Lifting point position information acquisition method and device

Abstract

The invention relates to a lifting point position information acquisition method and device. The method comprises the following steps: acquiring initial gravity borne by a plurality of hoisting points between a plurality of electric hoisting devices and a target object in a mechanical control system in a static state, acquiring current gravity borne by each hoisting point at the current moment, and determining a gravity deviation value of each hoisting point at the current moment according to the initial gravity of each hoisting point and the current gravity of each hoisting point, and according to the gravity deviation value of each lifting point, determining the position correction amount of each lifting point, and according to the position correction amount of each lifting point, correcting the measurement position information of the corresponding lifting point to obtain the corrected position information of each lifting point. By the adoption of the method, according to the principle that the gravity borne by each lifting point needs to be kept unchanged when an object keeps flat movement, the measurement position information of each lifting point is corrected according to the gravity deviation value of each lifting point between a plurality of electric lifting devices in a mechanical control system and the target object at the current moment, and the accurate position information of each lifting point is obtained.

Description

Technical Field

[0001] The present application relates to the field of automation control technology, and in particular to a method and device for obtaining lifting point position information. Background Art

[0002] With the development of automation technology, automatic control technology has been widely used in various fields. For example, mechanical control systems can control the movement of target objects by using automatic control technology.

[0003] In the related art, the mechanical control system includes a mechanical control console and an electric lifting device, which is connected to a target object. The mechanical control console can control the electric lifting device to pull the target object to move in various postures based on the measured position information of the lifting point (i.e., the connection point between the electric lifting device and the target object).

[0004] However, the position information of the hanging point obtained in the related art is inaccurate, which will affect the control accuracy of the object's movement. Summary of the Invention

[0005] Based on this, it is necessary to provide a method and device for obtaining lifting point position information in order to address the above technical issues.

[0006] In a first aspect, the present application provides a method for obtaining lifting point position information, comprising:

[0007] Obtaining the initial gravity borne by multiple lifting points between multiple electric lifting devices and the target object in a mechanical control system in a static state; and obtaining the current gravity borne by each lifting point at the current moment;

[0008] Determine the gravity deviation value of each hanging point at the current moment based on the initial gravity of each hanging point and the current gravity of each hanging point;

[0009] Determine the position correction amount of each hanging point according to the gravity deviation value of each hanging point;

[0010] According to the position correction amount of each hanging point, the measured position information of the corresponding hanging point is corrected to obtain the corrected position information of each hanging point.

[0011] In one embodiment, the mechanical control system further includes a mechanical control console, multiple load cells, multiple axis controllers, and a communication device, wherein each load cell is connected to the mechanical control console via a corresponding axis controller and communication device. Obtaining the initial gravity borne by multiple lifting points between multiple electric lifting devices and a target object in the mechanical control system in a stationary state includes:

[0012] Obtaining the initial gravity borne by each hanging point in a static state, which is transmitted by each load cell through the corresponding axis controller and communication equipment;

[0013] Correspondingly, the current gravity borne by each hanging point at the current moment is obtained, including:

[0014] The current gravity borne by each hanging point at the current moment is obtained from each weighing sensor through the corresponding axis controller and communication equipment.

[0015] In one embodiment, before determining the position correction amount of each hanging point according to the gravity deviation value of each hanging point, the method further includes:

[0016] Check whether the gravity deviation value of each hanging point is greater than the preset gravity deviation threshold;

[0017] When the gravity deviation value of each hanging point is greater than the gravity deviation threshold, a step of determining a position correction amount of each hanging point according to the gravity deviation value of each hanging point is performed.

[0018] In one embodiment, determining the position correction amount of each suspension point according to the gravity deviation value of each suspension point includes:

[0019] Normalizing the gravity deviation value of each hanging point to obtain the current normalized gravity deviation value of each hanging point;

[0020] A position correction value of each hanging point is determined according to a current normalized gravity deviation value of each hanging point and at least one historical normalized gravity deviation value corresponding to each hanging point.

[0021] In one embodiment, normalizing the gravity deviation value of each hanging point to obtain the current normalized gravity deviation value of each hanging point includes:

[0022] For any hanging point, the gravity deviation value of the hanging point is divided by the initial gravity of the hanging point to obtain the current normalized gravity deviation value of the hanging point.

[0023] In one embodiment, the measured position information of the corresponding hanging point is corrected according to the position correction amount of each hanging point to obtain the corrected position information of each hanging point, including:

[0024] Obtain the center position information of the center point of the target object;

[0025] For any hanging point, determine the direction vector from the hanging point to the center point based on the center position information and the measured position information of the hanging point;

[0026] According to the direction vector and the position correction amount of the hanging point, the measured position information of the hanging point is adjusted to obtain the corrected position information of the hanging point.

[0027] In one embodiment, adjusting the measured position information of the hanging point according to the direction vector and the position correction amount of the hanging point to obtain the corrected position information of the hanging point includes:

[0028] Normalize the direction vector to obtain the corresponding unit vector;

[0029] Multiply the unit vector by the position correction amount, and then sum it with the measured position information of the hanging point to obtain the corrected position information of the hanging point.

[0030] In one embodiment, the direction vector includes a horizontal coordinate component and a vertical coordinate component; the direction vector is normalized to obtain a corresponding unit vector, including:

[0031] Determine the modulus of the direction vector based on the sum of the square of the abscissa component and the square of the ordinate component;

[0032] Get the unit vector based on the ratio of the abscissa component to the modulus and the ratio of the ordinate component to the modulus.

[0033] In one embodiment, the electric lifting device includes a lifting chain of an electric hoist and a hook connected to the lifting chain; the method further includes:

[0034] For any lifting point, the telescopic length of the lifting chain in the electric lifting equipment corresponding to the lifting point is determined according to the corrected position information of the lifting point;

[0035] According to the telescopic length of the lifting chain, the telescopic length of the lifting chain is controlled.

[0036] In one embodiment, the electric lifting equipment further includes an electric hoist; and determining the telescopic length of a lifting chain in the electric lifting equipment corresponding to the lifting point according to the corrected position information of the lifting point comprises:

[0037] The distance is calculated based on the corrected position information of the lifting point and the position information of the corresponding electric hoist to obtain the telescopic length of the lifting chain in the electric lifting equipment corresponding to the lifting point.

[0038] In one embodiment, the mechanical control system further includes an electric lifting device, an axis controller, and a communication device corresponding to the lifting point; and controlling the extension and retraction length of the lifting chain according to the extension and retraction length of the lifting chain includes:

[0039] Generate lifting chain adjustment instructions according to the extension and contraction length of the lifting chain;

[0040] The lifting chain adjustment instruction is sent to the axis controller through the communication device, instructing the axis controller to determine the operating parameters of the motor in the electric hoist according to the telescopic length carried in the lifting chain adjustment instruction, and control the motor operation based on the motor's operating parameters to adjust the telescopic length of the lifting chain.

[0041] In a second aspect, the present application further provides a device for obtaining lifting point position information, comprising:

[0042] The gravity acquisition module is used to obtain the initial gravity borne by multiple lifting points between multiple electric lifting devices and the target object in the mechanical control system in a static state; and obtain the current gravity borne by each lifting point at the current moment;

[0043] A first determining module is used to determine the gravity deviation value of each hanging point at a current moment according to the initial gravity of each hanging point and the current gravity of each hanging point;

[0044] A second determining module is used to determine the position correction amount of each hanging point according to the gravity deviation value of each hanging point;

[0045] The correction module is used to correct the measured position information of the corresponding hanging point according to the position correction amount of each hanging point to obtain the corrected position information of each hanging point.

[0046] In a third aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the method in any embodiment of the first aspect are implemented.

[0047] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method in any embodiment of the first aspect above.

[0048] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the method in any embodiment of the first aspect above.

[0049] The above-mentioned method and device for obtaining the position information of the hanging point include: obtaining the initial gravity borne by multiple hanging points between multiple electric lifting equipment and the target object in a mechanical control system in a static state, and obtaining the current gravity borne by each hanging point at the current moment, determining the gravity deviation value of each hanging point at the current moment based on the initial gravity of each hanging point and the current gravity of each hanging point, determining the position correction amount of each hanging point based on the gravity deviation value of each hanging point, and correcting the measured position information of the corresponding hanging point based on the position correction amount of each hanging point to obtain the corrected position information of each hanging point. The above method can correct the measured position information of each lifting point according to the principle that the gravity borne by each lifting point should remain unchanged when the object maintains flat movement, based on the gravity deviation value of each lifting point between multiple electric lifting equipment and the target object in the mechanical control system at the current moment, to obtain accurate position information of each lifting point. On this basis, it can effectively eliminate the subsequent influence on the control of the object's motion posture, improve the control accuracy, stability and reliability of the object's motion, and also improve the safety of the object's motion; at the same time, the above method does not require manual participation, which not only improves the speed of obtaining the lifting point position information, but also reduces the error of manual participation and improves the acquisition speed. The accuracy of the obtained lifting point position information can be improved, and at the same time, the labor cost required to obtain the lifting point position information can be reduced; in addition, the above method does not require the participation of complex algorithms, thereby reducing the complexity of obtaining the lifting point position information; furthermore, the above method, on the basis of obtaining accurate lifting point position information, can ensure that the forces of each electric lifting device are balanced and stable during the movement of the object, avoid the problem of excessive or insufficient local forces in each electric lifting device caused by the deviation of the lifting point position information, reduce the wear and failure probability of mechanical components, enhance the stability and reliability of the entire mechanical control system, and extend the service life of each electric lifting device in the mechanical control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments of the present application or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0051] Figure 1 2. A diagram showing an application environment of a method for obtaining lifting point position information in one embodiment;

[0052] Figure 2 1 is a flow chart of a method for obtaining lifting point position information in one embodiment;

[0053] Figure 3 is a flow chart of a method for obtaining hanging point position information in another embodiment;

[0054] Figure 4 is a flow chart of a method for obtaining hanging point position information in another embodiment;

[0055] Figure 5 is a flow chart of a method for obtaining hanging point position information in another embodiment;

[0056] Figure 6 is a flow chart of a method for obtaining hanging point position information in another embodiment;

[0057] Figure 7 is a flow chart of a method for obtaining hanging point position information in another embodiment;

[0058] Figure 8 is a flow chart of a method for obtaining hanging point position information in another embodiment;

[0059] Figure 9 is a flow chart of a method for obtaining hanging point position information in another embodiment;

[0060] Figure 10 2 is a structural block diagram of a device for acquiring lifting point position information in one embodiment;

[0061] Figure 11 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0063] The method for obtaining the lifting point position information provided in the embodiment of the present application can be applied to Figure 1 The mechanical control system shown in the figure includes a mechanical control console, communication equipment, multiple axis controllers, multiple weighing sensors and multiple electric lifting equipment (the weighing sensors are not shown in the figure). The mechanical control console is communicated with each axis controller through the communication equipment, and each weighing sensor is communicated with the corresponding axis controller (the communication method can be Bluetooth, mobile data, Wifi, etc.), and each axis controller is electrically connected to the corresponding electric lifting equipment.

[0064] It should be noted here that each electric lifting device is mainly composed of an electric hoist, a lifting chain and a hook; in actual applications, each weighing sensor can be set adjacent to the hook in the corresponding electric lifting device, and is used to detect the gravity that the hook pulls the target object to bear. Among them, a motor is provided in the electric hoist, and the lifting chain is connected to the hook, and the hook is used to connect the target object to control the movement posture of the target object. In the embodiment of the present application, each weighing sensor has high sensitivity and stability, and can measure the changes in gravity borne by each lifting point, and transmit the corresponding gravity in the form of an electrical signal to the mechanical control console. In actual applications, the axis controller actually directly controls the operation of the motor in the electric hoist in the corresponding electric lifting device to indirectly make the lifting chain slide through the hook to pull the target object to move (uniform motion, accelerated motion or decelerated motion). In the embodiment of the present application, the number of axis controllers, electric lifting devices and weighing sensors are equal, and there is a one-to-one correspondence between the three. The embodiment of the present application is explained by taking the communication device as an example, wherein, Figure 1 The dotted line in the middle indicates.

[0065] In an exemplary embodiment, Figure 2 As shown, a method for obtaining the position information of a lifting point is provided, and the method is applied to Figure 1 Taking the mechanical control console in the mechanical control system as an example, this method can be implemented by the following steps:

[0066] S100: Acquire the initial gravity borne by multiple lifting points between multiple electric lifting devices and a target object in a mechanical control system in a stationary state; and acquire the current gravity borne by each lifting point at a current moment.

[0067] In practical applications, if a mechanical control system is required to control the movement of a target object, multiple electric lifting devices in the mechanical control system can be connected to the target object to control the movement of the target object. The multiple electric lifting devices being connected to the target object together can be understood as the hooks in each electric lifting device being connected to the target object. In the embodiments of the present application, the connection point between each hook and the target object is referred to as a lifting point.

[0068] Specifically, the mechanical control console can obtain the initial gravity borne by multiple lifting points between multiple electric lifting devices and the target object in a static state in a pre-stored mechanical control system from a local, disk, hard disk, etc., or a third-party device can be used to detect the initial gravity borne by multiple lifting points between each electric lifting device and the target object in a static state.

[0069] The initial gravity borne by the lifting point between the electric lifting device and the target object in a static state can be understood as the gravity borne by the lifting point between the electric lifting device and the target object before the electric lifting device pulls the target object to move.

[0070] In the embodiment of the present application, there is no restriction on the shape of the target object; correspondingly, for the same target object, the initial gravity borne by different hanging points in a static state may be equal or unequal.

[0071] It should be noted here that for the same target object, the gravity borne by different hanging points in an ideal state during movement is equal to the initial gravity borne by the corresponding hanging points in a static state. Once there is an error in the movement process, the gravity borne by different hanging points will be unequal to the initial gravity borne by the corresponding hanging points in a static state.

[0072] Furthermore, the mechanical control console may obtain the pre-stored current gravity borne by each hanging point at the current moment, or may use a third-party device to detect the current gravity borne by each hanging point at the current moment.

[0073] Among them, during the period from the static state to the current moment, each hanging point pulls the target object to move, but the target object is in a static state at the current moment, that is, each hanging point is not in a static state at the current moment. In actual application, due to motion error, for any hanging point, the initial gravity that the hanging point bears in the static state may not be equal to the current gravity that the hanging point bears at the current moment.

[0074] S200 : Determine a gravity deviation value of each hanging point at the current moment according to the initial gravity of each hanging point and the current gravity of each hanging point.

[0075] For any hanging point, the mechanical control console can use the initial gravity of the hanging point to subtract the current gravity of the hanging point to obtain the gravity deviation value of the hanging point at the current moment.

[0076] For example, if the mechanical control system includes n electric lifting devices, the initial gravity corresponding to n lifting points (including lifting point 1, lifting point 2, ..., lifting point n) between the n electric lifting devices and the target object are respectively 、 ,..., , and the current gravity corresponding to the n hanging points are 、 ,..., , then the gravity deviation value of hanging point 1 at the current moment is Can be equal to , the gravity deviation value of hanging point 2 at the current moment Can be equal to , correspondingly, the gravity deviation value of the hanging point n at the current moment Can be equal to .

[0077] S300: Determine the position correction amount of each hanging point according to the gravity deviation value of each hanging point.

[0078] In practical applications, the mechanical console can pre-train an algorithm model, and then for any hanging point, the gravity deviation value of the hanging point can be input into the algorithm model for processing, and the algorithm model outputs the position correction value of the hanging point.

[0079] In addition, the mechanical control console can perform conversion processing, analysis processing, mapping processing and other operations on the gravity deviation value of the hanging point according to preset rules, and then determine the position correction amount of the hanging point based on the processing operation results.

[0080] It should be noted here that the position correction amount of the hanging point can be understood as the deviation correction amount between the measured position information of the hanging point and the actual position information of the hanging point (ie, the corrected position information).

[0081] S400: Correct the measured position information of the corresponding lifting point according to the position correction amount of each lifting point to obtain corrected position information of each lifting point.

[0082] For any suspension point, its position information when stationary is equal to its current position information. This means that its measured position information when stationary is equal to its current position information. Due to motion errors, the measured position information can be corrected to obtain its true position information at the current moment, i.e., the corrected position information.

[0083] Specifically, the mechanical control console can perform an arithmetic operation based on the position correction value of the lifting point and the measured position information of the lifting point to correct the measured position information of the lifting point to obtain the corrected position information of the lifting point. Optionally, the arithmetic operation can be at least one of addition, subtraction, multiplication, division, and logarithmic operation.

[0084] In addition, the mechanical control console can also correct the measured position information of the hanging point according to the position correction amount of the hanging point according to the preset correction rules to obtain the corrected position information of the hanging point.

[0085] The technical solution in the embodiment of the present application obtains the initial gravity borne by multiple hanging points between multiple electric lifting equipment and the target object in the mechanical control system in a static state, and obtains the current gravity borne by each hanging point at the current moment, determines the gravity deviation value of each hanging point at the current moment according to the initial gravity of each hanging point and the current gravity of each hanging point, determines the position correction amount of each hanging point according to the gravity deviation value of each hanging point, corrects the measured position information of the corresponding hanging point according to the position correction amount of each hanging point, and obtains the corrected position information of each hanging point; the above method can correct the measured position information of each hanging point according to the principle that the gravity borne by each hanging point should remain unchanged when the object maintains flat movement, and obtains accurate position information of each hanging point according to the gravity deviation value of each hanging point between multiple electric lifting equipment and the target object in the mechanical control system at the current moment, and on this basis, it can effectively eliminate the subsequent influence on the object's motion posture control, and improve the accuracy of the position information of each hanging point. The method can improve the control accuracy, stability and reliability of object movement, and can also improve the safety of object movement; at the same time, the method does not require manual participation, which not only can improve the speed of obtaining the lifting point position information, but also can reduce the error of manual participation, improve the accuracy of the obtained lifting point position information, and at the same time, can reduce the manpower cost required to obtain the lifting point position information; in addition, the method does not require the participation of complex algorithms, thereby reducing the complexity of obtaining the lifting point position information; furthermore, the method can ensure that the force of each electric lifting equipment is balanced and stable during the movement of the object on the basis of obtaining accurate lifting point position information, avoid the problem of excessive or insufficient local force in each electric lifting equipment due to deviation of the lifting point position information, reduce the wear and tear of mechanical components and the probability of failure, enhance the stability and reliability of the entire mechanical control system, and extend the service life of each electric lifting equipment in the mechanical control system.

[0086] The following describes the process of obtaining the initial weights experienced by multiple lifting points between multiple electric lifting devices and a target object in a mechanical control system when the mechanical control system is stationary. In one embodiment, the mechanical control system further includes a mechanical control console, multiple load cells, multiple axis controllers, and a communication device, each load cell being connected to the mechanical control console via a corresponding axis controller and communication device. The step of obtaining the initial weights experienced by multiple lifting points between multiple electric lifting devices and a target object in the mechanical control system in S100 may include obtaining the initial weights experienced by each lifting point in a stationary state, as transmitted by each load cell via the corresponding axis controller and communication device.

[0087] The mechanical control system may further include a mechanical control console, multiple load cells, multiple axis controllers, and communication equipment. In the embodiment of the present application, each axis controller may control an electric lifting device, and each load cell may collect the gravity experienced by the lifting point between the corresponding electric lifting device and the target object. Simultaneously, each load cell may transmit the collected gravity to the mechanical control console via the corresponding axis controller and communication equipment, so that the mechanical control console can obtain the gravity experienced by the lifting point between the corresponding electric lifting device and the target object.

[0088] That is, in the mechanical control system, there is a one-to-one correspondence between the load cell, the axis controller, and the electric lifting equipment.

[0089] Specifically, for any hanging point, the mechanical console can receive the initial gravity borne by the hanging point in a static state, which is transmitted by the load cell corresponding to the hanging point through the corresponding axis controller and the communication device.

[0090] It should be noted here that each weighing sensor can detect the gravity borne by each hanging point in real time. Correspondingly, the mechanical control console can obtain in real time the initial gravity borne by each hanging point in a static state transmitted by each weighing sensor through the corresponding axis controller and communication equipment.

[0091] At the same time, in one embodiment, the step of obtaining the current gravity borne by each hanging point at the current moment in the above S100 may include: obtaining the current gravity borne by each hanging point at the current moment transmitted by each weighing sensor through the corresponding axis controller and communication equipment.

[0092] In practical applications, after each electric lifting device controls the target object to move for at least a period of time and reaches the current moment, each weighing sensor can detect the current gravity borne by the corresponding lifting point at the current moment.

[0093] Specifically, the mechanical control console can receive the current gravity borne by each hanging point at the current moment, which is transmitted by each weighing sensor through the corresponding axis controller and the communication device.

[0094] It should be noted here that each weighing sensor can detect the gravity borne by each hanging point in real time. Correspondingly, the mechanical console can obtain the current gravity borne by each hanging point at the current moment transmitted by each weighing sensor through the corresponding axis controller and communication equipment in real time.

[0095] The technical solution in the embodiment of the present application can automatically obtain the gravity of each hanging point transmitted by each weighing sensor in the mechanical control system through the corresponding axis controller and communication equipment, so that the mechanical control console can quickly obtain the gravity of each hanging point between multiple electric lifting equipment and the target object in the mechanical control system. This process does not require the participation of additional equipment and the processing process is relatively simple.

[0096] In some scenarios, it is not necessary to correct the position information of each lifting point between multiple electric lifting devices and the target object in the mechanical control system after each object movement. Instead, the position information of each lifting point is corrected only under specific circumstances. The triggering conditions for correcting the position information of each lifting point are described below. In one embodiment, before executing the steps in S300 above, Figure 3 As shown, the above method may further include the following steps:

[0097] S400: Detect whether the gravity deviation value of each hanging point is greater than a preset gravity deviation threshold.

[0098] In actual applications, the mechanical console can call the detection function and input the gravity deviation value of any hanging point into the detection function to detect whether the gravity deviation value of the hanging point is greater than a preset gravity deviation threshold through the detection function.

[0099] In addition, the mechanical control console can directly compare the gravity deviation value of the hanging point with a preset gravity deviation threshold to detect whether the gravity deviation value of the hanging point is greater than the preset gravity deviation threshold.

[0100] Optionally, the preset gravity deviation threshold can be user-defined or based on historical experience. The gravity deviation threshold can be equal to 0. However, in this embodiment of the present application, to allow for some calculation error, the gravity deviation threshold corresponding to each hanging point can be different. For any hanging point, the gravity deviation threshold corresponding to that hanging point can be equal to the product of 0.01 and the initial gravity corresponding to that hanging point.

[0101] S500 : When the gravity deviation value of each hanging point is greater than the gravity deviation threshold, executing the step of determining the position correction amount of each hanging point according to the gravity deviation value of each hanging point.

[0102] It should be noted that, among the multiple lifting points between the multiple electric lifting devices and the target object in the mechanical control system, if the gravity deviation value of at least one lifting point is greater than the gravity deviation threshold, the steps in S300-S400 described above can be continued for each lifting point whose gravity deviation value is greater than the gravity deviation threshold, that is, the position information correction is completed for these lifting points whose gravity deviation value is less than or equal to the gravity deviation threshold, and the measured position information of these lifting points is also the actual position information of these lifting points at the current moment. In the embodiment of the present application, the position information correction process for each lifting point is the same.

[0103] In an embodiment of the present application, for any hanging point, the mechanical console can continue to execute the above steps S300-S400 for the hanging point if it is determined that the gravity deviation value of the hanging point is greater than the gravity deviation threshold and this condition persists for a preset time.

[0104] In actual applications, if each electric lifting device controls the target object to move vertically upward by 1 meter, the lifting chain in each electric lifting device should be retracted upward by 1 meter. If the measured position information of each lifting point between each electric lifting device and the target object is not equal to the corresponding actual position information, the target object will tilt during the movement, and the gravity deviation value of each lifting point will be greater than the gravity deviation threshold.

[0105] The technical solution in the embodiment of the present application detects whether the gravity deviation value of each hanging point is greater than a preset gravity deviation threshold. When the gravity deviation value of each hanging point is greater than the gravity deviation threshold, a step of determining the position correction amount of each hanging point according to the gravity deviation value of each hanging point is executed; before executing the correction of the hanging point position information, the above method can first detect whether each hanging point meets the triggering conditions for the correction of the hanging point position information. Only when the hanging point meets the triggering conditions for the correction of the hanging point position information is the position information correction executed. This can reduce invalid processing processes, save computing resources of the mechanical control console, and speed up the correction of the hanging point position information.

[0106] The following describes the process of determining the position correction amount of each hanging point based on the gravity deviation value of each hanging point. Figure 4 As shown, the steps in S300 above can be implemented in the following ways:

[0107] S310 , normalizing the gravity deviation value of each hanging point to obtain a current normalized gravity deviation value of each hanging point.

[0108] In practical applications, the mechanical console can call a normalization function. For any hanging point, the gravity deviation value of the hanging point is input into the normalization function to normalize the gravity deviation value of the hanging point. The normalization function then returns the current normalized gravity deviation value of the hanging point.

[0109] In addition, the mechanical control console may input the gravity deviation value of the hanging point into the normalization model to perform normalization processing on the gravity deviation value of the hanging point, and the normalization model outputs the current normalized gravity deviation value of the hanging point.

[0110] In one embodiment, the step of normalizing the gravity deviation value of each hanging point in the above S310 to obtain the current normalized gravity deviation value of each hanging point may include: for any hanging point, dividing the gravity deviation value of the hanging point by the initial gravity of the hanging point to obtain the current normalized gravity deviation value of the hanging point.

[0111] In the embodiment of the present application, for any hanging point, the mechanical control console can obtain the current normalized gravity deviation value of the hanging point by dividing the gravity deviation value of the hanging point by the initial gravity of the hanging point.

[0112] Continuing with the previous example, taking hanging point 1 as an example, the current normalized gravity deviation value of hanging point 1 is Can be equal to .

[0113] S320: Determine a position correction value of each hanging point according to the current normalized gravity deviation value of each hanging point and at least one historical normalized gravity deviation value corresponding to each hanging point.

[0114] Specifically, for any lifting point, the mechanical control console can perform an arithmetic operation on the current normalized gravity deviation value of the lifting point and at least one historical normalized gravity deviation value corresponding to the lifting point to obtain a position correction value for the lifting point. Optionally, the arithmetic operation can include at least one of addition, subtraction, exponential operation, logarithmic operation, multiplication, division, trigonometric function operation, etc.

[0115] It should be noted here that the at least one historical normalized gravity deviation value corresponding to the hanging point can be understood as the normalized gravity deviation value corresponding to each position information correction of the hanging point during the process of controlling the target object from a stationary state to the current moment, that is, the historical normalized gravity deviation value.

[0116] In an embodiment of the present application, for any hanging point, the mechanical control console can use a PID algorithm to process the current normalized gravity deviation value of the hanging point and at least one historical normalized gravity deviation value corresponding to the hanging point to obtain a position correction value for the hanging point.

[0117] Taking hanging point 1 as an example, the process of using PID algorithm can be implemented using formula (1), that is:

[0118] (1)

[0119] Where i represents the number of times the measured position information of the lifting point 1 has been corrected since the lifting point 1 controlled the target object from a stationary state until the current moment, and m represents the number of times the measured position information of the lifting point 1 has been corrected (i.e., the mth time the measured position information of the lifting point 1 has been corrected since the lifting point 1 controlled the target object from a stationary state until the current moment). represents the proportional control coefficient, represents the integral control coefficient, represents the differential control coefficient.

[0120] Optionally, 、 and They can be equal or unequal, and can be determined based on historical experience or user-defined. can be equal to 0.5, can be equal to 0.2, Can be equal to 0.2. In practical applications, if m is equal to 1, then Equal to 0.

[0121] The technical solution in the embodiment of the present application normalizes the gravity deviation value of each hanging point to obtain the current normalized gravity deviation value of each hanging point, and determines the position correction value of each hanging point based on the current normalized gravity deviation value of each hanging point and at least one historical normalized gravity deviation value corresponding to each hanging point; the above method does not require the participation of complex algorithms and the processing process is relatively simple, thereby reducing the complexity of obtaining the hanging point position correction value and speeding up the speed of obtaining the hanging point position correction value.

[0122] The following describes the process of correcting the measured position information of the corresponding hanging point according to the position correction amount of each hanging point to obtain the corrected position information of each hanging point. Figure 5 As shown, the steps in S400 above can be implemented in the following ways:

[0123] S410: Acquire the center position information of the center point of the target object.

[0124] In practical applications, if the target object is a regular object, the center point of the target object can be the center of mass of the target object. In this case, arithmetic operations can be performed based on the mass and position information of multiple mass points of the target object to obtain the center position information of the center point of the target object.

[0125] In addition, if the target object is an irregular object, the target object can be divided into multiple regular parts. Specifically, the center of mass of each regular part can be calculated first, and then the center position information of the center point of the target object can be obtained by weighted average of the masses of each regular part.

[0126] In an embodiment of the present application, the mechanical console can obtain pre-stored center position information of the center point of the target object from a local location, a disk, a hard disk, or the like.

[0127] S420: For any hanging point, determine a direction vector from the hanging point to the center point based on the center position information and the measured position information of the hanging point.

[0128] In practical applications, the mechanical console can use the center position information of the center point of the target object minus the measured position information of the hanging point to obtain the direction vector between the hanging point and the center point.

[0129] For example, if the center position information of the center point O of the target object is ( , ), and the measured position information of the secondary lifting point 1 is ( , ), then the direction vector D between the hanging point and the center point can be expressed as ( , ).

[0130] S430: Adjust the measured position information of the hanging point according to the direction vector and the position correction amount of the hanging point to obtain the corrected position information of the hanging point.

[0131] In practical applications, the mechanical control console can pre-train a position information adjustment model, and then input the direction vector between the hanging point and the center point and the position correction amount of the hanging point into the position information adjustment model. The position information adjustment model adjusts the measured position information of the hanging point and outputs the corrected position information of the hanging point.

[0132] Optionally, the above-mentioned position information adjustment model can be implemented by at least one of a convolutional neural network model, a fully connected neural network model, a residual neural network model, a recurrent neural network model, a long short-term memory neural network model, etc.

[0133] In addition, the mechanical control console can perform arithmetic operations on the direction vector between the hanging point and the center point and the position correction value of the hanging point to adjust the measured position information of the hanging point to obtain the corrected position information of the hanging point.

[0134] In one embodiment, if Figure 6 As shown, the step of adjusting the measured position information of the hanging point according to the direction vector and the position correction amount of the hanging point in the above S430 to obtain the corrected position information of the hanging point can be achieved by the following method:

[0135] S431. Normalize the direction vector to obtain a corresponding unit vector.

[0136] In practical applications, the mechanical console can call a normalization tool to normalize the direction vector to obtain the corresponding unit vector.

[0137] In addition, the mechanical console can use Euclidean normalization method, Manhattan normalization method or probability vector normalization method to normalize the direction vector to obtain the corresponding unit vector.

[0138] S432: Multiply the unit vector by the position correction amount, and then sum it with the measured position information of the hanging point to obtain the corrected position information of the hanging point.

[0139] Furthermore, the unit vector corresponding to the direction vector between the hanging point and the center point may be multiplied by the position correction value of the hanging point, and then summed with the measured position information of the hanging point to obtain the corrected position information of the hanging point.

[0140] In the embodiment of the present application, continue to refer to the previous example, if the unit vector corresponding to the direction vector of the current hanging point 1 is for( , ), then the corrected position information of lifting point 1 It can be expressed as ( + , + ).

[0141] The following describes the process of normalizing the direction vector to obtain the corresponding unit vector. In one embodiment, the direction vector includes a horizontal coordinate component and a vertical coordinate component; Figure 7 As shown, the steps in S431 above can be implemented in the following ways:

[0142] S4311. Determine the modulus of the direction vector based on the sum of the square of the horizontal coordinate component and the square of the vertical coordinate component.

[0143] In the embodiment of the present application, for any hanging point, the direction vector from the hanging point to the center point may include a horizontal coordinate component and a vertical coordinate component, that is, a horizontal coordinate value and a vertical coordinate value.

[0144] Specifically, the mechanical control console can square the horizontal component of the direction vector between the hanging point and the center point, and square the vertical component of the direction vector between the hanging point and the center point, and then calculate the sum of the squares of the horizontal component and the vertical component (that is, the sum of the squares of the horizontal component and the vertical component), and then take the square root of the sum of the squares of the horizontal component and the vertical component to obtain the modulus of the direction vector between the hanging point and the center point.

[0145] S4312. Obtain a unit vector according to the ratio of the horizontal coordinate component to the modulus and the ratio of the vertical coordinate component to the modulus.

[0146] In practical applications, the mechanical console can divide the horizontal coordinate component of the direction vector between the hanging point and the center point by the modulus of the direction vector to obtain the ratio of the horizontal coordinate component to the modulus, and divide the vertical coordinate component of the direction vector between the hanging point and the center point by the modulus of the direction to obtain the ratio of the vertical coordinate component to the modulus. Then, the ratio of the horizontal coordinate component to the modulus and the ratio of the vertical coordinate component to the modulus are combined to obtain the unit vector corresponding to the direction vector between the hanging point and the center point.

[0147] Continuing with the previous example, if the direction vector D corresponding to the hanging point 1 is ( , ),in,( ) represents the horizontal coordinate component of the direction vector D, ( ) represents the ordinate component of the direction vector D, then the modulus of the direction vector corresponding to the hanging point 1 is It can be expressed as , correspondingly, the unit vector of suspension point 1 It can be expressed as ( , ).

[0148] The technical solution in the embodiment of the present application obtains the center position information of the center point of the target object, and for any hanging point, determines the direction vector between the hanging point and the center point based on the center position information and the measured position information of the hanging point, and adjusts the measured position information of the hanging point based on the direction vector and the position correction amount of the hanging point to obtain the corrected position information of the hanging point; the above method can adjust the measured position information of each hanging point between multiple electric lifting equipment and the target object in the mechanical control system, and obtain accurate position information of each hanging point. On this basis, it can effectively eliminate the subsequent influence on the object motion posture control, improve the control accuracy, stability and reliability of the object motion, and also improve the safety of the object motion.

[0149] In actual application, the length of the lifting chain in the electric lifting equipment corresponding to the lifting point can be adjusted according to the corrected position information of the lifting point to correct the position information of the lifting point and achieve precise control of the motion posture of the target object. The following describes the process of obtaining the length of the lifting chain in the electric lifting equipment corresponding to the lifting point. In one embodiment, the electric lifting equipment includes a lifting chain of an electric hoist and a hook connected to the lifting chain; after executing the steps in S400 above, as shown in FIG. Figure 8 As shown, the above method may further include the following steps:

[0150] S600: For any lifting point, determine the telescopic length of the lifting chain in the electric lifting equipment corresponding to the lifting point according to the corrected position information of the lifting point.

[0151] In the embodiment of the present application, the electric lifting device may include an electric hoist, a lifting chain that is clipped or overlapped with a slideway of the electric hoist, and a hook connected to the lifting chain. The hook is used to connect to a target object, and the connection point between the hook and the target object may be referred to as a lifting point between the electric lifting device to which the hook belongs and the target object.

[0152] In practical applications, for any lifting point, the mechanical control console can perform conversion processing, matching processing, etc. on the corrected position information of the lifting point to obtain the telescopic length of the lifting chain in the electric lifting equipment corresponding to the lifting point.

[0153] S700: Control the telescopic length of the lifting chain according to the telescopic length of the lifting chain.

[0154] Among them, the mechanical control console can send the telescopic length of the lifting chain to the corresponding axis controller through the communication equipment to instruct the axis controller to control the hook side of the lifting chain in the corresponding electric lifting equipment to shorten or extend the telescopic length.

[0155] In one embodiment, the electric lifting equipment further includes an electric hoist; the step of determining the telescopic length of the lifting chain in the electric lifting equipment corresponding to the lifting point based on the corrected position information of the lifting point in the above S600 may include: performing distance calculation based on the corrected position information of the lifting point and the position information of the corresponding electric hoist to obtain the telescopic length of the lifting chain in the electric lifting equipment corresponding to the lifting point.

[0156] In practical applications, the mechanical control console can use the Euclidean distance method, the Manhattan distance method or the Chebyshev distance method to calculate the distance based on the corrected position information of the lifting point and the position information of the corresponding electric hoist to obtain the telescopic length of the lifting chain in the electric lifting equipment corresponding to the lifting point.

[0157] In an embodiment of the present application, since the target object does not rotate during the movement process, the Z-axis coordinate change value in the real position information of each hanging point is equal to the rising or falling height of the target object, wherein the Z-axis coordinate value is equal to the sum of the Z-axis coordinate value of the hanging point in a stationary state and the movement height of the target object. Therefore, in the above embodiment, only the Y-axis coordinate value and the X-axis coordinate value in the measured position information of each hanging point need to be corrected.

[0158] Taking hanging point 1 as an example, if the corrected position information of hanging point 1 is expressed as ( , , ), then the position information of the electric hoist corresponding to the lifting point 1 is expressed as ( , , ), the telescopic length of the lifting chain connected to the electric hoist corresponding to the lifting point 1 is It can be expressed by the following formula (2):

[0159] (2)

[0160] In one embodiment, the mechanical control system further includes an electric lifting device, an axis controller and a communication device corresponding to the lifting point; Figure 9 As shown, the step of controlling the telescopic length of the lifting chain according to the telescopic length of the lifting chain in the above S700 may include:

[0161] S710: Generate a lifting chain adjustment instruction according to the extension length of the lifting chain.

[0162] The lifting chain adjustment instruction may carry the telescopic length of the corresponding lifting chain. In an embodiment of the present application, the mechanical control console may generate n lifting chain adjustment instructions, and each lifting chain in the electric lifting device corresponds to one lifting chain adjustment instruction.

[0163] S720. Send the lifting chain adjustment instruction to the axis controller through the communication device, instruct the axis controller to determine the operating parameters of the motor in the electric hoist according to the telescopic length carried in the lifting chain adjustment instruction, and control the motor operation based on the operating parameters of the motor to adjust the telescopic length of the lifting chain.

[0164] In the embodiment of the present application, the operating parameters of the motor in the electric hoist may include parameters such as the motor's operating speed and number of revolutions.

[0165] Specifically, the axis controller can look up the telescopic length carried in the received lifting chain adjustment instruction in the mapping relationship table between different chain telescopic lengths and different motor operating parameters, and obtain the motor operating parameters corresponding to the chain telescopic length that matches the telescopic length in the mapping relationship table and determine them as the operating parameters of the motor in the corresponding electric hoist.

[0166] In addition, the axis controller can input the telescopic length carried in the received lifting chain adjustment instruction into the algorithm model, and the algorithm model processes and outputs the operating parameters of the motor in the electric hoist according to the telescopic length carried in the lifting chain adjustment instruction.

[0167] It should be noted here that, for any lifting point, after obtaining the corrected position information of the lifting point, the position of the lifting point is adjusted according to the corrected position information of the lifting point (that is, the telescopic length of the corresponding lifting chain is adjusted), and the steps in S100-S400 above can be continued until the gravity deviation value corresponding to the lifting point is less than or equal to the preset gravity deviation threshold, and the correction is stopped. At this time, the corrected position information of the lifting point obtained can be called the true position information of the lifting point.

[0168] In one embodiment, the present application further provides a method for obtaining lifting point position information, which is applied to a mechanical control console in a mechanical control system. The mechanical control system further includes a mechanical control console, multiple weighing sensors, multiple axis controllers, and a communication device. The electric lifting equipment further includes an electric hoist, a lifting chain of the electric hoist, and a hook connected to the lifting chain. Each weighing sensor is connected to the mechanical control console via a corresponding axis controller and a communication device. The method includes the following process:

[0169] (1) Obtain the initial gravity borne by each hanging point in a stationary state, which is transmitted by each weighing sensor through the corresponding axis controller and the communication device; and obtain the current gravity borne by each hanging point at the current moment, which is transmitted by each weighing sensor through the corresponding axis controller and the communication device;

[0170] (2) Determine the gravity deviation value of each hanging point at the current moment based on the initial gravity of each hanging point and the current gravity of each hanging point;

[0171] (3) Check whether the gravity deviation value of each hanging point is greater than the preset gravity deviation threshold;

[0172] (4) When the gravity deviation value of each hanging point is greater than the gravity deviation threshold, the gravity deviation value of each hanging point is divided by the initial gravity of each hanging point to obtain the current normalized gravity deviation value of each hanging point;

[0173] (5) Determine the position correction value of each lifting point based on the current normalized gravity deviation value of each lifting point and at least one historical normalized gravity deviation value corresponding to each lifting point;

[0174] (6) Obtaining the center position information of the center point of the target object;

[0175] (7) For any hanging point, determine the direction vector from the hanging point to the center point based on the center position information and the measured position information of the hanging point; the direction vector includes the horizontal coordinate component and the vertical coordinate component;

[0176] (8) Determine the modulus of the direction vector based on the sum of the square of the horizontal coordinate component and the square of the vertical coordinate component;

[0177] (9) Obtain the unit vector based on the ratio of the horizontal coordinate component to the modulus length and the ratio of the vertical coordinate component to the modulus length;

[0178] (10) Multiply the unit vector by the position correction value, and then sum it with the measured position information of the hanging point to obtain the corrected position information of the hanging point;

[0179] (11) For any lifting point, the distance is calculated based on the corrected position information of the lifting point and the position information of the corresponding electric hoist to obtain the telescopic length of the lifting chain in the electric lifting equipment corresponding to the lifting point;

[0180] (12) Generate a lifting chain adjustment instruction according to the extension and contraction length of the lifting chain;

[0181] (13) The lifting chain adjustment instruction is sent to the axis controller through the communication device, instructing the axis controller to determine the operating parameters of the motor in the electric hoist according to the telescopic length carried in the lifting chain adjustment instruction, and control the operation of the motor based on the operating parameters of the motor to adjust the telescopic length of the lifting chain.

[0182] The execution process of (1) to (13) above can be specifically referred to the description of the above embodiment. The implementation principles and technical effects are similar and will not be repeated here.

[0183] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0184] Based on the same inventive concept, embodiments of the present application further provide a device for obtaining hanging point position information for implementing the aforementioned method for obtaining hanging point position information. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more embodiments of the device for obtaining hanging point position information provided below can be found in the aforementioned limitations of the method for obtaining hanging point position information, and will not be further elaborated here.

[0185] In an exemplary embodiment, Figure 10 As shown, a device for obtaining hanging point position information is provided, comprising: a gravity obtaining module 11, a first determining module 12, a second determining module 13 and a correcting module 14, wherein:

[0186] The gravity acquisition module 11 is used to obtain the initial gravity borne by multiple lifting points between multiple electric lifting devices and the target object in the mechanical control system in a static state; and obtain the current gravity borne by each lifting point at the current moment;

[0187] A first determining module 12 is configured to determine a gravity deviation value of each hanging point at a current moment based on the initial gravity of each hanging point and the current gravity of each hanging point;

[0188] A second determining module 13 is configured to determine a position correction value of each hanging point according to the gravity deviation value of each hanging point;

[0189] The correction module 14 is configured to correct the measured position information of the corresponding hanging point according to the position correction amount of each hanging point, so as to obtain the corrected position information of each hanging point.

[0190] The device for obtaining the hanging point position information provided in the embodiment of the present application can be used to execute the technical solution in the embodiment of the method for obtaining the hanging point position information described above. The implementation principle and technical effects thereof are similar and will not be described in detail here.

[0191] In one embodiment, the mechanical control system further includes a mechanical console, a plurality of weighing sensors, a plurality of axis controllers, and a communication device, wherein each weighing sensor is connected to the mechanical console via a corresponding axis controller and communication device; the gravity acquisition module includes an initial gravity acquisition unit, wherein:

[0192] The initial gravity acquisition unit is used to acquire the initial gravity borne by each hanging point in a static state, which is transmitted by each weighing sensor through the corresponding axis controller and the communication device.

[0193] The device for obtaining the hanging point position information provided in the embodiment of the present application can be used to execute the technical solution in the embodiment of the method for obtaining the hanging point position information described above. The implementation principle and technical effects thereof are similar and will not be described in detail here.

[0194] In one embodiment, the gravity acquisition module further includes: a current gravity acquisition unit, wherein:

[0195] The current gravity borne by each hanging point at the current moment is obtained from each weighing sensor through the corresponding axis controller and communication equipment.

[0196] The device for obtaining the hanging point position information provided in the embodiment of the present application can be used to execute the technical solution in the embodiment of the method for obtaining the hanging point position information described above. The implementation principle and technical effects thereof are similar and will not be described in detail here.

[0197] In one embodiment, the device for obtaining the lifting point position information further includes: a detection module and a determination execution module, wherein:

[0198] A detection module is used to detect whether the gravity deviation value of each hanging point is greater than a preset gravity deviation threshold;

[0199] The determination execution module is used to execute the step of determining the position correction amount of each hanging point according to the gravity deviation value of each hanging point when the gravity deviation value of each hanging point is greater than the gravity deviation threshold.

[0200] The device for obtaining the hanging point position information provided in the embodiment of the present application can be used to execute the technical solution in the embodiment of the method for obtaining the hanging point position information described above. The implementation principle and technical effects thereof are similar and will not be described in detail here.

[0201] In one embodiment, the second determination module includes: a normalization processing unit and a correction amount determination unit, wherein:

[0202] a normalization processing unit, configured to perform normalization processing on the gravity deviation value of each hanging point to obtain a current normalized gravity deviation value of each hanging point;

[0203] The correction value determination unit is used to determine the position correction value of each hanging point according to the current normalized gravity deviation value of each hanging point and at least one historical normalized gravity deviation value corresponding to each hanging point.

[0204] The device for obtaining the hanging point position information provided in the embodiment of the present application can be used to execute the technical solution in the embodiment of the method for obtaining the hanging point position information described above. The implementation principle and technical effects thereof are similar and will not be described in detail here.

[0205] In one embodiment, the normalization processing unit is specifically configured to:

[0206] For any hanging point, the gravity deviation value of the hanging point is divided by the initial gravity of the hanging point to obtain the current normalized gravity deviation value of the hanging point.

[0207] The device for obtaining the hanging point position information provided in the embodiment of the present application can be used to execute the technical solution in the embodiment of the method for obtaining the hanging point position information described above. The implementation principle and technical effects thereof are similar and will not be described in detail here.

[0208] In one embodiment, the correction module includes: an acquisition unit, a direction vector determination unit, and a position information adjustment unit, wherein:

[0209] An acquisition unit, used to acquire central position information of a central point of a target object;

[0210] a direction vector determining unit, configured to determine, for any hanging point, a direction vector between the hanging point and the center point based on the center position information and the measured position information of the hanging point;

[0211] The position information adjustment unit is used to adjust the measured position information of the hanging point according to the direction vector and the position correction amount of the hanging point to obtain the corrected position information of the hanging point.

[0212] The device for obtaining the hanging point position information provided in the embodiment of the present application can be used to execute the technical solution in the embodiment of the method for obtaining the hanging point position information described above. The implementation principle and technical effects thereof are similar and will not be described in detail here.

[0213] In one embodiment, the position information adjustment unit includes: a normalization processing subunit and a corrected position information acquisition subunit, wherein:

[0214] A normalization processing subunit is used to normalize the direction vector to obtain the corresponding unit vector;

[0215] The corrected position information acquisition subunit is used to multiply the unit vector by the position correction amount, and then sum it with the measured position information of the hanging point to obtain the corrected position information of the hanging point.

[0216] The device for obtaining the hanging point position information provided in the embodiment of the present application can be used to execute the technical solution in the embodiment of the method for obtaining the hanging point position information described above. The implementation principle and technical effects thereof are similar and will not be described in detail here.

[0217] In one embodiment, the direction vector includes a horizontal coordinate component and a vertical coordinate component; the normalization processing subunit is specifically configured to:

[0218] Determine the modulus of the direction vector based on the sum of the square of the abscissa component and the square of the ordinate component;

[0219] Get the unit vector based on the ratio of the abscissa component to the modulus and the ratio of the ordinate component to the modulus.

[0220] The device for obtaining the hanging point position information provided in the embodiment of the present application can be used to execute the technical solution in the embodiment of the method for obtaining the hanging point position information described above. The implementation principle and technical effects thereof are similar and will not be described in detail here.

[0221] In one embodiment, the electric lifting equipment includes a lifting chain of an electric hoist and a hook connected to the lifting chain; the lifting point position information acquisition device further includes: a telescopic length determination module and a length control module, wherein:

[0222] A telescopic length determination module is used to determine the telescopic length of the lifting chain in the electric lifting equipment corresponding to any lifting point based on the corrected position information of the lifting point;

[0223] The length control module is used to control the telescopic length of the lifting chain according to the telescopic length of the lifting chain.

[0224] The device for obtaining the hanging point position information provided in the embodiment of the present application can be used to execute the technical solution in the embodiment of the method for obtaining the hanging point position information described above. The implementation principle and technical effects thereof are similar and will not be described in detail here.

[0225] In one embodiment, the electric lifting equipment further includes an electric hoist; and the telescopic length determination module is specifically configured to:

[0226] The distance is calculated based on the corrected position information of the lifting point and the position information of the corresponding electric hoist to obtain the telescopic length of the lifting chain in the electric lifting equipment corresponding to the lifting point.

[0227] The device for obtaining the hanging point position information provided in the embodiment of the present application can be used to execute the technical solution in the embodiment of the method for obtaining the hanging point position information described above. The implementation principle and technical effects thereof are similar and will not be described in detail here.

[0228] Each module in the aforementioned apparatus for obtaining lifting point position information may be implemented in whole or in part through software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor within a computer device in the form of hardware, or may be stored in a computer device memory in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0229] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Figure 11 As shown. The computer device includes a processor, a memory, an input / output interface (I / O) and a communication interface. The processor, memory and I / O interface are connected via a system bus, and the communication interface is connected to the system bus via the I / O interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the computer device is used to store corrected position information of each lifting point between multiple electric lifting devices and a target object in a mechanical control system. The I / O interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a method for obtaining lifting point position information is implemented.

[0230] Those skilled in the art will understand that Figure 11 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0231] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0232] Obtaining the initial gravity borne by multiple lifting points between multiple electric lifting devices and the target object in a mechanical control system in a static state; and obtaining the current gravity borne by each lifting point at the current moment;

[0233] Determine the gravity deviation value of each hanging point at the current moment based on the initial gravity of each hanging point and the current gravity of each hanging point;

[0234] Determine the position correction amount of each hanging point according to the gravity deviation value of each hanging point;

[0235] According to the position correction amount of each hanging point, the measured position information of the corresponding hanging point is corrected to obtain the corrected position information of each hanging point.

[0236] 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:

[0237] Obtaining the initial gravity borne by multiple lifting points between multiple electric lifting devices and the target object in a mechanical control system in a static state; and obtaining the current gravity borne by each lifting point at the current moment;

[0238] Determine the gravity deviation value of each hanging point at the current moment based on the initial gravity of each hanging point and the current gravity of each hanging point;

[0239] Determine the position correction amount of each hanging point according to the gravity deviation value of each hanging point;

[0240] According to the position correction amount of each hanging point, the measured position information of the corresponding hanging point is corrected to obtain the corrected position information of each hanging point.

[0241] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0242] Obtaining the initial gravity borne by multiple lifting points between multiple electric lifting devices and the target object in a mechanical control system in a static state; and obtaining the current gravity borne by each lifting point at the current moment;

[0243] Determine the gravity deviation value of each hanging point at the current moment based on the initial gravity of each hanging point and the current gravity of each hanging point;

[0244] Determine the position correction amount of each hanging point according to the gravity deviation value of each hanging point;

[0245] According to the position correction amount of each hanging point, the measured position information of the corresponding hanging point is corrected to obtain the corrected position information of each hanging point.

[0246] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the 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 above-mentioned embodiments. In particular, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of a non-volatile memory and a volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), data processing logic based on quantum computing, artificial intelligence (AI) processors, and the like.

[0247] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0248] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A method for obtaining lifting point position information, characterized in that: The method comprises: Obtaining the initial gravity borne by multiple lifting points between multiple electric lifting devices and the target object in a mechanical control system in a static state; and obtaining the current gravity borne by each of the lifting points at a current moment; determining a gravity deviation value of each hanging point at a current moment according to the initial gravity of each hanging point and the current gravity of each hanging point; determining a position correction amount of each of the hanging points according to a gravity deviation value of each of the hanging points; According to the position correction amount of each hanging point, the measured position information of the corresponding hanging point is corrected to obtain the corrected position information of each hanging point.

2. The method according to claim 1, characterized in that The mechanical control system further includes a mechanical control console, a plurality of weighing sensors, a plurality of axis controllers and a communication device, wherein each weighing sensor is connected to the mechanical control console via a corresponding axis controller and the communication device; The method of obtaining the initial gravity borne by multiple lifting points between multiple electric lifting devices and the target object in a mechanical control system in a static state includes: Obtaining the initial gravity borne by each of the hanging points in a static state, which is transmitted by each of the weighing sensors through the corresponding axis controller and the communication device; Correspondingly, obtaining the current gravity borne by each of the suspension points at the current moment includes: The current gravity borne by each of the hanging points at the current moment, which is transmitted by each of the weighing sensors through the corresponding axis controller and the communication device, is obtained.

3. The method according to claim 1 or 2, characterized in that Before determining the position correction amount of each hanging point according to the gravity deviation value of each hanging point, the method further includes: Detecting whether the gravity deviation value of each of the hanging points is greater than a preset gravity deviation threshold; When the gravity deviation value of each hanging point is greater than the gravity deviation threshold, the step of determining the position correction amount of each hanging point according to the gravity deviation value of each hanging point is performed.

4. The method according to claim 1 or 2, characterized in that Determining the position correction amount of each hanging point according to the gravity deviation value of each hanging point includes: Normalizing the gravity deviation value of each hanging point to obtain a current normalized gravity deviation value of each hanging point; determining a position correction value of each of the hanging points according to a current normalized gravity deviation value of each of the hanging points and at least one historical normalized gravity deviation value corresponding to each of the hanging points; Correspondingly, normalizing the gravity deviation value of each of the hanging points to obtain the current normalized gravity deviation value of each of the hanging points includes: For any hanging point, the gravity deviation value of the hanging point is divided by the initial gravity of the hanging point to obtain the current normalized gravity deviation value of the hanging point.

5. The method according to claim 1 or 2, characterized in that The step of correcting the measured position information of the corresponding lifting point according to the position correction amount of each lifting point to obtain the corrected position information of each lifting point includes: Obtaining central position information of the central point of the target object; For any hanging point, determining a direction vector from the hanging point to the center point based on the center position information and the measured position information of the hanging point; The measured position information of the hanging point is adjusted according to the direction vector and the position correction amount of the hanging point to obtain the corrected position information of the hanging point.

6. The method according to claim 5, characterized in that The adjusting the measured position information of the hanging point according to the direction vector and the position correction amount of the hanging point to obtain the corrected position information of the hanging point includes: Normalizing the direction vector to obtain a corresponding unit vector; Multiplying the unit vector by the position correction amount and summing the result with the measured position information of the hanging point to obtain the corrected position information of the hanging point; Correspondingly, the direction vector includes a horizontal coordinate component and a vertical coordinate component; the normalization processing of the direction vector to obtain the corresponding unit vector includes: Determining the modulus of the direction vector according to the sum of the square of the abscissa component and the square of the ordinate component; The unit vector is obtained according to the ratio of the horizontal coordinate component to the modulus and the ratio of the vertical coordinate component to the modulus.

7. The method according to claim 1 or 2, characterized in that The electric lifting equipment includes a lifting chain of an electric hoist and a hook connected to the lifting chain; the method further includes: For any lifting point, determining the telescopic length of the lifting chain in the electric lifting equipment corresponding to the lifting point based on the corrected position information of the lifting point; According to the telescopic length of the lifting chain, the lifting chain is controlled to move the telescopic length.

8. The method according to claim 7, characterized in that The electric lifting equipment further includes an electric hoist; and determining the telescopic length of the lifting chain in the electric lifting equipment corresponding to the lifting point according to the corrected position information of the lifting point comprises: A distance calculation is performed based on the corrected position information of the lifting point and the position information of the corresponding electric hoist to obtain the telescopic length of the lifting chain in the electric lifting equipment corresponding to the lifting point.

9. The method according to claim 7, characterized in that The mechanical control system further includes an electric lifting device, an axis controller, and a communication device corresponding to the lifting point; and controlling the lifting chain to move the extension length according to the extension length of the lifting chain includes: generating a lifting chain adjustment instruction according to the extension length of the lifting chain; The lifting chain adjustment instruction is sent to the axis controller through the communication device, instructing the axis controller to determine the operating parameters of the motor in the electric hoist according to the telescopic length carried in the lifting chain adjustment instruction, and control the operation of the motor based on the operating parameters of the motor so that the lifting chain adjusts the telescopic length.

10. A device for acquiring lifting point position information, characterized in that: The device comprises: A gravity acquisition module is used to obtain the initial gravity borne by multiple lifting points between multiple electric lifting devices and the target object in the mechanical control system in a static state; and obtain the current gravity borne by each of the lifting points at the current moment; a first determining module, configured to determine a gravity deviation value of each hanging point at a current moment according to the initial gravity of each hanging point and the current gravity of each hanging point; a second determining module, configured to determine a position correction amount of each of the hanging points according to a gravity deviation value of each of the hanging points; The correction module is used to correct the measured position information of the corresponding hanging point according to the position correction amount of each hanging point to obtain the corrected position information of each hanging point.

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