Leveling control method and system based on aerial shuttle robot and robot

Abstract

The invention provides a leveling control method and system based on an air shuttle robot and the robot, and relates to the technical field of dynamic adjustment of the air shuttle robot. According to the method, inclination state parameters such as rolling and pitching of a cargo carrying table are obtained through an inertial sensor arranged in the cargo carrying table, and then the target adjustment length of each flat belt is accurately obtained; the leveling control precision is improved; and feedback adjustment is carried out on traction force of each flat belt according to real-time tension of the winding wheel while leveling control is carried out, so that the leveling control precision is further improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of dynamic adjustment of air shuttle robots, and in particular to a leveling control method and system based on an air shuttle robot and a robot. BACKGROUND

[0002] In related air shuttle robot devices, four winches are usually used to drive flat belts to be hoisted at the positions of the four corners of a cargo platform. Since the flat belts are wound in multiple layers on the winches during lifting, the actual diameters of the winches change with the number of winding layers of the flat belts. In addition, the thickness of the flat belts also has certain errors during processing, and the thickness of each flat belt cannot remain consistent. Therefore, even if the number of rotations of the four winches is the same, the corresponding winch lengths are also inconsistent, causing the cargo platform to tilt.

[0003] To solve the above problems, four independent motors can be used to drive the four winches, thereby solving the problem of the non-horizontal cargo platform caused by the inconsistent flat belts. However, in actual scenarios, since the thickness of the same flat belt is not uniformly changed, the actual winch length of the flat belt is also dynamically changed, which causes the cargo platform to sway in two directions of pitching and rolling during positioning. If the inclination is too large, the cargo platform will also overturn. At the same time, it also causes the problem of excessive load of the flat belt due to uneven force. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a leveling control method and system based on an air shuttle robot and a robot. The method obtains the inclination state parameters of the cargo platform, such as rolling and pitching, through the inertia sensor arranged in the cargo platform, and then accurately obtains the target adjustment length of each flat belt, thereby improving the leveling control accuracy. At the same time of leveling control, the traction force of each flat belt is feedback adjusted according to the real-time tension of the winch, thereby further improving the leveling control accuracy.

[0005] In a first aspect, the present application provides a leveling control method based on an air shuttle robot. The method is applied to an air shuttle robot. The air shuttle robot includes a vehicle body and a cargo platform. The vehicle body is arranged above the cargo platform, and the vehicle body and the cargo platform are connected by a plurality of flat belts. The vehicle body drives the winch to adjust the hoisting length of each flat belt through a servo motor. The cargo platform is provided with an inertia sensor. The method includes: When the air shuttle robot is in a working state, the inclination state parameters corresponding to the cargo platform are determined by using the attitude information collected by the inertia sensor. Determine the adjustment length corresponding to each flat belt according to the inclination state parameter, and determine the first adjustment parameter corresponding to the winch based on the adjustment length; wherein the first adjustment parameter is used to control the winch to adjust the hoisting length of the flat belt, so that the adjusted loading platform is in a horizontal motion state; Control the winch to operate according to the first adjustment parameter based on the adjustment length, and determine the load mutation parameter corresponding to the loading platform by using the real-time torque of the servo motor; Determine the adjustment speed corresponding to each flat belt according to the load mutation parameter, and determine the second adjustment parameter corresponding to the winch based on the adjustment speed; wherein the second adjustment parameter is used to control the winch to adjust the traction of the flat belt, so that the load difference value between the adjusted flat belts is less than a preset threshold value; Control the winch to operate according to the second adjustment parameter based on the adjustment speed.

[0006] Optionally, determining the adjustment length corresponding to each flat belt according to the inclination state parameter comprises: Constructing the Jacobian matrix corresponding to the air shuttle robot based on the attribute data corresponding to the vehicle body, the loading platform and the flat belts; Determine the real-time inclination angle corresponding to the loading platform according to the inclination state parameter, and determine the inclination angle correction value corresponding to the loading platform based on the real-time inclination angle; Calculate the adjustment length of the flat belt corresponding to the inclination angle correction value by using the Jacobian matrix.

[0007] Optionally, the adjustment length of the flat belt corresponding to the inclination angle correction value is calculated by using the Jacobian matrix, which is calculated by the following formula: ; Wherein, , , , The adjustment length corresponding to the four flat belts between the vehicle body and the loading platform, respectively; The Jacobian matrix corresponding to the air shuttle robot; The height difference value corresponding to the inclination angle correction value of the loading platform in the vertical direction; The roll angle correction value corresponding to the inclination angle correction value; The pitch angle correction value corresponding to the inclination angle correction value.

[0008] Optionally, determining the first adjustment parameter corresponding to the winch based on the adjustment length comprises: Obtain the servo motor corresponding to the winch, and determine the initial speed of the servo motor corresponding to the adjustment length by using the PID calculation result; The inclination deviation value corresponding to the loading platform is determined based on the inclination state parameter, the synchronous compensation value corresponding to the flat belt is determined by using the inclination deviation value, and the compensation circle speed corresponding to the servo motor is determined by using the synchronous compensation value; The speed parameter of the servo motor is determined according to the initial circle speed and the compensation circle speed, and the first adjustment parameter corresponding to the winding wheel is determined based on the speed parameter.

[0009] Optionally, the speed parameter of the servo motor is determined according to the initial circle speed and the compensation circle speed, and the following formula is used to achieve this: ; Wherein, is the speed parameter of the servo motor; is the initial circle speed of the servo motor, which is determined by using the adjustment length corresponding PID result; is the compensation circle speed of the servo motor, is the roll angle deviation value in the inclination deviation value, is the pitch angle deviation value in the inclination deviation value; is the coupling gain coefficient.

[0010] Optionally, the load mutation parameter corresponding to the loading platform is determined by using the real-time torque of the servo motor, including: The real-time tension corresponding to each flat belt is determined according to the real-time torque of the servo motor, and the total tension corresponding to the flat belt is determined according to the cumulative result of the real-time tension; The weight coefficient corresponding to each flat belt is determined by using the ratio of the real-time tension and the total tension; The target tension corresponding to each flat belt is determined according to the product of the total mass of the loading platform and the weight coefficient; The load mutation parameter corresponding to the loading platform is determined by the tension difference between the real-time tension and the target tension.

[0011] Optionally, the adjustment speed corresponding to each flat belt is determined according to the load mutation parameter, and the second adjustment parameter corresponding to the winding wheel is determined based on the adjustment speed, including: The relationship curve corresponding to the motor torque and the rotating speed of the servo motor is obtained; The tension difference corresponding to the load mutation parameter is determined, and the traction force compensation value corresponding to each flat belt is determined according to the tension difference; The rotating speed corresponding to the servo motor under the traction force compensation value is determined by using the relationship curve, and the adjustment speed corresponding to each flat belt is determined by using the rotating speed; The speed parameter of the servo motor is determined according to the adjustment speed, and the second adjustment parameter corresponding to the winding wheel is determined based on the speed parameter.

[0012] Optionally, the step of controlling the winch to operate according to the second adjustment parameter based on the adjustment speed comprises: Obtaining movement data of the vehicle body, and updating the adjustment length and the adjustment speed of each flat belt according to the movement data; Updating the first adjustment parameter of the winch according to the updated adjustment length, and controlling the winch to operate according to the updated first adjustment parameter; Updating the second adjustment parameter of the winch according to the updated adjustment speed, and controlling the winch to operate according to the updated second adjustment parameter.

[0013] In a second aspect, the present application provides a leveling control system based on an aerial shuttle robot, which is applied to the aerial shuttle robot; wherein the aerial shuttle robot comprises a vehicle body and a loading platform, the vehicle body is arranged above the loading platform, and the vehicle body and the loading platform are connected by a plurality of flat belts; the vehicle body adjusts the hoisting length of each flat belt through a winch driven by a servo motor; and the loading platform is provided with an inertial sensor. The system comprises: An inertial sensor control unit, configured to determine a corresponding inclination state parameter of the loading platform by using attitude information collected by the inertial sensor when the aerial shuttle robot is in a working state; A first adjustment parameter acquisition module, configured to determine an adjustment length corresponding to each flat belt according to the inclination state parameter, and determine a first adjustment parameter corresponding to the winch based on the adjustment length; wherein the first adjustment parameter is used to control the winch to adjust the hoisting length of the flat belt, so that the adjusted loading platform is in a horizontal motion state; A first leveling control module, configured to control the winch to operate according to the first adjustment parameter based on the adjustment length, and determine a corresponding load mutation parameter of the loading platform by using a real-time torque of the servo motor; A second adjustment parameter acquisition module, configured to determine an adjustment speed corresponding to each flat belt according to the load mutation parameter, and determine a second adjustment parameter corresponding to the winch based on the adjustment speed; wherein the second adjustment parameter is used to control the winch to adjust the traction force of the flat belt, so that the load difference value between each adjusted flat belt is less than a preset threshold value; A second leveling control module, configured to control the winch to operate according to the second adjustment parameter based on the adjustment speed.

[0014] In a third aspect, the present application further provides a robot, which comprises a vehicle body and a loading platform, the vehicle body is arranged above the loading platform, and the vehicle body and the loading platform are connected by a plurality of flat belts; the vehicle body adjusts the hoisting length of each flat belt through a winch driven by a servo motor; and the loading platform is provided with an inertial sensor. The vehicle body is provided with a PLC control unit, the PLC control unit comprising a processor and a memory, the memory storing computer executable instructions capable of being executed by the processor, and the processor executes the computer executable instructions to implement the steps of the levelling control method based on the aerial shuttle robot according to the first aspect.

[0015] The levelling control method, system and robot based on the aerial shuttle robot provided by the embodiment of the present application are applied to the aerial shuttle robot, wherein the aerial shuttle robot comprises a vehicle body and a loading platform, the vehicle body is arranged above the loading platform, and the vehicle body and the loading platform are connected by a plurality of flat belts; the vehicle body adjusts the hoisting length of each flat belt by a hoisting wheel driven by a servo motor; and the loading platform is provided with an inertial sensor. In the process of levelling control of the aerial shuttle robot, when the aerial shuttle robot is in a working state, first, the inclination state parameters corresponding to the loading platform are determined by using the attitude information collected by the inertial sensor; then, the adjustment length corresponding to each flat belt is determined according to the inclination state parameters, and the first adjustment parameter corresponding to the hoisting wheel is determined based on the adjustment length; wherein the first adjustment parameter is used to control the hoisting wheel to adjust the hoisting length of the flat belt, so that the adjusted loading platform is in a horizontal motion state; subsequently, the hoisting wheel is controlled to operate according to the first adjustment parameter based on the adjustment length, and the load mutation parameter corresponding to the loading platform is determined by using the real-time torque of the servo motor; then, the adjustment speed corresponding to each flat belt is determined according to the load mutation parameter, and the second adjustment parameter corresponding to the hoisting wheel is determined based on the adjustment speed; wherein the second adjustment parameter is used to control the hoisting wheel to adjust the traction force of the flat belt, so that the load difference value between the adjusted flat belts is less than a preset threshold value; and finally, the hoisting wheel is controlled to operate according to the second adjustment parameter based on the adjustment speed. The method obtains the rolling, pitching and other inclination state parameters of the loading platform by using the inertial sensor arranged in the loading platform, and then accurately obtains the target adjustment length of each flat belt, thereby improving the levelling control precision; and the traction force of each flat belt is feedback adjusted according to the real-time tension of the hoisting wheel during the levelling control, thereby further improving the levelling control precision.

[0016] Additional features and advantages of the present application are set forth in the detailed description which follows, and in part will be apparent to those skilled in the art from that description, or can be learned by practice of the present application. The purposes and other advantages of the present application will be realized and attained by the structures particularly pointed out in the written description and claims hereof as well as the appended drawings.

[0017] To make the above objectives, features and advantages of the present application more apparent, the following will describe a preferred embodiment in detail, and the description will be made in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the specific embodiments or prior art of the present application, the drawings needed in the specific embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0019] Figure 1 A flow chart of a leveling control method based on an air shuttle robot provided by an embodiment of the present application is provided. Figure 2 A flow chart of determining the adjustment length corresponding to each flat belt according to the inclination state parameter in step S102 of the leveling control method based on the air shuttle robot provided by an embodiment of the present application is provided. Figure 3 A flow chart of determining the first adjustment parameter corresponding to the winch based on the adjustment length in step S102 of the leveling control method based on the air shuttle robot provided by an embodiment of the present application is provided. Figure 4 A flow chart of determining the load mutation parameter corresponding to the loading platform by using the real-time torque of the servo motor in step S103 of the leveling control method based on the air shuttle robot provided by an embodiment of the present application is provided. Figure 5 A flow chart of step S104 of the leveling control method based on the air shuttle robot provided by an embodiment of the present application is provided. Figure 6 A flow chart of step S105 of the leveling control method based on the air shuttle robot provided by an embodiment of the present application is provided. Figure 7 A flow chart of another leveling control method based on the air shuttle robot provided by an embodiment of the present application is provided. Figure 8 A structural schematic diagram of a leveling control system based on the air shuttle robot provided by an embodiment of the present application is provided. Figure 9 A structural schematic diagram of a robot provided by an embodiment of the present application is provided. Figure 10 A structural schematic diagram of a PLC control unit provided by an embodiment of the present application is provided.

[0020] Icon: 810-inertial sensor control unit; 820-first adjustment parameter acquisition module; 830-first leveling control module; 840-second adjustment parameter acquisition module; 850-second leveling control module; 101-processor; 102-memory; 103-bus; 104-communication interface. DETAILED DESCRIPTION

[0021] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the present application will be described below in connection with the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0022] In order to facilitate the understanding of the embodiments, first, a leveling control method based on an air shuttle robot disclosed by the embodiments of the present application is introduced in detail. The method is applied to an air shuttle robot; wherein the air shuttle robot includes a vehicle body and a loading platform, the vehicle body is arranged above the loading platform, and the vehicle body and the loading platform are connected by multiple flat belts; the vehicle body adjusts the hoisting length of each flat belt through a servo motor driven winch; and the loading platform is provided with an inertial sensor.

[0023] In the process of leveling control of the above-mentioned air shuttle robot, as shown in Figure 1 , the method comprises: Step S101: When the air shuttle robot is in a working state, the real-time angle collected by the inertial sensor is used to determine the corresponding inclination state parameter of the loading platform.

[0024] When the air shuttle robot enters a working state (such as during hoisting and moving a load), the horizontal state of the loading platform may be inclined due to uneven load distribution, external disturbance and other factors. At this time, the inertial sensor equipped on the loading platform is used to collect real-time acceleration data and angular velocity data, and through analysis and calculation of these real-time data, the current inclination state parameter of the loading platform is determined, including the specific direction of inclination (such as forward and backward inclination along the X axis, left and right inclination along the Y axis) and the size of the inclination angle, which provides accurate initial basis for subsequent leveling operation.

[0025] Step S102: Determine the corresponding adjustment length of each flat belt according to the inclination state parameter, and determine the corresponding first adjustment parameter of the winch based on the adjustment length; wherein the first adjustment parameter is used to control the winch to adjust the hoisting length of the flat belt, so that the adjusted loading platform is in a horizontal motion state.

[0026] Based on the inclination state parameters obtained in step S101, the length of each flat belt (the vehicle body and the loading platform are connected by multiple flat belts, and each flat belt corresponds to a different force point of the loading platform) that needs to be adjusted is further analyzed: for example, if the inclination angle of one side of the loading platform is large, the flat belt on the corresponding side may need to be shortened (by winding the winch) to lift that side, and the other side may need to be lengthened (by releasing the winch) to lower it, thereby offsetting the inclination. According to the calculated adjustment length of each flat belt, the first adjustment parameter of the winch is converted, including the rotation direction of the winch (winding or releasing the belt), the number of rotations or the angle (corresponding to the specific adjustment length), and the core function is to adjust the length of the flat belt hoisting by controlling the action of the winch, and finally make the loading platform restore and maintain a horizontal motion state.

[0027] Step S103: Based on the adjustment length, the winch is controlled to operate according to the first adjustment parameter, and the real-time torque of the servo motor is used to determine the corresponding load mutation parameter of the loading platform.

[0028] According to the first adjustment parameter determined in step S102, the winch is controlled to start operation and real-time adjustment of the length of the flat belt. At the same time, the real-time tension of each flat belt is obtained by using the real-time torque of the corresponding servo motor of each flat belt, and by analyzing the sudden fluctuation (such as sudden increase or decrease) and fluctuation amplitude of the tension, the corresponding load mutation parameter of the loading platform is determined, which reflects whether the load is instantaneously unbalanced in the hoisting process, and is a key basis for subsequent balancing of the load of the belt.

[0029] Step S104: According to the load mutation parameter, the adjustment speed of each flat belt is determined, and the second adjustment parameter of the winch is determined based on the adjustment speed; wherein the second adjustment parameter is used to control the winch to adjust the traction force of the flat belt, so that the load difference between each adjusted flat belt is less than a preset threshold.

[0030] According to the load mutation parameter obtained in step S103, the speed of each flat belt that needs to be adjusted is further calculated (for example, the flat belt with excessive load needs to reduce the adjustment speed to reduce the traction force, and the flat belt with insufficient load needs to increase the adjustment speed to increase the traction force). Based on these adjustment speeds, the second adjustment parameter of the winch is converted, including the real-time speed of the winch, the acceleration or deceleration rate of the speed, etc., and the function is to finely control the traction force of the winch to the flat belt, gradually reduce the load difference between the belts, and finally control the load difference between each adjusted flat belt within the preset threshold, achieve load balancing, thereby avoiding damage to local belts due to excessive force, and ensuring the safety of equipment operation.

[0031] Step S105: Based on the adjustment speed, the winch is controlled to operate according to the second adjustment parameter.

[0032] According to the second adjustment parameter determined in step S104, the control of the winch continues to operate, and the balance and stability of the tension of each flat belt are realized by dynamically adjusting the traction force of the flat belt. This step is a fine optimization of the leveling process, which finally ensures that the loading platform is in a horizontal motion state and that the force of each flat belt is uniform, thereby improving the running stability and load safety of the air shuttle robot.

[0033] Optionally, the adjustment length of each flat belt corresponding to the inclination state parameter is determined, as shown in the following formula: Figure 2 As shown in the following formula: Step S201: Based on the attribute data of the vehicle body, the loading platform, and the flat belts, a Jacobian matrix corresponding to the air shuttle robot is constructed.

[0034] Firstly, the attribute data of the vehicle body, the loading platform, and the flat belts in the air shuttle robot are collected, which include but are not limited to: the structural dimensions (such as length, width) of the vehicle body and the loading platform, the number of flat belts, and the fixed point coordinates (i.e. the hoisting connection positions of each belt) on the vehicle body and the loading platform, and the physical properties (such as the elastic coefficient, etc. if the deformation effect needs to be considered) of the flat belts. Based on these attribute data, a Jacobian matrix corresponding to the air shuttle robot is constructed. The core role of the Jacobian matrix is to establish a mathematical correlation: to link the attitude change (such as the change of the inclination angle) of the loading platform with the length change of each flat belt, to provide a basic mapping relationship for subsequent attitude correction by adjusting the belt length.

[0035] Step S202: Determine the real-time inclination angle of the loading platform corresponding to the inclination state parameter, and determine the inclination correction value of the loading platform based on the real-time inclination angle.

[0036] From the inclination state parameter determined in step S101, the current real-time inclination angle of the loading platform (including the inclination angles along different axes, such as the pitch angle in the front-back direction and the roll angle in the left-right direction) is extracted. Since the goal of leveling is to make the loading platform in a horizontal state (at this time the inclination angle should be 0), the real-time inclination angle is calculated by difference with the target inclination angle of the horizontal plane (0°), and the result is the inclination correction value of the loading platform, which directly reflects "how much the inclination angle of the loading platform needs to be adjusted" to reach the horizontal state, and is the core input parameter for subsequent calculation of the belt adjustment length (for example, if the real-time inclination angle is 3°, the inclination correction value is -3°, indicating that the inclination needs to be adjusted by 3° in the opposite direction to offset the inclination).

[0037] Step S203: Calculate the adjustment length of the flat belt corresponding to the inclination correction value by using the Jacobian matrix.

[0038] The inclination correction value determined in step S202 is input into the Jacobian matrix constructed in step S201, and based on the mapping relationship between the Jacobian matrix and the inclination correction value, the adjustment length corresponding to each flat belt is directly output through a matrix operation. Specifically, by using the Jacobian matrix in combination with the size and direction of the inclination correction value, and in combination with the force position of each belt on the loading platform, the specific numerical value of each belt that needs to be shortened or lengthened (for example, the belt responsible for lifting the inclined side needs to be shortened by X centimeters, and the opposite belt on the corresponding side needs to be lengthened by Y centimeters) is calculated, and finally the accurate adjustment amount of each belt required to achieve the horizontal state is obtained.

[0039] Optionally, the adjustment length of the flat belt corresponding to the inclination correction value calculated by using the Jacobian matrix can be calculated by the following formula: ; Wherein, 、 、 、 are the adjustment lengths corresponding to the four flat belts between the vehicle body and the loading platform, respectively; is the Jacobian matrix corresponding to the air shuttle robot; is the height difference value corresponding to the inclination correction value in the vertical direction of the loading platform; is the roll angle correction value corresponding to the inclination correction value; is the pitch angle correction value corresponding to the inclination correction value.

[0040] Optionally, the first adjustment parameter corresponding to the hoisting wheel is determined based on the adjustment length, including: Step S301: Obtain the servo motor corresponding to the hoisting wheel, and determine the initial speed of the servo motor corresponding to the adjustment length by using the PID calculation result.

[0041] First of all, it is clear that the driving device of the hoisting wheel is a servo motor (the servo motor has high-precision control characteristics and can accurately adjust the rotation amount). For the adjustment length of each flat belt calculated in step S204, the PID (proportional-integral-derivative) control algorithm is used for calculation. The PID algorithm can dynamically output the control amount according to the deviation between the target value and the current actual value of the adjustment length, and finally determine the initial speed of the servo motor. The "initial speed" here refers to the basic rotation speed (number of rotations per unit time) that the servo motor needs to reach to achieve the preset adjustment length, which is a preliminary speed setting based on the theoretical adjustment length calculation, to ensure the basic direction and rate of the belt length adjustment.

[0042] Step S302: Determine the inclination deviation value corresponding to the loading platform based on the inclination state parameter, determine the synchronous compensation value corresponding to the flat belt by using the inclination deviation value, and determine the compensation speed of the servo motor corresponding to the synchronous compensation value.

[0043] On the basis of step S301, further introduce the dynamic correction of the tilt state. Extract the current tilt angle deviation value (i.e. the difference between the actual tilt angle and the target horizontal tilt angle, reflecting the remaining error of tilt correction) from the tilt state parameters; based on the tilt angle deviation value, calculate the synchronous compensation value corresponding to the flat belt. The core function of this compensation value is to coordinate the adjustment rhythm of multiple flat belts, and avoid new tilt caused by inconsistent adjustment speed of each belt (for example, if the tilt angle deviation of one side is larger, the compensation value of the corresponding belt will be larger, to speed up the adjustment speed of that side). Then convert the synchronous compensation value into the compensation speed of the servo motor, that is, the correction amount (which can be positive or negative, indicating acceleration or deceleration respectively) of the initial speed, to ensure that each belt remains synchronized and coordinated during adjustment.

[0044] Step S303: Determine the speed parameter of the servo motor according to the initial speed and the compensation speed, and determine the first adjustment parameter corresponding to the winding drum based on the speed parameter.

[0045] Superimpose the initial speed obtained in step S301 and the compensation speed obtained in step S302 to obtain the final speed parameter (including real-time speed, speed change rate, etc.) of the servo motor. Based on this speed parameter, further convert it into the first adjustment parameter corresponding to the winding drum, which specifically includes the rotation direction of the winding drum (winding or releasing the belt, determined by the positive and negative of the adjustment length), the duration of rotation (determined by the speed parameter and the adjustment length), and the speed curve during rotation (to ensure smooth adjustment process and avoid impact), etc. Finally, the first adjustment parameter can accurately control the operation of the winding drum, realize precise adjustment of the flat belt hoisting length, and provide direct execution basis for the recovery of the horizontal state of the loading platform.

[0046] Optionally, the speed parameter of the servo motor is determined according to the initial speed and the compensation speed, which is realized by the following formula: ; Wherein, is the speed parameter of the servo motor; is the initial speed of the servo motor, which is determined by the adjustment length corresponding PID result; is the compensation speed of the servo motor corresponding to the tilt angle deviation value, is the roll angle deviation value in the tilt angle deviation value, is the pitch angle deviation value in the tilt angle deviation value; is the coupling gain coefficient.

[0047] Optionally, the real-time torque of the servo motor is used to determine the load mutation parameter corresponding to the loading platform, as shown in Figure 4 , including: Step S401: Determine the real-time tension corresponding to each flat belt according to the real-time torque of the servo motor, and determine the total tension corresponding to the flat belt according to the accumulation result of the real-time tension.

[0048] Firstly, the real-time tension corresponding to each flat belt is characterized by acquiring the real-time torque of the servo motor. Since multiple flat belts jointly hoist the loading platform, the total tension they bear is directly related to the total load of the loading platform (including the mass of the loading platform itself and the mass of the loaded goods), so the real-time tensions of all flat belts are accumulated to obtain the total tension corresponding to the flat belt. This total tension not only reflects the total load size of the current hoisting, but also provides basic data for subsequent analysis of the load distribution ratio of a single flat belt.

[0049] Step S402: Determine the weight coefficient corresponding to each flat belt by using the ratio of the real-time tension to the total tension.

[0050] On the basis of the total tension obtained in step S401, the ratio of the real-time tension of each flat belt to the total tension is calculated, which is the weight coefficient of the corresponding flat belt. The weight coefficient intuitively reflects the share of a single flat belt in the total load. Specifically, the weight coefficient ω i =T i / ∑T i ; where T i : the real-time tension measurement value of the i-th flat belt (unit: N). The physical meaning of the weight coefficient is the proportion of the current tension of each rope to the total tension, reflecting the load distribution state.

[0051] Step S403: Determine the target tension corresponding to each flat belt according to the product of the total mass of the loading platform and the weight coefficient.

[0052] Given the total mass of the loading platform (including its own mass and the mass of the loaded goods, which can be obtained by a preset parameter or a weighing sensor), combined with the acceleration of gravity, the total load force (total gravity) can be calculated. Based on the weight coefficient of each flat belt determined in step S402, the total load force is distributed to each flat belt in proportion to the weight, obtaining the target tension corresponding to each flat belt. Specifically, the target tension F i =ω i *M*g; M is the total mass of the loading platform (kg); g is the acceleration of gravity (9.81 m / s 2 ); The physical meaning of the target tension is to convert the weight proportion into the force that the rope should theoretically exert to achieve load balancing.

[0053] Step S404: Determine the load mutation parameter corresponding to the loading platform by the tension difference between the real-time tension and the target tension.

[0054] The real-time tension of each flat belt (obtained in step S401) is subtracted from the corresponding target tension (calculated in step S403) to obtain the tension difference of each belt. The absolute value of these tension differences and the change rate (such as the sudden increase or decrease in amplitude) together constitute the corresponding load mutation parameter of the loading platform. For example, if the real-time tension of a certain belt suddenly increases from 2000N to 3000N, the difference from the target tension reaches 1000N, indicating that the load on that side may have a transient shift or mutation, and the load mutation parameter quantitatively reflects this abnormal state, providing a key basis for subsequent adjustment of the adjustment speed of the flat belt.

[0055] Optionally, step S104 of determining the adjustment speed of each flat belt according to the load mutation parameter and determining the second adjustment parameter of the winch based on the adjustment speed, as shown in Figure 5 includes: Step S501: Obtain the relationship curve of motor torque and speed of the servo motor.

[0056] First of all, it is clear that the core component driving the winch to operate is the servo motor, and its performance directly affects the traction force and adjustment accuracy of the flat belt. To achieve precise control of the traction force, the key characteristic curve of the servo motor, i.e., the relationship curve of motor torque and speed, needs to be obtained first. This curve is usually obtained through factory parameters, experimental testing or calibration data, and it directly reflects the stable speed of the motor corresponding to different output torques (for example, when the torque increases, the speed may decrease due to increased load, and vice versa). This curve is the core basis for subsequent adjustment of the motor speed according to the required traction force, and provides a quantitative basis for establishing the correlation between traction force and adjustment speed.

[0057] Step S502: Determine the tension difference corresponding to the load mutation parameter, and determine the traction force compensation value of each flat belt according to the tension difference.

[0058] From the load mutation parameter, the tension difference of each flat belt is extracted (i.e., the difference between the real-time tension and the target tension calculated in step S404, reflecting the deviation of the current belt tension from the ideal balanced state). Based on this tension difference, the traction force compensation value of each flat belt is further calculated: for example, if the real-time tension of a certain belt is much greater than the target tension (the tension difference is positive and large), it indicates that the traction force is too large, and the tension needs to be reduced by reducing the traction force, so the traction force compensation value is negative (indicating the size of the traction force to be reduced); if the tension difference is negative (the real-time tension is too small), the compensation value is positive (indicating the size of the traction force to be increased). The core function of the traction force compensation value is to "quantify how much traction force needs to be adjusted" to make the belt tension approach the target value and reduce the tension difference with other belts.

[0059] Step S503: Determine the corresponding speed of the servo motor under the traction force compensation value by using the relationship curve, and determine the adjustment speed of each flat belt by using the speed.

[0060] Since the traction force of the flat belt is directly related to the output torque of the servo motor (the motor torque is converted into the traction force on the belt through the mechanical structure of the winding drum), the traction force compensation value can be corresponded to the torque adjustment amount required by the motor. Combined with the "motor torque and speed relationship curve" determined in step S501, according to this torque adjustment amount (i.e. the torque corresponding to the traction force compensation value), the speed at which the motor should operate under this torque can be queried in the curve, which directly determines the speed at which the winding drum retracts and releases the flat belt, i.e. the adjustment speed of each flat belt (for example, the higher the speed, the faster the speed of the belt retraction and release, and the higher the adjustment efficiency of the traction force). Through this step, the "traction force compensation requirement" is converted into a "specific value of the belt adjustment speed".

[0061] Step S504: Determine the speed parameter of the servo motor according to the adjustment speed, and determine the second adjustment parameter of the winding drum based on the speed parameter.

[0062] Based on the adjustment speed of each flat belt determined in step S503, the speed parameters of the servo motor are further determined, including the target speed of the motor (corresponding to the size of the adjustment speed), the change rate of the speed (i.e. the rate of acceleration or deceleration, to avoid sudden changes in speed causing tension fluctuations), and the duration of maintaining the speed (to ensure that the adjustment is in place). These speed parameters are converted into second adjustment parameters of the winding drum, including control signals of the servo motor (such as pulse frequency, direction instruction), speed timing, etc. The core function of the second adjustment parameter is to control the operation of the winding drum so that each flat belt is retracted and released at the calculated adjustment speed, and finally the tension difference value of each flat belt is less than the preset threshold, ensuring that the forces on each belt are balanced during hoisting to avoid local overload damage.

[0063] Optionally, the step S105 of controlling the winding drum to operate according to the second adjustment parameter based on the adjustment speed, as shown in Figure 6 , includes: Step S601: Obtain the movement data of the vehicle body, and update the adjustment length and adjustment speed of the flat belt by using the movement data.

[0064] In the working process of the air shuttle robot, the vehicle body is not in a static state (may move horizontally, turn or fine-tune the position according to the work requirements), and these movements will change the relative position relationship between the vehicle body and the loading platform, and then affect the stress state of the flat belt and the hoisting length requirement. Therefore, the movement data of the vehicle body need to be obtained in real time, including the movement direction (such as forward and backward, left and right), the movement distance, the movement speed and the turning angle, etc. Based on these movement data, the stress balance state and the hoisting geometric relationship of the flat belt are recalculated, and then the adjustment length (the original length adjustment requirement may increase or decrease due to the change of the vehicle body position) and the adjustment speed (the load distribution may change dynamically during the movement process, so the tension rate needs to be adjusted to adapt to the new stress situation) corresponding to each flat belt are updated. The core of this step is to ensure that the adjustment parameters can match the new working conditions brought by the movement of the vehicle body in real time, and avoid leveling failure or tension imbalance due to lag.

[0065] Step S602: updating the first adjustment parameter corresponding to the hoisting wheel based on the updated adjustment length, and controlling the hoisting wheel to operate according to the updated first adjustment parameter.

[0066] Based on the updated adjustment length in step S601, the first adjustment parameter corresponding to the hoisting wheel is recalculated. The first adjustment parameter is originally set based on the length requirement of the static or initial position, and after the movement of the vehicle body, the target length of the flat belt has changed (for example, when the vehicle body moves to a certain side, the flat belt on the corresponding side may need to be additionally shortened or lengthened to maintain the level of the loading platform), so the specific content of the first adjustment parameter needs to be updated, including the rotation direction of the hoisting wheel (may be reversed due to the change of the movement direction), the number of rotation (to match the new adjustment length) and the basic rotation speed (to ensure that the length adjustment efficiency adapts to the movement speed of the vehicle body). After the update is completed, the hoisting wheel is controlled to operate according to the new first adjustment parameter, so as to quickly respond to the change of the length requirement brought by the movement of the vehicle body, and ensure that the loading platform always maintains a horizontal motion state in the dynamic process.

[0067] Step S603: updating the second adjustment parameter corresponding to the hoisting wheel based on the updated adjustment speed, and controlling the hoisting wheel to operate according to the updated second adjustment parameter.

[0068] Based on the updated adjustment speed in step S601, the second adjustment parameters corresponding to the winch are further updated. The update of the adjustment speed reflects the new requirements for tension balance during vehicle movement (for example, when the vehicle turns, the inner belt may need to reduce its adjustment speed to reduce tension due to a sudden increase in load, while the outer belt may need to increase its speed to compensate for the tension). Therefore, the second adjustment parameters need to be redefined based on the new adjustment speed, including the real-time speed correction value of the servo motor (to match the updated adjustment speed), the smoothing coefficient of speed change (to avoid aggravating tension fluctuations due to sudden speed changes), and the feedback cycle of tension balance (to shorten the cycle to improve dynamic response speed). After the update is completed, the winch is controlled to operate according to the new second adjustment parameters to ensure that the tension difference of each flat belt is always controlled within the preset threshold during the dynamic process of vehicle movement, ultimately achieving dual dynamic stability of "level state maintenance" and "tension balance".

[0069] like Figure 7 The flowchart shown is another leveling control method based on an aerial shuttle robot. The controlled aerial shuttle robot uses four flat conveyor belts to lift the vehicle body to the loading platform. The changes in the length of the four flat conveyor belts correspond to... , , , The loading platform is equipped with an Inertial Measurement Unit (IMU) to monitor the tilt angle in real time. By acquiring the real-time angle data collected by the IMU, the roll angle correction value and pitch angle correction value corresponding to the tilt of the loading platform are calculated, thereby calculating the Roll / Pitch error. Then, the required adjustment amount for each rope (flat belt) is calculated through inverse kinematics. Subsequently, multi-motor coordinated control is achieved based on the adjustment amount, thereby controlling the winch to drive the flat belt to move, so that the loading platform is in a horizontal state. In actual scenarios, the static deviation can be guaranteed to be <0.1 degrees.

[0070] In addition, the tension of the flat belt is balanced and detected, and then the second adjustment parameter of the winch is determined for dynamic compensation. This allows the real-time tension of the winch to be used to adjust the traction force of each flat belt, ensuring that the output torque of the four motors is balanced during the positioning process and preventing motor overload alarms.

[0071] In practical scenarios, four-axis synchronous control can also be implemented, where four hoisting motors act as slave axes, running synchronously with the master shaft. The adjustment speed u of the four axes can be calculated based on the angular deviation. i (i=1-4) are respectively superimposed on the main speed of the four axes. The four motors dynamically adjust their speed during the lifting process to maintain horizontality and ensure that the dynamic deviation is <0.5 degrees.

[0072] It can be seen from the levelling control method based on the aerial shuttle robot in the above embodiment that the method acquires the tilting state parameters of the loading platform such as rolling and pitching through the inertial sensor arranged in the loading platform, and then accurately acquires the target adjustment length of each flat belt, thereby improving the levelling control precision; and the traction force of each flat belt is feedback adjusted according to the real-time tension of the winch wheel while levelling control, thereby further improving the levelling control precision.

[0073] Corresponding to the above embodiment of the levelling control method based on the aerial shuttle robot, the embodiment of the present application also provides a levelling control system based on the aerial shuttle robot, which is applied to the aerial shuttle robot; wherein the aerial shuttle robot comprises a vehicle body and a loading platform, the vehicle body is arranged above the loading platform, and the vehicle body and the loading platform are connected through a plurality of flat belts; the vehicle body drives the winch wheel to adjust the hoisting length of each flat belt through a servo motor; the loading platform is provided with an inertial sensor; As Figure 8 shown, the system comprises: an inertial sensor control unit 810, configured to determine the corresponding tilting state parameters of the loading platform by using the attitude information collected by the inertial sensor when the aerial shuttle robot is in a working state; a first adjustment parameter acquisition module 820, configured to determine the corresponding adjustment length of each flat belt according to the tilting state parameters, and determine the corresponding first adjustment parameter of the winch wheel based on the adjustment length; wherein the first adjustment parameter is used to control the winch wheel to adjust the hoisting length of the flat belt, so that the adjusted loading platform is in a horizontal motion state; a first levelling control module 830, configured to control the winch wheel to operate according to the first adjustment parameter based on the adjustment length, and determine the corresponding load mutation parameter of the loading platform by using the real-time torque of the servo motor; a second adjustment parameter acquisition module 840, configured to determine the corresponding adjustment speed of each flat belt according to the load mutation parameter, and determine the corresponding second adjustment parameter of the winch wheel based on the adjustment speed; wherein the second adjustment parameter is used to control the winch wheel to adjust the traction force of the flat belt, so that the load difference value between the adjusted each flat belt is less than a preset threshold value; a second levelling control module 850, configured to control the winch wheel to operate according to the second adjustment parameter based on the adjustment speed.

[0074] It can be seen from the above levelling control system based on the aerial shuttle robot that the system acquires the tilting state parameters of the loading platform such as rolling and pitching through the inertial sensor arranged in the loading platform, and then accurately acquires the target adjustment length of each flat belt, thereby improving the levelling control precision; and the traction force of each flat belt is feedback adjusted according to the real-time tension of the winch wheel while levelling control, thereby further improving the levelling control precision.

[0075] The leveling control system based on the aerial shuttle robot provided in the embodiments of the present application has the same implementation principle and technical effects as the aforementioned leveling control method based on the aerial shuttle robot, and for brief description, the part of the system embodiments not mentioned can refer to the corresponding content in the aforementioned leveling control method based on the aerial shuttle robot.

[0076] The embodiments also provide a robot, as shown in the accompanying drawings. Figure 9 The robot includes a vehicle body and a loading platform, the vehicle body is arranged above the loading platform, and the vehicle body and the loading platform are connected through a plurality of flat belts; the vehicle body drives a hoist wheel through a servo motor to adjust the hoisting length of each flat belt; and the loading platform is provided with an inertial sensor.

[0077] The inertial sensor is used to detect the pitch and roll angle of the loading platform; the servo motor is used to drive the hoist wheel to rotate to realize the lifting of the loading platform; the PLC control unit is used to realize dynamic leveling, control the positioning of the servo motor, and communication between the vehicle body and the loading platform; and the flat belt is used to hoist the loading platform through the hoist wheel of the vehicle body.

[0078] Specifically, the vehicle body is provided with a PLC control unit, and a structural schematic diagram thereof is shown in the accompanying drawings. Figure 10 The PLC control unit includes a processor 101 and a memory 102; the memory 102 is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor to realize the steps of the aforementioned leveling control method based on the aerial shuttle robot.

[0079] Figure 10 The PLC control unit shown in the accompanying drawings also includes a bus 103 and a communication interface 104, and the processor 101, the communication interface 104 and the memory 102 are connected through the bus 103.

[0080] The memory 102 can include a high-speed random access memory (RAM) and can also include a non-volatile memory, such as at least one disk memory. The bus 103 can be an ISA bus, a PCI bus or an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, Figure 10 only one bidirectional arrow is used in the accompanying drawings, but it does not mean that there is only one bus or one type of bus.

[0081] The communication interface 104 is used to connect at least one user terminal and other network units through a network interface, and send the encapsulated IPv4 packet or IPv4 packet to the user terminal through the network interface.

[0082] The processor 101 can be an integrated circuit chip with processing capability. In implementation process, each step of the above method can be completed by integrated logic circuit of hardware in the processor 101 or instruction in the form of software. The processor 101 described above can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. Each method, step and logic block diagram disclosed in the embodiments of the present disclosure can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in combination with the embodiments of the present disclosure can be directly embodied as a hardware code processor to execute, or be executed by a combination of hardware and software modules in the code processor. The software module can be located in a random access memory, a flash memory, a read only memory, a programmable read only memory or an electrically erasable programmable memory, a register, or other mature storage medium in the art. The storage medium is located in the storage 102, and the processor 101 reads the information in the storage 102, and combines the hardware to complete the steps of the method of the above embodiments.

[0083] The embodiment of the present application further provides a storage medium, and the storage medium stores a computer program. When the computer program is run by a processor, the steps of the leveling control method based on the air shuttle robot in the above embodiment are executed.

[0084] In several embodiments provided in the present application, it should be understood that the disclosed system, device, equipment and method can be implemented by other ways. The system embodiments described above are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some communication interface, device or unit, and can be electrical, mechanical or other forms.

[0085] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, i.e. may be located in one place, or may be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0086] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0087] If the functions are realized in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solutions of the present application or the part of the present application that essentially contributes to the prior art or the part of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for making a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, and various program code storage media.

[0088] Finally, it should be noted that: the above-described embodiments are only specific embodiments of the present application, used to illustrate the technical solutions of the present application, and not to limit them, the protection scope of the present application is not limited thereto, although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand: any skilled person in the art within the technical range disclosed by the present application, they can still modify or easily think of changes to the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications, changes or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and all should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A leveling control method based on an aerial shuttle robot, characterized in that, The method is applied to an aerial shuttle robot; wherein the aerial shuttle robot includes a vehicle body and a cargo platform, the vehicle body is positioned above the cargo platform, and the vehicle body and the cargo platform are connected by multiple flat conveyor belts for hoisting; the vehicle body adjusts the hoisting length of each flat conveyor belt by a winch driven by a servo motor; the cargo platform is equipped with inertial sensors; The method includes: When the aerial shuttle robot is in operation, the tilt state parameters corresponding to the cargo platform are determined by using the attitude information collected by the inertial sensor. The adjustment length corresponding to each of the flat belts is determined according to the tilt state parameters, and the first adjustment parameter corresponding to the winch is determined based on the adjustment length; wherein, the first adjustment parameter is used to control the winch to adjust the lifting length of the flat belt, so that the adjusted loading platform is in a horizontal movement state; Based on the adjusted length, the winch is controlled to operate according to the first adjustment parameter, and the load change parameter corresponding to the loading platform is determined by the real-time torque of the servo motor. The adjustment speed corresponding to each of the flat belts is determined according to the load mutation parameter, and the second adjustment parameter corresponding to the winch is determined based on the adjustment speed; wherein, the second adjustment parameter is used to control the winch to adjust the traction force of the flat belts, so that the load difference value between each of the flat belts after adjustment is less than a preset threshold. Based on the adjusted speed, the winch reel is controlled to operate according to the second adjustment parameter.

2. The leveling control method based on an aerial shuttle robot according to claim 1, characterized in that, Determining the adjustment length corresponding to each of the flat belts based on the tilt state parameters includes: Construct the Jacobian matrix corresponding to the aerial shuttle robot based on the attribute data of the vehicle body, the cargo platform and the flat belt; The real-time tilt angle of the loading platform is determined based on the tilt state parameters, and the tilt angle correction value of the loading platform is determined based on the real-time tilt angle. The adjustment length of the flat belt corresponding to the tilt correction value is calculated using the Jacobian matrix.

3. The leveling control method based on an aerial shuttle robot according to claim 2, characterized in that, The adjustment length of the flat belt corresponding to the tilt correction value is calculated using the Jacobian matrix, and is achieved through the following formula: ； in, , , , The adjustment lengths corresponding to the four flat belts between the vehicle body and the cargo platform; The Jacobian matrix corresponding to the aerial shuttle robot; The height difference between the loading platform and the tilt angle correction value in the vertical direction; The roll angle correction value corresponding to the tilt angle correction value; The tilt angle correction value corresponds to the pitch angle correction value.

4. The leveling control method based on an aerial shuttle robot according to claim 1, characterized in that, Determining the first adjustment parameter corresponding to the winch based on the adjustment length includes: Obtain the servo motor corresponding to the winch, and determine the initial lap speed of the servo motor using the PID calculation result corresponding to the adjustment length; Based on the tilt state parameters, the tilt angle deviation value corresponding to the loading platform is determined, the tilt angle deviation value is used to determine the synchronous compensation value corresponding to the flat belt, and the synchronous compensation value is used to determine the compensation cycle speed corresponding to the servo motor. The speed parameters of the servo motor are determined based on the initial lap speed and the compensated lap speed, and the first adjustment parameter corresponding to the winch is determined based on the speed parameters.

5. The leveling control method based on an aerial shuttle robot according to claim 4, characterized in that, The speed parameters of the servo motor are determined based on the initial lap speed and the compensated lap speed, using the following formula: ； in, The speed parameters of the servo motor; The initial lap speed of the servo motor is determined by the adjustment length. The corresponding PID results are calculated. The compensated lap speed corresponding to the servo motor. This refers to the roll angle deviation value within the tilt angle deviation values. This refers to the pitch angle deviation value within the tilt angle deviation value. This is the coupling gain coefficient.

6. The leveling control method based on an aerial shuttle robot according to claim 1, characterized in that, Determining the load mutation parameters corresponding to the loading platform using the real-time torque of the servo motor includes: The real-time tension of each flat belt is determined based on the real-time torque of the servo motor, and the total tension of the flat belt is determined based on the sum of the real-time tensions. The weighting coefficient corresponding to each of the flat belts is determined by using the ratio of the real-time tension to the total tension; The target tension corresponding to each of the flat belts is determined based on the product of the total mass of the loading platform and the weighting coefficient. The load mutation parameter corresponding to the loading platform is determined by the tension difference between the real-time tension and the target tension.

7. The leveling control method based on an aerial shuttle robot according to claim 6, characterized in that, The adjustment speed corresponding to each of the flat belts is determined based on the load change parameter, and the second adjustment parameter corresponding to the winch is determined based on the adjustment speed, including: Obtain the curve showing the relationship between the motor torque and the speed of the servo motor; Determine the tension difference value corresponding to the load change parameter, and determine the traction compensation value corresponding to each of the flat belts based on the tension difference value; The rotational speed of the servo motor under the traction compensation value is determined using the relationship curve, and the adjustment speed corresponding to each of the flat belts is determined using the rotational speed. The speed parameters of the servo motor are determined based on the adjustment speed, and the second adjustment parameters corresponding to the winch are determined based on the speed parameters.

8. The leveling control method based on an aerial shuttle robot according to claim 1, characterized in that, The step of controlling the winch to operate according to the second adjustment parameter based on the adjusted speed includes: Acquire the movement data of the vehicle body, and use the movement data to update the adjustment length and adjustment speed corresponding to the flat belt; The first adjustment parameter corresponding to the winch is updated based on the updated adjustment length, and the winch is controlled to operate according to the updated first adjustment parameter. The second adjustment parameter corresponding to the winch is updated based on the updated adjustment speed, and the winch is controlled to operate according to the updated second adjustment parameter.

9. A leveling control system based on an aerial shuttle robot, characterized in that, The system is applied to an aerial shuttle robot; wherein, the aerial shuttle robot includes a vehicle body and a cargo platform, the vehicle body is positioned above the cargo platform, and the vehicle body and the cargo platform are connected by multiple flat conveyor belts for hoisting; the vehicle body uses a servo motor to drive a winch to adjust the hoisting length of each flat conveyor belt; the cargo platform is equipped with inertial sensors; The system includes: An inertial sensor control unit is used to determine the tilt state parameters of the cargo platform by using the attitude information collected by the inertial sensor when the aerial shuttle robot is in working state. The first adjustment parameter acquisition module is used to determine the adjustment length corresponding to each of the flat belts according to the tilt state parameters, and to determine the first adjustment parameter corresponding to the winch based on the adjustment length; wherein, the first adjustment parameter is used to control the winch to adjust the lifting length of the flat belt, so that the adjusted loading platform is in a horizontal movement state; The first leveling control module is used to control the winch to operate according to the first adjustment parameter based on the adjustment length, and to determine the load change parameter corresponding to the loading platform using the real-time torque of the servo motor. The second adjustment parameter acquisition module is used to determine the adjustment speed corresponding to each of the flat belts according to the load change parameter, and to determine the second adjustment parameter corresponding to the winch based on the adjustment speed; wherein, the second adjustment parameter is used to control the winch to adjust the traction force of the flat belts, so that the load difference value between each of the flat belts after adjustment is less than a preset threshold. The second leveling control module is used to control the winch to operate according to the second adjustment parameters based on the adjustment speed.

10. A robot, characterized in that, The robot includes a vehicle body and a loading platform. The vehicle body is positioned above the loading platform and is connected to the loading platform by multiple flat conveyor belts. The vehicle body uses a servo motor to drive a winch to adjust the lifting length of each flat conveyor belt. The loading platform is equipped with inertial sensors. The vehicle body is equipped with a PLC control unit, which includes a processor and a memory. The memory stores computer-executable instructions that can be executed by the processor. The processor executes the computer-executable instructions to implement the steps of the leveling control method based on the aerial shuttle robot as described in any one of claims 1 to 8.

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