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

Abstract

The application provides a leveling control method and system based on an air shuttle robot and the robot, relates to the technical field of dynamic adjustment of the air shuttle robot, and acquires the tilting state parameters such as rolling and pitching of a loading platform through an inertial sensor arranged in the loading platform, and then accurately acquires the target adjustment length of each flat belt, so that the leveling control precision is improved. Meanwhile, the traction force of each flat belt is feedback adjusted according to the real-time tension of a winch wheel during the leveling control, so that the leveling control precision is further improved.

Description

Technical Field

[0001] This invention relates to the field of dynamic adjustment technology for aerial shuttle robots, and in particular to a leveling control method, system, and robot based on an aerial shuttle robot. Background Technology

[0002] In aerial shuttle robot systems, four winches typically drive a flat conveyor belt to suspend the cargo platform at its four corners. Because the flat conveyor belt is wound in multiple layers around the winches during lifting, the actual diameter of the winches changes with the number of turns of the belt. Furthermore, the thickness of the flat conveyor belt is subject to manufacturing errors; each belt cannot be uniformly thick. Even with the same number of rotations, the winch lengths of the four winches will differ, causing the cargo platform to tilt.

[0003] To solve the above problems, four independent motors can be used to drive the four winches, thus resolving the issue of the loading platform not being level due to inconsistent belt speeds. However, in actual scenarios, since the thickness of the same flat belt is not uniformly varied, and the actual winch length of the flat belt also changes dynamically, this causes the loading platform to sway in both pitching and rolling directions during positioning. If the tilt angle is too large, it will also cause the loading platform to overturn; at the same time, it will also cause the flat belt to be overloaded due to uneven force distribution. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a leveling control method, system and robot based on an aerial shuttle robot. The method obtains the tilt state parameters such as roll and pitch of the loading platform through inertial sensors installed in the loading platform, and then accurately obtains the target adjustment length of each flat belt, thereby improving the leveling control accuracy. At the same time as the leveling control, the traction force of each flat belt is adjusted according to the real-time tension of the winch, thereby further improving the leveling control accuracy.

[0005] In a first aspect, embodiments of the present invention provide a leveling control method based on an aerial shuttle robot, which is applied to the aerial shuttle robot; wherein, the aerial shuttle robot includes a vehicle body and a cargo platform, the vehicle body is set above the cargo platform, and the vehicle body and the cargo platform are hoisted and connected by multiple flat belts; the vehicle body adjusts the hoisting length of each flat belt by a winch driven by a servo motor; the cargo platform is equipped with inertial sensors;

[0006] The method includes:

[0007] When the aerial shuttle robot is in operation, the tilt state parameters corresponding to the cargo platform are determined by using attitude information collected by inertial sensors.

[0008] The adjustment length corresponding to each flat conveyor belt is determined based on 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 conveyor belt, so that the adjusted loading platform is in a horizontal movement state;

[0009] The winch is controlled to operate according to the first adjustment parameter based on the length adjustment, and the load change parameter corresponding to the loading platform is determined by the real-time torque of the servo motor.

[0010] The adjustment speed corresponding to each flat belt is determined based on the load change 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 traction force of the winch on the flat belt to adjust the load difference between each flat belt after adjustment to be less than a preset threshold.

[0011] The winch is controlled to operate according to the second adjustment parameter based on the speed adjustment.

[0012] Optionally, the adjustment length corresponding to each flat belt is determined based on the tilt state parameters, including:

[0013] Construct the Jacobian matrix for the aerial shuttle robot based on the attribute data of the vehicle body, cargo platform, and flat conveyor belt;

[0014] 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.

[0015] The adjustment length of the flat belt corresponding to the tilt correction value is calculated using the Jacobian matrix.

[0016] Optionally, the adjustment length of the flat belt corresponding to the tilt correction value can be calculated using the Jacobian matrix, and this can be achieved through the following formula:

[0017] ;

[0018] in, , , , Adjust the lengths of the four flat belts between the vehicle body and the cargo platform; This is the Jacobian matrix corresponding to the aerial shuttle robot; This is the height difference between the loading platform in the vertical direction and the tilt angle correction value; This is the roll angle correction value corresponding to the camber correction value; This is the tilt angle correction value corresponding to the pitch angle correction value.

[0019] Optionally, the first adjustment parameter corresponding to the winch is determined based on the adjustment length, including:

[0020] Obtain the servo motor corresponding to the winch, and determine the initial rotation speed of the servo motor using the PID calculation results corresponding to the adjustment length.

[0021] The tilt angle deviation value of the loading platform is determined based on the tilt state parameters. The synchronous compensation value of the flat belt is determined based on the tilt angle deviation value. The compensation cycle speed of the servo motor is determined based on the synchronous compensation value.

[0022] 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.

[0023] Optionally, the speed parameters of the servo motor are determined based on the initial lap speed and the compensated lap speed, using the following formula:

[0024] ;

[0025] in, These are the speed parameters of the servo motor; The initial lap speed of the servo motor is determined by adjusting the length. The corresponding PID results are calculated. This refers to the compensated rotation speed for the servo motor. This refers to the roll angle deviation value within the tilt angle deviation value. This refers to the pitch angle deviation value within the tilt angle deviation value; This is the coupling gain coefficient.

[0026] Optionally, the load change parameters corresponding to the loading platform can be determined using the real-time torque of the servo motor, including:

[0027] 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.

[0028] The weighting coefficient for each flat belt is determined by the ratio of real-time tension to total tension.

[0029] The target tension for each flat conveyor belt is determined by multiplying the total mass of the loading platform by the weighting coefficient.

[0030] The load change parameters corresponding to the loading platform are determined by the tension difference between the real-time tension and the target tension.

[0031] Optionally, the adjustment speed corresponding to each flat belt is determined based on the load change parameter, and a second adjustment parameter corresponding to the winch is determined based on the adjustment speed, including:

[0032] Obtain the curve showing the relationship between the motor torque and speed of the servo motor;

[0033] Determine the tension difference corresponding to the load change parameters, and determine the traction compensation value for each flat belt based on the tension difference;

[0034] The speed of the servo motor under the traction compensation value is determined by using the relationship curve, and the adjustment speed corresponding to each flat belt is determined by using the speed.

[0035] 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.

[0036] Optionally, the step of controlling the winch to operate according to the second adjustment parameter based on the adjusted speed includes:

[0037] Acquire the vehicle's movement data and use the movement data to update the corresponding adjustment length and adjustment speed of the flat belt;

[0038] 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.

[0039] 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.

[0040] Secondly, the present invention provides a leveling control system based on an aerial shuttle robot. The system is applied to the aerial shuttle robot. The aerial shuttle robot includes a vehicle body and a cargo platform. The vehicle body is positioned above the cargo platform and is connected to the cargo platform by multiple flat conveyor belts. The vehicle body adjusts the lifting length of each flat conveyor belt by a winch driven by a servo motor. The cargo platform is equipped with inertial sensors.

[0041] The system includes:

[0042] The inertial sensor control unit is used to determine the tilt state parameters of the cargo platform by using attitude information collected by inertial sensors when the aerial shuttle robot is in operation.

[0043] The first adjustment parameter acquisition module is used to determine the adjustment length corresponding to each flat belt according to the tilt state parameter, 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;

[0044] The first leveling control module is used to control the winch to operate according to the first adjustment parameters based on the adjustment length, and to determine the load change parameters corresponding to the loading platform using the real-time torque of the servo motor.

[0045] The second adjustment parameter acquisition module is used to determine the adjustment speed corresponding to each flat belt 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 belt, so that the load difference between each flat belt after adjustment is less than a preset threshold.

[0046] The second leveling control module is used to control the winch to operate according to the second adjustment parameters based on the adjusted speed.

[0047] Thirdly, the present invention also provides a robot, which 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 belts. The vehicle body is adjusted by a winch driven by a servo motor to adjust the lifting length of each flat belt. The loading platform is equipped with an inertial sensor.

[0048] 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 provided in the first aspect.

[0049] This invention provides a leveling control method, system, and robot based on an aerial shuttle robot, applicable to aerial shuttle robots. 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 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. In the process of leveling control of the above-mentioned aerial shuttle robot, when the aerial shuttle robot is in working state, the tilt state parameters corresponding to the loading platform are first determined by the attitude information collected by the inertial sensor; then, the adjustment length corresponding to each flat conveyor belt is determined according to the tilt state parameters, and the first adjustment parameter corresponding to the winch is determined based on the adjustment length; the first adjustment parameter is used to control the winch to adjust the lifting length of the flat conveyor belt, so that the loading platform is in a horizontal movement state after adjustment; then, the winch is controlled to operate according to the first adjustment parameter based on the adjustment length, and the load change parameter corresponding to the loading platform is determined by the real-time torque of the servo motor; then, the adjustment speed corresponding to each flat conveyor belt is determined according to the load change parameter, and the second adjustment parameter corresponding to the winch is determined based on the adjustment speed; the second adjustment parameter is used to control the traction force of the winch on the flat conveyor belt, so that the load difference between each flat conveyor belt after adjustment is less than a preset threshold; finally, the winch is controlled to operate according to the second adjustment parameter based on the adjustment speed. This method uses inertial sensors installed in the loading platform to obtain tilt parameters such as roll and pitch of the loading platform, thereby accurately obtaining the target adjustment length of each flat conveyor belt, which improves the leveling control accuracy. At the same time as the leveling control, the traction force of each flat conveyor belt is adjusted according to the real-time tension of the winch, which further improves the leveling control accuracy.

[0050] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.

[0051] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0052] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0053] Figure 1 A flowchart illustrating a leveling control method based on an aerial shuttle robot, provided as an embodiment of the present invention;

[0054] Figure 2 In step S102 of the leveling control method based on an aerial shuttle robot provided in an embodiment of the present invention, a flowchart is provided for determining the adjustment length corresponding to each flat belt according to the tilt state parameters.

[0055] Figure 3 The flowchart of step S102 of the leveling control method based on an aerial shuttle robot provided in the embodiment of the present invention is as follows: determining the first adjustment parameter corresponding to the winch based on the adjustment length.

[0056] Figure 4 In step S103 of the leveling control method based on an aerial shuttle robot provided in an embodiment of the present invention, a flowchart is shown showing how to determine the load change parameters corresponding to the loading platform using the real-time torque of the servo motor.

[0057] Figure 5 A flowchart of step S104 of a leveling control method based on an aerial shuttle robot provided in an embodiment of the present invention;

[0058] Figure 6 A flowchart of step S105 of a leveling control method based on an aerial shuttle robot provided in an embodiment of the present invention;

[0059] Figure 7 A flowchart illustrating another leveling control method based on an aerial shuttle robot provided in an embodiment of the present invention;

[0060] Figure 8 This is a schematic diagram of a leveling control system based on an aerial shuttle robot, provided in an embodiment of the present invention.

[0061] Figure 9 This is a schematic diagram of the structure of a robot provided in an embodiment of the present invention;

[0062] Figure 10 This is a schematic diagram of the structure of a PLC control unit provided in an embodiment of the present invention.

[0063] icon:

[0064] 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;

[0065] 101 - Processor; 102 - Memory; 103 - Bus; 104 - Communication interface. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0067] To facilitate understanding of this embodiment, a leveling control method based on an aerial shuttle robot disclosed in this invention will first be described in detail. This 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 cargo platform are connected by multiple flat conveyor belts; the vehicle body adjusts the lifting length of each flat conveyor belt by a winch driven by a servo motor; the cargo platform is equipped with inertial sensors.

[0068] During the leveling and control of the aforementioned aerial shuttle robot, such as Figure 1 As shown, the method includes:

[0069] Step S101: When the aerial shuttle robot is in working condition, the tilt state parameters corresponding to the cargo platform are determined by using the real-time angle collected by the inertial sensor.

[0070] When the aerial shuttle robot enters its working state (such as during lifting or moving loads), the horizontal state of the loading platform may tilt due to uneven load distribution, external disturbances, or other factors. At this time, the inertial sensors equipped on the loading platform collect the corresponding acceleration and angular velocity data in real time. By analyzing and calculating these real-time data, the current tilt parameters of the loading platform are determined, including the specific direction of tilt (e.g., tilting forward or backward along the X-axis, or tilting left or right along the Y-axis) and the magnitude of the tilt angle, providing a precise initial basis for subsequent leveling operations.

[0071] Step S102: Determine the adjustment length corresponding to each flat belt according to the tilt state parameters, 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 lifting length of the flat belt, so that the adjusted loading platform is in a horizontal movement state.

[0072] Based on the tilt parameters obtained in step S101, the required adjustment length for each flat conveyor belt (the vehicle body and the loading platform are connected by multiple flat conveyor belts, each belt corresponding to a different stress point on the loading platform) is further analyzed. For example, if the tilt angle on one side of the loading platform is large, the flat conveyor belt on that side may need to be shortened (by winding up the winch) to lift that side, while the other side may need to be lengthened (by releasing the winch) to lower it, thereby counteracting the tilt. The calculated adjustment length for each flat conveyor belt is converted into the first adjustment parameter for the winch, including the rotation direction of the winch (winding up or releasing the belt), the number of rotations, or the angle (corresponding to the specific adjustment length). Its core function is to adjust the lifting length of the flat conveyor belt by controlling the movement of the winch, ultimately restoring and maintaining the loading platform in a horizontal motion state.

[0073] Step S103: Based on the adjusted length, control the winch to operate according to the first adjustment parameter, and use the real-time torque of the servo motor to determine the load change parameter corresponding to the loading platform.

[0074] According to the first adjustment parameter determined in step S102, the winch is started to operate, and the length of the flat belt is adjusted in real time. At the same time, the real-time tension of each flat belt is obtained by using the real-time torque of the servo motor corresponding to each flat belt. By analyzing the sudden fluctuations in tension (such as sudden increase or decrease) and the fluctuation amplitude, the load change parameter corresponding to the loading platform is determined. This parameter reflects whether the load has instantaneous imbalance during the hoisting process and is the key basis for subsequent equalization of belt force.

[0075] Step S104: Determine the adjustment speed corresponding to each flat belt according to the load change 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 force of the flat belt, so that the load difference between each flat belt after adjustment is less than a preset threshold.

[0076] Based on the load mutation parameters obtained in step S103, the speed that needs to be adjusted for each flat belt is further calculated (for example, belts with excessive loads need to have their adjustment speed reduced to decrease traction, while belts with insufficient loads need to have their adjustment speed increased to increase traction). Based on these adjustment speeds, the second adjustment parameters of the winch are converted, including the real-time rotational speed of the winch and the rate of increase or decrease of the rotational speed. Its function is to gradually reduce the load difference between each belt by finely controlling the traction force of the winch on the flat belt, and finally control the load difference between each flat belt within a preset threshold after adjustment, thereby achieving load balance and avoiding damage to local belts due to excessive force, ensuring the safe operation of the equipment.

[0077] Step S105: Based on the speed adjustment, control the winch to operate according to the second adjustment parameter.

[0078] According to the second adjustment parameter determined in step S104, the winch is controlled to continue operating, and the tension of each belt is balanced and stable by dynamically adjusting the traction force of the flat belts. This step is a fine optimization of the leveling process, which ultimately ensures that the loading platform is in a horizontal movement state and that each flat belt is subjected to uniform force, thereby improving the operational stability and load safety of the aerial shuttle robot.

[0079] Optionally, the adjustment length corresponding to each flat belt can be determined based on the tilt state parameters, such as... Figure 2 As shown, it includes:

[0080] Step S201: Construct the Jacobian matrix corresponding to the aerial shuttle robot based on the attribute data of the vehicle body, cargo platform and flat conveyor belt.

[0081] First, attribute data for the aerial shuttle robot's body, loading platform, and conveyor belts are collected. This data includes, but is not limited to: the structural dimensions of the body and loading platform (e.g., length and width), the number of conveyor belts and their coordinates at fixed points on the body and loading platform (i.e., the lifting connection positions of each belt), and the physical properties of the conveyor belts (e.g., elasticity coefficient, and, if necessary, the effects of deformation). Based on this attribute data, a Jacobian matrix corresponding to the aerial shuttle robot is constructed. The core function of the Jacobian matrix is ​​to establish mathematical relationships: linking changes in the loading platform's posture (e.g., changes in tilt angle) with changes in the length of each conveyor belt, providing a basic mapping relationship for subsequent posture correction by adjusting the belt length.

[0082] Step S202: Determine the real-time tilt angle of the loading platform based on the tilt state parameters, and determine the tilt angle correction value of the loading platform based on the real-time tilt angle.

[0083] From the tilt state parameters determined in step S101, the current real-time tilt angle of the loading platform (including tilt angles along different axes, such as pitch angle in the front-to-back direction and roll angle in the left-to-right direction) is extracted. Since the goal of leveling is to make the loading platform horizontal (at which point the tilt angle should be 0), the difference between the real-time tilt angle and the target tilt angle (0°) of the horizontal plane is calculated. The result is the tilt angle correction value of the loading platform. This correction value intuitively reflects "how much the tilt angle of the loading platform needs to be adjusted" to achieve horizontality. It is the core input parameter for subsequent calculation of the belt adjustment length (for example, if the real-time tilt angle is 3°, the tilt angle correction value is -3°, indicating that a reverse adjustment of 3° is needed to counteract the tilt).

[0084] Step S203: Calculate the adjustment length of the flat belt corresponding to the tilt correction value using the Jacobian matrix.

[0085] The tilt angle correction value determined in step S202 is input into the Jacobian matrix constructed in step S201. Based on the mapping relationship between the Jacobian matrix and the tilt angle correction value, the adjustment length corresponding to each flat conveyor belt is directly output through related matrix operations. Specifically, by using the Jacobian matrix in combination with the magnitude and direction of the tilt angle correction value, and combined with the force position of each belt on the loading platform, the specific value that each belt needs to be shortened or lengthened is calculated (for example, the belt responsible for lifting the tilted side needs to be shortened by X centimeters, and the corresponding belt on the opposite side needs to be lengthened by Y centimeters), and finally the precise adjustment amount of each belt required to achieve a horizontal state is obtained.

[0086] Optionally, the adjustment length of the flat belt corresponding to the tilt correction value can be calculated using the Jacobian matrix, which can be achieved through the following formula:

[0087] ;

[0088] in, , , , Adjust the lengths of the four flat belts between the vehicle body and the cargo platform; This is the Jacobian matrix corresponding to the aerial shuttle robot; This is the height difference between the loading platform in the vertical direction and the tilt angle correction value; This is the roll angle correction value corresponding to the camber correction value; This is the tilt angle correction value corresponding to the pitch angle correction value.

[0089] Optionally, the first adjustment parameter corresponding to the winch is determined based on the adjustment length, including:

[0090] Step S301: Obtain the servo motor corresponding to the winch, and determine the initial lap speed of the servo motor using the PID calculation results corresponding to the adjustment length.

[0091] First, it is clarified that the drive device of the winch is a servo motor (servo motors have high-precision control characteristics and can accurately adjust the rotation amount). The adjustment length of each flat belt calculated in step S204 is then calculated using a PID (Proportional-Integral-Derivative) control algorithm. The PID algorithm dynamically outputs a control quantity based on the deviation between the target value and the current actual value of the adjustment length, ultimately determining the initial rotation speed of the servo motor. Here, "initial rotation speed" refers to the basic rotational speed (number of rotations per unit time) that the servo motor needs to achieve to reach the preset adjustment length. It is a preliminary speed setting based on the theoretical adjustment length calculation, ensuring the basic direction and rate of belt length adjustment.

[0092] Step S302: Determine the tilt angle deviation value corresponding to the loading platform based on the tilt state parameters, determine the synchronous compensation value corresponding to the flat belt using the tilt angle deviation value, and determine the compensation cycle speed corresponding to the servo motor using the synchronous compensation value.

[0093] Building upon step S301, a dynamic correction of the tilt state is further introduced. The current tilt angle deviation value of the loading platform (i.e., the difference between the actual tilt angle and the target horizontal tilt angle, reflecting the remaining error of the tilt correction) is extracted from the tilt state parameters. Based on this tilt angle deviation value, the corresponding synchronous compensation value for the flat belts is calculated. The core function of this compensation value is to coordinate the adjustment rhythm of multiple flat belts, avoiding new tilting caused by inconsistent adjustment speeds of each belt (for example, if the tilt angle deviation on one side is large, the compensation value of the corresponding belt will be larger to accelerate the adjustment speed on that side). The synchronous compensation value is then converted into the compensation cycle speed of the servo motor, i.e., the correction amount to the initial cycle speed (which can be positive or negative, representing acceleration or deceleration respectively), ensuring that each belt maintains synchronous coordination during the adjustment process.

[0094] Step S303: Determine the speed parameters of the servo motor based on the initial lap speed and the compensated lap speed, and determine the first adjustment parameter corresponding to the winch wheel based on the speed parameters.

[0095] The initial rotation speed obtained in step S301 is superimposed with the compensated rotation speed obtained in step S302 to calculate the final speed parameters of the servo motor (including real-time speed, speed change rate, etc.). Based on these speed parameters, they are further converted into the first adjustment parameters corresponding to the winch. These parameters specifically include the rotation direction of the winch (winding or releasing the belt, determined by the sign of the adjustment length), the duration of rotation (determined by both the speed parameters and the adjustment length), and the speed curve during rotation (ensuring a smooth adjustment process and avoiding impact). Ultimately, the first adjustment parameters can precisely control the operation of the winch, achieving precise adjustment of the flat belt lifting length and providing a direct execution basis for restoring the loading platform to a horizontal state.

[0096] Optionally, the speed parameters of the servo motor are determined based on the initial lap speed and the compensated lap speed, using the following formula:

[0097] ;

[0098] in, These are the speed parameters of the servo motor; The initial lap speed of the servo motor is determined by adjusting the length. The corresponding PID results are calculated. This refers to the compensated rotation speed for the servo motor. This refers to the roll angle deviation value within the tilt angle deviation value. This refers to the pitch angle deviation value within the tilt angle deviation value; This is the coupling gain coefficient.

[0099] Optionally, the load change parameters corresponding to the loading platform can be determined using the real-time torque of the servo motor, such as... Figure 4 As shown, it includes:

[0100] Step S401: Determine the real-time tension of each flat belt based on the real-time torque of the servo motor, and determine the total tension of the flat belt based on the sum of the real-time tensions.

[0101] First, the real-time torque of the servo motor is used to characterize the real-time tension of each flat conveyor belt. Since multiple flat conveyor belts jointly lift the loading platform, the total tension they bear is directly related to the total load of the loading platform (including the platform's own mass and the mass of the goods it carries). Therefore, the real-time tensions of all flat conveyor belts are summed to obtain the total tension of each belt. This total tension reflects both the current total load being lifted and provides basic data for subsequent analysis of the load distribution ratio of individual belts.

[0102] Step S402: Determine the weighting coefficient corresponding to each flat belt using the ratio of real-time tension to total tension.

[0103] Based on the total tension obtained in step S401, the ratio of the real-time tension of each flat belt to the total tension is calculated. This ratio is the weighting coefficient of the corresponding flat belt. The weighting coefficient directly reflects the share of the total load borne by a single belt. Specifically, the weighting coefficient ω... i =T i / ∑T i Among them, T i : Real-time tension measurement value of the i-th flat belt (unit: N). The physical meaning of the weighting coefficient is the proportion of the tension currently borne by each rope to the total tension, reflecting the load distribution state.

[0104] Step S403: Determine the target tension for each flat conveyor belt based on the product of the total mass of the loading platform and the weighting coefficient.

[0105] Given the total mass of the loading platform (including its own mass and the mass of the goods it carries, which can be obtained through preset parameters or weighing sensors), the total load force (total gravity) can be calculated by combining it with the gravitational acceleration. Based on the weighting coefficient of each flat conveyor belt determined in step S402, the total load force is distributed to each conveyor belt according to the weight ratio, resulting in the target tension corresponding to each flat conveyor belt. Specifically, the target tension F corresponding to each flat conveyor belt is... i =ω i *M*g; M is the total mass of the loading platform (kg); g is the acceleration due to gravity (9.81 m / s²). 2 The physical meaning of target tension is to convert the weight ratio into the force that the rope should theoretically apply in order to achieve load balance.

[0106] Step S404: Determine the load change parameters corresponding to the loading platform by the tension difference between the real-time tension and the target tension.

[0107] The real-time tension of each flat conveyor belt (obtained in step S401) is compared with the corresponding target tension (calculated in step S403) to obtain the tension difference for each belt. The absolute value and rate of change (such as the magnitude of a sudden increase or decrease) of these tension differences together constitute the load mutation parameter corresponding to the loading platform. For example, if the real-time tension of a certain belt suddenly spikes from 2000N to 3000N, and the difference from the target tension reaches 1000N, it indicates that the load on that side may experience a momentary shift or mutation. The load mutation parameter quantitatively reflects this abnormal state and provides a key basis for subsequent adjustment of the flat conveyor belt adjustment speed.

[0108] Optionally, step S104 involves determining the adjustment speed corresponding to each flat belt based on the load change parameter, and determining the second adjustment parameter corresponding to the winch based on the adjustment speed, as follows: Figure 5 As shown, it includes:

[0109] Step S501: Obtain the relationship curve between the motor torque and the speed of the servo motor.

[0110] First, it's crucial to understand that the core component driving the winch is the servo motor, whose performance directly impacts the traction and adjustment accuracy of the flat belt. To achieve precise control of the traction force, it's essential to obtain the servo motor's key characteristic curve, namely the relationship between motor torque and speed. This curve is typically obtained through factory parameters, experimental tests, or calibration data. It visually reflects the motor's stable speed under different output torques (for example, as torque increases, the speed may decrease due to increased load, and vice versa). This curve is the core basis for subsequently "adjusting the motor speed according to the required traction force," providing a quantitative foundation for establishing the correlation between traction force and adjustment speed.

[0111] Step S502: Determine the tension difference corresponding to the load change parameter, and determine the traction compensation value corresponding to each flat belt based on the tension difference.

[0112] The tension difference of each flat belt is extracted from the load change parameters (i.e., the "difference between real-time tension and target tension" calculated in step S404, reflecting the degree of deviation of the current belt tension from the ideal equilibrium state). Based on this tension difference, the traction compensation value corresponding to each flat belt is further calculated: for example, if the real-time tension of a belt is much greater than the target tension (the tension difference is positive and large), it indicates that its traction is too large, and the tension needs to be reduced by decreasing the traction. In this case, the traction compensation value is negative (indicating the amount of traction that needs to be reduced); if the tension difference is negative (the real-time tension is too small), the compensation value is positive (indicating the amount of traction that needs to be increased). The core function of the traction compensation value is to "quantify how much traction needs to be adjusted" to bring the belt tension closer to the target value and reduce the tension difference with other belts.

[0113] Step S503: Use the relationship curve to determine the speed of the servo motor under the traction compensation value, and use the speed to determine the adjustment speed corresponding to each flat belt.

[0114] 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 traction force on the belt through the mechanical structure of the winch), the traction force compensation value corresponds to the required torque adjustment amount of the motor. Combining the "motor torque vs. speed relationship curve" determined in step S501, based on this torque adjustment amount (i.e., the torque corresponding to the traction force compensation value), the appropriate motor speed at that torque can be found on the curve. This speed directly determines the rate at which the winch winds up and unwinds the flat belt, i.e., the adjustment speed of each flat belt (for example, the higher the speed, the faster the belt winds up and unwinds, and the higher the traction force adjustment efficiency). Through this step, the "traction force compensation requirement" is transformed into a "specific value for the belt adjustment speed."

[0115] Step S504: Determine the speed parameters of the servo motor based on the adjustment speed, and determine the second adjustment parameters corresponding to the winch based on the speed parameters.

[0116] Based on the adjustment speed of each flat belt determined in step S503, the speed parameters of the servo motor are further clarified. These parameters include the target rotational speed of the motor (corresponding to the magnitude of the adjustment speed), the rate of change of rotational speed (i.e., the rate of acceleration or deceleration, to avoid tension fluctuations caused by sudden speed changes), and the duration of maintaining this rotational speed (to ensure proper adjustment). These speed parameters are converted into the second adjustment parameters of the winch, specifically including the control signals of the servo motor (such as pulse frequency and direction commands), speed adjustment timing, etc. The core function of the second adjustment parameters is to control the operation of the winch so that each flat belt is wound and unwound at the calculated adjustment speed, ultimately ensuring that the tension difference of each flat belt is less than a preset threshold, guaranteeing balanced force on each belt during hoisting, and avoiding local overload damage.

[0117] Optionally, step S105, which involves controlling the winch to operate according to the second adjustment parameter based on the adjusted speed, is as follows: Figure 6 As shown, it includes:

[0118] Step S601: Obtain the movement data of the vehicle body, and use the movement data to update the adjustment length and adjustment speed of the flat belt.

[0119] During the operation of the aerial shuttle robot, the vehicle body is not stationary (it may move horizontally, turn, or make minor adjustments to its position as needed). These movements change the relative position of the vehicle body and the loading platform, thus affecting the stress state of the conveyor belt and the required lifting length. Therefore, it is necessary to acquire the vehicle body's movement data in real time, including the direction of movement (e.g., forward / backward, left / right), the distance traveled, the speed of movement, and the turning angle. Based on this movement data, the stress balance state and lifting geometry of the conveyor belt are recalculated, and the corresponding adjustment length (which may increase or decrease due to changes in the vehicle body's position) and adjustment speed (which require adjusting the tension rate to adapt to the new stress conditions as the load distribution may change dynamically during movement) for each conveyor belt are updated. The core of this step is to ensure that the adjustment parameters can match the new working conditions brought about by the vehicle body's movement in real time, avoiding leveling failure or tension imbalance due to lag.

[0120] Step S602: Update the first adjustment parameter corresponding to the winch based on the updated adjustment length, and control the winch to operate according to the updated first adjustment parameter.

[0121] Based on the updated adjustment length in step S601, the first adjustment parameter corresponding to the winch is recalculated. The first adjustment parameter was originally set based on the length requirement at a static or initial position. However, after the vehicle moves, the target length of the flat belt changes (for example, when the vehicle moves to one side, the flat belt on the corresponding side may need to be shortened or lengthened to maintain the loading platform level). Therefore, the specific content of the first adjustment parameter needs to be updated, including the rotation direction of the winch (which may reverse due to a change in the direction of movement), the number of rotations (to match the new adjustment length), and the base speed (to ensure that the length adjustment efficiency adapts to the vehicle's movement speed). After the update, the winch is controlled to operate according to the new first adjustment parameter to quickly respond to changes in length requirement caused by vehicle movement, ensuring that the loading platform remains horizontal throughout the dynamic process.

[0122] Step S603: Update the second adjustment parameter corresponding to the winch based on the updated adjustment speed, and control the winch to operate according to the updated second adjustment parameter.

[0123] 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".

[0124] 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.

[0125] 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.

[0126] 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.

[0127] As can be seen from the leveling control method based on the aerial shuttle robot in the above embodiments, the method obtains the tilt state parameters such as roll and pitch of the cargo platform through the inertial sensors set in the cargo platform, and then accurately obtains the target adjustment length of each flat belt, thereby improving the leveling control accuracy; and at the same time as the leveling control, the traction force of each flat belt is adjusted according to the real-time tension of the winch, thereby further improving the leveling control accuracy.

[0128] Corresponding to the above-described embodiment of the leveling control method based on an aerial shuttle robot, this embodiment of the invention also provides a leveling control system based on an aerial shuttle robot. This system is applied to the aerial shuttle robot. 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 cargo platform are connected 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 cargo platform is equipped with inertial sensors.

[0129] like Figure 8 As shown, the system includes:

[0130] The inertial sensor control unit 810 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.

[0131] The first adjustment parameter acquisition module 820 is used to determine the adjustment length corresponding to each flat belt according to the tilt state parameter, 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;

[0132] The first leveling control module 830 is used to control the winch to operate according to the first adjustment parameters based on the adjustment length, and to determine the load change parameters corresponding to the loading platform using the real-time torque of the servo motor.

[0133] The second adjustment parameter acquisition module 840 is used to determine the adjustment speed corresponding to each flat belt 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 belt, so that the load difference value between each flat belt after adjustment is less than a preset threshold.

[0134] The second leveling control module 850 is used to control the winch to operate according to the second adjustment parameters based on the adjusted speed.

[0135] As can be seen from the above-mentioned leveling control system based on the aerial shuttle robot, the system obtains the tilt state parameters such as roll and pitch of the cargo platform through inertial sensors installed in the cargo platform, and then accurately obtains the target adjustment length of each flat belt, thereby improving the leveling control accuracy; and at the same time as the leveling control, the system adjusts the traction force of each flat belt according to the real-time tension of the winch, thereby further improving the leveling control accuracy.

[0136] The leveling control system based on an aerial shuttle robot provided in this embodiment of the invention has the same implementation principle and technical effects as the aforementioned leveling control method based on an aerial shuttle robot. For the sake of brevity, any parts not mentioned in the system embodiment can be referred to the corresponding content in the aforementioned leveling control method based on an aerial shuttle robot.

[0137] This embodiment also provides a robot, such as Figure 9 As shown, the robot includes a vehicle body and a loading platform. The vehicle body is positioned above the loading platform, and the vehicle body and the loading 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 loading platform is equipped with inertial sensors.

[0138] Inertial sensors are used to detect the pitch and roll angles of the loading platform; servo motors are used to drive the winch to rotate, thus raising and lowering the loading platform; PLC control units are used to achieve dynamic leveling, control the positioning of the servo motors, and facilitate communication between the vehicle body and the loading platform; flat belts are used for the vehicle body winch to lift the loading platform.

[0139] Specifically, the vehicle body is equipped with a PLC control unit, the structural diagram of which is shown below. Figure 10 As shown, the PLC control unit includes a processor 101 and a memory 102; wherein, the memory 102 is used to store one or more computer instructions, which are executed by the processor to implement the steps of the above-mentioned leveling control method based on the aerial shuttle robot.

[0140] Figure 10 The PLC control unit shown also includes a bus 103 and a communication interface 104. The processor 101, the communication interface 104, and the memory 102 are connected through the bus 103.

[0141] The memory 102 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device. The bus 103 may be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 10The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0142] The communication interface 104 is used to connect to at least one user terminal and other network units through a network interface, and to send encapsulated IPv4 packets or IPv4 packets to the user terminal through the network interface.

[0143] Processor 101 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 101 or by instructions in software form. The processor 101 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this disclosure. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this disclosure can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 102. The processor 101 reads the information in memory 102 and, in conjunction with its hardware, completes the steps of the method described in the foregoing embodiments.

[0144] This invention also provides a storage medium storing a computer program, which, when run by a processor, executes the steps of the leveling control method based on the aerial shuttle robot described in the foregoing embodiments.

[0145] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, devices, and methods can be implemented in other ways. The system embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0146] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0147] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0148] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0149] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the 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. This refers to 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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