0109] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: performing selection, crossover, and mutation processing on each displacement adjustment parameter group to obtain the preprocessed displacement adjustment parameter groups.

[0110] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: for each preprocessed displacement adjustment parameter group, controlling a plurality of suspension devices to move based on the displacement adjustment parameters in the preprocessed displacement adjustment parameter group, and after the movement, obtaining the load-bearing values of each suspension device for the target object to obtain an updated load-bearing value set; according to the updated load-bearing value sets corresponding to each preprocessed displacement adjustment parameter group, determining the target displacement adjustment parameter group from the plurality of preprocessed displacement adjustment parameter groups.

[0111] In one embodiment, a computer program product is provided, including a computer program, which when executed by a processor, implements the following steps: obtaining a plurality of displacement adjustment parameter groups, where each displacement adjustment parameter group includes displacement adjustment parameters respectively corresponding to each suspension device; for each displacement adjustment parameter group, controlling a plurality of suspension devices to move based on the displacement adjustment parameters in the displacement adjustment parameter group, and after the movement, obtaining the load-bearing values of each suspension device for the target object to obtain a load-bearing value set; according to the load-bearing value sets corresponding to each displacement adjustment parameter group, determining the target displacement adjustment parameter group from the plurality of displacement adjustment parameter groups, and controlling the plurality of suspension devices to work according to the target displacement adjustment parameter group.

[0112] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: determining the error value of each displacement adjustment parameter group according to the load-bearing value set corresponding to each displacement adjustment parameter group, where the error value is used to characterize the error between the load-bearing value of the suspension device in the position adjustment system and the standard load-bearing value; determining the target displacement adjustment parameter group according to the error values of each displacement adjustment parameter group.

[0113] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: determining the minimum value among the error values of each displacement adjustment parameter group; if the minimum value is less than or equal to a preset error threshold, determining the displacement adjustment parameter group corresponding to the minimum value as the target displacement adjustment parameter group; if the minimum value is greater than the preset error threshold, performing preprocessing on each displacement adjustment parameter group, and based on the preprocessed displacement adjustment parameter groups, determining the target displacement adjustment parameter group.

[0114] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: performing selection, crossover, and mutation processing on each displacement adjustment parameter group to obtain the preprocessed displacement adjustment parameter groups.

[0115] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: for each preprocessed displacement adjustment parameter group, controlling a plurality of suspension devices to move based on the displacement adjustment parameters in the preprocessed displacement adjustment parameter group, and after the movement, obtaining the load-bearing values of each suspension device for the target object to obtain an updated load-bearing value set; according to the updated load-bearing value sets corresponding to each preprocessed displacement adjustment parameter group, determining the target displacement adjustment parameter group from the plurality of preprocessed displacement adjustment parameter groups.

[0116] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data that have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0117] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in this application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, artificial intelligence (AI) processors, etc., without limitation.

[0118] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this application.

[0119] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A position adjustment method, characterized in that: Applied to a position adjustment system, the position adjustment system includes a plurality of suspension devices, the plurality of suspension devices are used to jointly suspend a target object, the method includes: Acquire a plurality of displacement adjustment parameter groups, wherein each of the displacement adjustment parameter groups includes a displacement adjustment parameter corresponding to each of the suspension devices; For each of the displacement adjustment parameter groups, controlling the plurality of suspension devices to move based on the displacement adjustment parameters in the displacement adjustment parameter group, and obtaining the load-bearing value of each of the suspension devices on the target object after the movement, so as to obtain a load-bearing value set; According to the load-bearing value sets corresponding to the displacement adjustment parameter groups, a target displacement adjustment parameter group is determined from the multiple displacement adjustment parameter groups, and the multiple suspension devices are controlled to operate according to the target displacement adjustment parameter group.

2. The method according to claim 1, characterized in that The step of determining a target displacement adjustment parameter group from the plurality of displacement adjustment parameter groups according to the load-bearing value sets corresponding to the displacement adjustment parameter groups comprises: Determine the error value of each displacement adjustment parameter group according to the load-bearing value set corresponding to each displacement adjustment parameter group, wherein the error value is used to characterize the error between the load-bearing value of the suspension device in the position adjustment system and the standard load-bearing value; The target displacement adjustment parameter group is determined according to the error values ​​of each displacement adjustment parameter group.

3. The method according to claim 1, characterized in that Determining the target displacement adjustment parameter group according to the error values ​​of each displacement adjustment parameter group includes: Determining a minimum value among the error values ​​of each displacement adjustment parameter group; If the minimum value is less than or equal to the preset error threshold, the displacement adjustment parameter group corresponding to the minimum value is determined as the target displacement adjustment parameter group; If the minimum value is greater than a preset error threshold, each of the displacement adjustment parameter groups is preprocessed, and the target displacement adjustment parameter group is determined based on each of the preprocessed displacement adjustment parameter groups.

4. The method according to claim 3, characterized in that If the minimum value is greater than the preset error threshold, preprocessing each displacement adjustment parameter group includes: The displacement adjustment parameter groups are subjected to selection, crossover and mutation processing to obtain the preprocessed displacement adjustment parameter groups.

5. The method according to claim 4, characterized in that The step of determining the target displacement adjustment parameter group based on the preprocessed displacement adjustment parameter groups includes: For each preprocessed displacement adjustment parameter group, control the plurality of suspension devices to move based on the displacement adjustment parameters in the preprocessed displacement adjustment parameter group, and obtain the load-bearing value of each suspension device on the target object after the movement to obtain an updated load-bearing value set; The target displacement adjustment parameter group is determined from the plurality of preprocessed displacement adjustment parameter groups according to the updated load-bearing value sets corresponding to the preprocessed displacement adjustment parameter groups.

6. A position adjustment device, characterized in that: Applied to a position adjustment system, the position adjustment system includes a plurality of suspension devices, the plurality of suspension devices are used to jointly suspend a target object, the device includes: An acquisition module, used for acquiring a plurality of displacement adjustment parameter groups, wherein each of the displacement adjustment parameter groups includes a displacement adjustment parameter corresponding to each of the suspension devices; A control module, for controlling the plurality of suspension devices to move based on the displacement adjustment parameters in the displacement adjustment parameter groups for each of the displacement adjustment parameter groups, and obtaining the bearing value of each of the suspension devices on the target object after the movement, so as to obtain a bearing value set; A determination module is used to determine a target displacement adjustment parameter group from the multiple displacement adjustment parameter groups according to a set of load-bearing values ​​corresponding to each of the displacement adjustment parameter groups, and control the operation of the multiple suspension devices according to the target displacement adjustment parameter group.

7. A position adjustment system, characterized in that: The position adjustment system includes a plurality of suspension devices, a computer device and a controller; The plurality of suspension devices are used to jointly suspend the target object; The computer device is used to determine the target displacement adjustment parameter according to the position adjustment method according to claims 1 to 5, and send the target displacement adjustment parameter to the controller; The controller is used to adjust the positions of the multiple suspension devices according to the target displacement adjustment parameters.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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