Motion control method and device, electronic equipment, medium and program product

Abstract

The invention provides a motion control method and device, electronic equipment, a storage medium and a program product, and can be applied to the field of medical equipment control. The motion control method comprises the following steps: acquiring horizontal motion control information of a horizontal rotating shaft and vertical motion control information of a vertical motion shaft in the load supporting equipment; after the horizontal rotation shaft is controlled through the horizontal motion control information, the joint displacement of the horizontal rotation shaft is detected, and the horizontal motion control information is corrected according to the joint displacement; after the vertical movement control information is used for controlling the vertical movement shaft, the joint movement angle of the vertical movement shaft is detected, and the vertical movement control information is corrected according to the joint movement angle; and according to at least one of the corrected horizontal motion control information and the corrected vertical motion control information, carrying out motion control on a horizontal rotating shaft or a vertical motion shaft of the load supporting equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical device control, and in particular to a motion control method and device, an electronic device, a storage medium and a program product. BACKGROUND

[0002] In a medical application scenario, a patient support device usually involves a multi-degree-of-freedom articulated support device, and the posture adjustment and fine movement of a patient are achieved through the cooperation of multiple joints of the multi-degree-of-freedom articulated support device. However, a gear transmission structure is generally present in the multi-degree-of-freedom articulated support device, and due to the backlash in the gear transmission structure, the multi-degree-of-freedom articulated support device usually has the problems of excessive movement error and unstable movement when moving according to a control instruction. SUMMARY

[0003] In view of the above problems, the present application provides a motion control method, device, electronic device, storage medium and program product, which can improve the control accuracy of a load support device.

[0004] According to a first aspect of the present application, a motion control method is provided, comprising: obtaining horizontal motion control information of a horizontal rotation axis and vertical motion control information of a vertical motion axis in a load support device; after controlling the horizontal rotation axis by using the horizontal motion control information, detecting joint displacement of the horizontal rotation axis, and correcting the horizontal motion control information according to the joint displacement; after controlling the vertical motion axis by using the vertical motion control information, detecting joint motion angle of the vertical motion axis, and correcting the vertical motion control information according to the joint motion angle; and controlling the horizontal rotation axis or the vertical motion axis of the load support device according to at least one of the corrected horizontal motion control information and the corrected vertical motion control information.

[0005] According to an embodiment of the present application, joint displacement information of the horizontal rotation axis is obtained, the joint displacement information including current position information and speed direction change information; a reference compensation value preset for the horizontal rotation axis is obtained, a horizontal backlash compensation value is determined according to the speed direction change information and the reference compensation value, and the horizontal backlash compensation value includes a positive backlash compensation value and a negative backlash compensation value; the horizontal motion control information is corrected according to a preset backlash compensation function, and the backlash compensation function is defined by the current position information, the positive backlash compensation value and the negative backlash compensation value.

[0006] According to an embodiment of the present application, a difference between the horizontal instruction information and the current position information is determined; when the difference is greater than the positive backlash compensation value, the horizontal instruction information is subtracted by the positive backlash compensation value to obtain the corrected horizontal motion control information; and when the difference is less than or equal to the negative backlash compensation value, the horizontal instruction information is added by the negative backlash compensation value to obtain the corrected horizontal motion control information.

[0007] According to an embodiment of the present application, the joint angle information of the vertical movement axis is acquired, and the joint angle information includes current position information and angular velocity change information; a reference compensation value preset for the vertical movement axis is acquired, and the vertical backlash compensation value is determined according to the angular velocity change information and the reference compensation value, and the vertical backlash compensation value includes the inverse gravity backlash compensation value and the forward gravity backlash compensation value; the vertical movement control information is corrected according to a preset backlash compensation function, and the backlash compensation function is defined by the current position parameter, the inverse gravity backlash compensation value and the forward gravity backlash compensation value.

[0008] According to an embodiment of the present application, the difference between the vertical instruction information and the current position information is determined; when the difference is greater than the inverse gravity backlash compensation value, the instruction position information is subtracted by the inverse gravity backlash compensation value to obtain the corrected vertical movement control information; when the difference is less than or equal to the forward gravity backlash compensation value, the instruction position information is added by the forward gravity backlash compensation value to obtain the corrected vertical movement control information.

[0009] According to an embodiment of the present application, the first driving instruction of the horizontal rotation axis is generated according to the corrected horizontal movement control information, and the horizontal rotation axis is controlled to move horizontally through the first driving instruction.

[0010] According to the corrected vertical movement control information, the second driving instruction of the vertical movement axis is generated, and the vertical movement axis is controlled to move vertically through the second driving instruction.

[0011] The second aspect of the present application provides a movement control device, comprising: an acquisition module, configured to acquire horizontal movement control information of a horizontal rotation axis and vertical movement control information of a vertical movement axis in a load support device; a horizontal correction module, configured to correct the horizontal movement control information according to joint displacement of the horizontal rotation axis after the horizontal rotation axis is controlled by the horizontal movement control information; a vertical correction module, configured to correct the vertical movement control information according to joint movement angle of the vertical movement axis after the vertical movement axis is controlled by the vertical movement control information; and a control module, configured to control the horizontal rotation axis or the vertical movement axis of the load support device according to at least one of the corrected horizontal movement control information and the corrected vertical movement control information.

[0012] The third aspect of the present application provides an electronic device, comprising: one or more processors; a memory for storing one or more computer programs, wherein the one or more processors execute the one or more computer programs to implement the steps of the above method.

[0013] The fourth aspect of the present application also provides a computer readable storage medium, which stores a computer program or instructions, and the computer program or instructions are executed by a processor to realize the steps of the above method.

[0014] The fifth aspect of the present application also provides a computer program product, which includes a computer program or instructions, and the computer program or instructions are executed by a processor to realize the steps of the above method.

[0015] The motion control method, device, equipment, medium and program product provided by the embodiments of the present application have at least the following beneficial effects:

[0016] (1) By collecting the motion feedback data of the horizontal rotation axis and the vertical motion axis in real time, a closed-loop correction mechanism is constructed, the accuracy of the movement of the load support equipment in the compound motion scene is improved, and the cumulative error caused by mechanical clearance, elastic deformation and other factors in the traditional control is effectively eliminated;

[0017] (2) The load equipment is directly controlled by the corrected control instruction, the intermediate calculation link is saved, the control period is significantly shortened, and the real-time and accuracy control in the high-precision scene is met. BRIEF DESCRIPTION OF DRAWINGS

[0018] The above and other objects, features and advantages of the present application will become more apparent from the following description of the embodiments of the present application, taken in conjunction with the accompanying drawings, in which:

[0019] Figure 1 A flowchart of a motion control method according to an embodiment of the present application is schematically shown;

[0020] Figure 2 A structural block diagram of a motion control device according to an embodiment of the present application is schematically shown;

[0021] Figure 3 An application scenario diagram of the interaction between the motion control device and the load support equipment according to an embodiment of the present application is schematically shown; and

[0022] Figure 4 A block diagram of an electronic device suitable for implementing the motion control method according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0023] Hereinafter, embodiments of the present application will be described with reference to the accompanying drawings. It should be understood, however, that the description is merely exemplary of the present application, and is not intended to limit the scope of the present application. In the following detailed description of the embodiments of the present application, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without these specific details. In other instances, well-known structures and functions have not been described in detail in order to avoid obscuring aspects of the present application.

[0024] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used herein, the term "includes" and tautological expressions thereof, such as "including," "includes," "include," "contains," "containing," and so forth, shall not be taken to exclude

[0025] All terms used herein including technical and scientific terms have the same meanings as commonly understood by one of ordinary skill in the art unless otherwise defined herein. It should be noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of the specification, and not be interpreted in an idealized or overly formal way.

[0026] In the case where expressions similar to "at least one of A, B, and C, and the like" are used, it is generally to be interpreted that the meaning of the expression is the same as that of "at least one of A or B or C." In the case where an expression similar to "one or more of A, B, and C, and the like" is used, it is generally to be interpreted that the meaning of the expression is the same as that of "at least one of A, B, and C, and the like."

[0027] Figure 1 A flowchart of a motion control method according to an embodiment of the present application is schematically shown.

[0028] As Figure 1 shown, the motion control method of this embodiment includes operation S110 to operation S140.

[0029] In operation S110, horizontal motion control information of a horizontal rotation axis and vertical motion control information of a vertical motion axis in a load support device are acquired.

[0030] In the present embodiment, the load support device includes a medical device designed based on a multi-degree-of-freedom joint robot, which is used to support and adjust the posture of a patient in rehabilitation, positioning, and auxiliary diagnosis and treatment, and the like. Through the cooperative work of multiple joints, the load support device can achieve fine adjustment and movement of the patient's posture to meet various needs in the medical process.

[0031] The horizontal rotation axis refers to a joint axis responsible for horizontal rotation movement in the load support device. The joint configuration of the joint axis is a horizontal rotation axis, which mainly realizes the rotation movement of the patient support device in the horizontal plane. The vertical movement axis refers to a joint axis responsible for vertical movement in the load support device.

[0032] The horizontal movement control information refers to the information required for movement control of the horizontal rotation axis in the load support device. The vertical movement control information refers to the information required for movement control of the vertical movement axis in the load support device. The horizontal movement control information and the vertical movement control information include but are not limited to control instructions for the speed, direction, position, etc. of the joint axis.

[0033] In operation S120, after the horizontal rotation axis is controlled by using the horizontal movement control information, the joint displacement of the horizontal rotation axis is detected, and the horizontal movement control information is corrected according to the joint displacement.

[0034] In the embodiments of the present application, in the process of controlling the horizontal rotation axis by using the horizontal movement control information, a high-precision displacement sensor is used to collect joint displacement data of the horizontal rotation axis in real time, and the horizontal movement control information is corrected according to the joint displacement data. The high-precision displacement sensor includes but is not limited to a laser tracker, and the joint displacement data includes but is not limited to current position information and speed direction information.

[0035] In operation S130, after the vertical movement axis is controlled by using the vertical movement control information, the joint movement angle of the vertical movement axis is detected, and the vertical movement control information is corrected according to the joint movement angle.

[0036] In the embodiments of the present application, in the process of controlling the vertical movement axis by using the vertical movement control information, a high-precision sensor is used to collect joint movement angle data of the vertical movement axis in real time, and the vertical movement control information is corrected according to the joint movement angle data. The high-precision angle sensor includes but is not limited to a high-precision device such as a laser tracker. The joint movement angle data includes but is not limited to current position information and angular velocity change information.

[0037] In operation S140, at least one of the corrected horizontal movement control information and the corrected vertical movement control information is used to control the movement of the horizontal rotation axis or the vertical movement axis of the load support device.

[0038] In this embodiment, the axis system corresponding to the load support device is driven independently or collaboratively based on the modified horizontal motion control information and / or vertical motion control information. When only the modified horizontal motion control information exists, the horizontal rotation axis of the load support device is controlled by the modified horizontal motion control information; when only the modified vertical motion control information exists, the vertical motion axis of the load support device is controlled by the modified vertical motion control information.

[0039] When both the corrected horizontal motion control information and the corrected vertical motion control information exist, the control of the horizontal rotation axis and the vertical motion axis is executed sequentially according to the preset priority order, or the horizontal rotation axis and the vertical motion axis of the load support equipment are controlled simultaneously.

[0040] The process of operating S120 to S140 will be described in detail below.

[0041] The above operation S120 may further include: acquiring joint displacement information of the horizontal rotation axis, the joint displacement information including current position information and velocity direction change information; acquiring a preset reference compensation value for the horizontal rotation axis, and determining a horizontal backlash compensation value based on the velocity direction change information and the reference compensation value, the horizontal backlash compensation value including a positive backlash compensation value and a negative backlash compensation value; and correcting the horizontal motion control information according to a preset backlash compensation function, the backlash compensation function being defined by the current position information, the positive backlash compensation value, and the negative backlash compensation value.

[0042] In this embodiment, a high-precision displacement sensor is used to collect joint displacement information in real time. The joint displacement information includes the current spatial position data of the joint and the characteristic parameters of the velocity direction change. The reference compensation value for the horizontal rotation axis is retrieved from the memory. The reference compensation value is determined by an optimization algorithm after the backlash characteristics of the horizontal rotation axis are measured offline by a laser tracker.

[0043] Positive / negative backlash compensation values ​​are generated based on the reference compensation value. The direction of motion of the horizontal rotation axis is determined according to the velocity direction change information. In response to the detection of a reversal of the motion direction, when the horizontal rotation axis was moving in the opposite direction before the reversal and is moving in the forward direction after the reversal, a positive backlash compensation value is activated. In response to the detection of a reversal of the motion direction, when the horizontal rotation axis was moving in the forward direction before the reversal and is moving in the opposite direction after the reversal, a negative backlash compensation value is activated.

[0044] Input the current position information and positive / negative backlash compensation values ​​into the preset backlash compensation function. Correct the horizontal motion control information according to the backlash compensation function. The backlash compensation function is a piecewise function constructed from the current position information, positive backlash compensation value and negative backlash compensation value.

[0045] The above-mentioned correction of the horizontal motion control information according to the preset backlash compensation function may also include: determining the difference between the horizontal command information and the current position information; when the difference is greater than the positive backlash compensation value, subtracting the positive backlash compensation value from the horizontal command information to obtain the corrected horizontal motion control information; when the difference is less than or equal to the negative backlash compensation value, adding the negative backlash compensation value to the horizontal command information to obtain the corrected horizontal motion control information.

[0046] For example, collecting the current position information of the horizontal rotation axis. and horizontal instruction information The difference is calculated to obtain the positional deviation. :

[0047]

[0048] Preset positive backlash compensation value and negative backlash compensation value ,in, >0、 The values ​​of <0 are determined based on the velocity direction change information and the reference compensation value.

[0049] When the detected position deviation satisfies When it is determined that positive backlash error needs to be eliminated, the horizontal command information is corrected as follows:

[0050]

[0051] in, It represents the instruction information obtained after eliminating positive or negative backlash errors.

[0052] When the detected position deviation satisfies When it is determined that the backlash error needs to be eliminated, the horizontal command information is corrected as follows:

[0053]

[0054] The determination of the horizontal backlash compensation value based on the velocity direction change information and the reference compensation value may further include: determining a multiple of the compensation value based on the velocity direction change information; and multiplying the multiple of the compensation value by the reference compensation value to obtain the horizontal backlash compensation value.

[0055] For example, when using a direction prediction compensation method for a horizontal rotation axis, a compensation amount is added to the control command when a change in direction is detected. To cross the dead zone. The compensation amount is calculated using the following formula:

[0056]

[0057] in, The function is used to determine the sign of a number and return the corresponding flag value. A quantitative value representing the change in the direction of joint velocity. This represents the velocity difference after the direction of the velocity changes. The value represents the current joint velocity vector and the joint velocity vector at the previous moment. b is the compensation reference for mechanical backlash, which is obtained through actual measurement by a laser tracker.

[0058] The above operation S130 may further include: acquiring joint motion angle information of the vertical motion axis, the joint motion angle information including current position information and angular velocity change information; acquiring a preset reference compensation value for the vertical motion axis, and determining a vertical backlash compensation value based on the angular velocity change information and the reference compensation value, the vertical backlash compensation value including anti-gravity backlash compensation value and co-gravity backlash compensation value; and correcting the vertical motion control information according to a preset backlash compensation function, the backlash compensation function being defined by the current position parameter, the anti-gravity backlash compensation value, and the co-gravity backlash compensation value.

[0059] In this embodiment, joint motion angle information is acquired in real time, including the joint's current spatial position parameters and angular velocity change characteristic data; a predetermined reference compensation value is retrieved from non-volatile memory. The motion direction is automatically identified based on the angular velocity change characteristic parameters. When a reversal of the angular velocity direction is detected, the counter-gravity backlash compensation value is dynamically calculated based on the reference compensation value.

[0060] In response to movement against gravity, the baseline compensation value is amplified by a preset scaling factor to generate a backlash compensation value against gravity. In response to movement with gravity, the baseline compensation value is reduced by another scaling factor to generate a backlash compensation value with gravity.

[0061] The determination of the vertical backlash compensation value based on the angle change information and the reference compensation value may further include: comparing the angle change information with the angle threshold, determining the gravity state of the vertical motion axis based on the comparison result, the gravity state including the anti-gravity state and the normal gravity state, correcting the reference compensation value according to the preset compensation value function and the gravity state, and determining the vertical backlash compensation value. The preset compensation value function is defined by the first compensation constant, the second compensation constant, and the reference compensation value. The first compensation constant represents the magnification factor of the reference compensation value, and the second compensation constant represents the reduction factor of the reference compensation value.

[0062] For example, when controlling the vertical motion axis of a load device, the motion state indirectly reflects the influence of gravity, distinguishing between the direction of gravity and the direction of gravity. A compensation value function is designed based on the different situations in the direction of gravity and the direction of gravity. The compensation value function is shown in the following formula:

[0063]

[0064] in, A direction function is used to determine the direction within a specified angle range, and the direction is determined by a preset joint angle threshold. >90° represents the direction against gravity, and ω represents the actual angular velocity.

[0065] in, The following formula can be used for calculation:

[0066]

[0067] The angle threshold is a pre-defined specific angle value used as a benchmark for judgment or calculation. The maximum angle value represents the upper limit of the angle range and is also a pre-set parameter. The upper half of the piecewise function represents the direction against gravity. When moving against gravity, gravity counteracts joint movement, and the influence of backlash error increases significantly. The reference compensation value b is amplified to K1 times to offset the additional torque and mechanical transmission loss caused by gravity. The value of K1 is greater than 1, and the value of K2 is a decimal between 0 and 1.

[0068] The lower half of the piecewise function represents the direction of gravity. When moving with gravity, the direction of gravity is consistent with the direction of motion, and the backlash is naturally compensated by gravity. The compensation amount can be reduced to K2 times the reference compensation value b.

[0069] It should be noted that, under both anti-gravity and gravity-fed motion, the deviation between the actual motion and the command is monitored by high-precision equipment such as a laser tracker. The optimal values ​​of K1 and K2 are automatically found by iterative optimization algorithms (such as the least squares method). The experimental results are best when K1 is 1.8 and K2 is 0.6.

[0070] The above-mentioned correction of vertical motion control information based on a preset backlash compensation function may further include: determining the difference between vertical command information and current position information; when the difference is greater than the anti-gravity backlash compensation value, subtracting the anti-gravity backlash compensation value from the command position information to obtain the corrected vertical motion control information; when the difference is less than or equal to the forward gravity backlash compensation value, adding the forward gravity backlash compensation value to the command position information to obtain the corrected vertical motion control information.

[0071] For example, collecting the current position information of the vertical motion axis. and vertical command information The positional deviation is obtained by performing difference calculation:

[0072]

[0073] Preset positive backlash compensation value and negative backlash compensation value ,in, >0、 The values ​​of <0 are determined based on the angular velocity change information and the reference compensation value.

[0074] When the detected position deviation satisfies When it is determined that positive backlash error needs to be eliminated, the vertical command information is corrected as follows:

[0075]

[0076] When the detected position deviation satisfies When it is determined that backlash error needs to be eliminated, the vertical command information is corrected as follows:

[0077]

[0078] The above operation S140 may further include: generating a first drive command for the horizontal rotation axis based on the corrected horizontal motion control information, and controlling the horizontal rotation axis to perform horizontal motion through the first drive command; generating a second drive command for the vertical motion axis based on the corrected vertical motion control information, and controlling the vertical motion axis to perform vertical motion through the second drive command.

[0079] In this embodiment, after correcting the horizontal motion control information and the vertical motion control information, a first drive command for driving the horizontal rotation axis is obtained according to the corrected horizontal motion control information and a preset command generation rule. The first drive command is sent to the drive device of the horizontal rotation axis, and the drive device responds to the command to control the horizontal rotation axis to perform horizontal movement.

[0080] A second drive command is generated based on the corrected vertical motion control information, and a second drive command for driving the vertical motion axis is obtained according to a preset command generation rule. The second drive command is sent to the drive device of the vertical motion axis, and the drive device responds to the command to control the horizontal rotation axis to perform vertical motion.

[0081] The method provided in the embodiments of this application has the following beneficial effects:

[0082] (1) By detecting the displacement of the horizontal rotation axis joint and the motion angle of the vertical motion axis joint, and correcting the control information based on relevant information, the error caused by factors such as backlash is effectively compensated, and the motion accuracy of the load support equipment in the horizontal and vertical directions is greatly improved.

[0083] (2) Regarding motion stability, specific backlash compensation functions are used to correct control information for both horizontal and vertical movements, reducing jitter and overshoot during motion and making the equipment run more smoothly. Furthermore, the embodiments of this application have good adaptability and can be flexibly adjusted according to different preset compensation values ​​and actual motion conditions, making them suitable for various load support scenarios. Drive commands are generated based on the corrected control information, achieving precise control of the equipment's motion and ensuring efficient and reliable operation.

[0084] Based on the above motion control method, this application also provides a motion control device. The following will be combined with... Figure 2 The device is described in detail.

[0085] Figure 2 A schematic block diagram of a motion control device according to an embodiment of this application is shown.

[0086] like Figure 2 As shown, the motion control device 200 of this embodiment includes an acquisition module 210, a horizontal correction module 220, a vertical correction module 230, and a control module 240.

[0087] The acquisition module 210 is used to acquire horizontal motion control information of the horizontal rotating shaft and vertical motion control information of the vertical motion shaft in the load support device. In one embodiment, the acquisition module 210 can be used to perform the operation S110 described above, which will not be repeated here.

[0088] The horizontal correction module 220 is used to detect the joint displacement of the horizontal rotation axis after controlling the horizontal rotation axis using the horizontal motion control information, and to correct the horizontal motion control information based on the joint displacement. The horizontal correction module 220 can be used to perform the operation S120 described above, which will not be repeated here.

[0089] The vertical correction module 230 is used to detect the joint motion angle of the vertical motion axis after controlling the vertical motion axis using the vertical motion control information, and to correct the vertical motion control information based on the joint motion angle. The vertical correction module 230 can be used to perform the operation S130 described above, which will not be repeated here.

[0090] The control module 240 is used to perform motion control on the horizontal rotation axis or the vertical motion axis of the load support device based on at least one of the modified horizontal motion control information and the modified vertical motion control information. The control module 240 can be used to perform the operation S140 described above, which will not be repeated here.

[0091] According to embodiments of this application, any multiple modules among the acquisition module 210, horizontal correction module 220, vertical correction module 230, and control module 240 can be combined into one module, or any one of these modules can be split into multiple modules. Alternatively, at least some of the functions of one or more of these modules can be combined with at least some of the functions of other modules and implemented in one module. According to embodiments of this application, at least one of the acquisition module 210, horizontal correction module 220, vertical correction module 230, and control module 240 can be at least partially implemented as hardware circuitry, such as a field-programmable gate array (FPGA), a programmable logic array (PLA), a system-on-a-chip, a system-on-a-substrate, a system-on-package, an application-specific integrated circuit (ASIC), or implemented in hardware or firmware by any other reasonable means of integrating or packaging the circuitry, or implemented in software, hardware, or firmware, or in any suitable combination of any of these three implementation methods. Alternatively, at least one of the acquisition module 210, the horizontal correction module 220, the vertical correction module 230, and the control module 240 may be implemented at least partially as a computer program module, which can perform corresponding functions when the computer program module is run.

[0092] Figure 3 The diagram illustrates an application scenario of the interaction between a motion control device and a load support device according to an embodiment of this application.

[0093] like Figure 3 As shown, Figure 3 As shown in Figure 300, the application scenario diagram of the interaction between the motion control device and the load support device according to this embodiment may include a load support device 301, a network 302, and a motion control device 303. The network 302 is used as a medium to provide a communication link between the load support device 301 and the motion control device 303. The network 302 may include various connection types, such as wired or wireless communication links or fiber optic cables, etc.

[0094] In this application scenario, let's take equipment used for patient transport and care in the medical field as an example. The load support device 301 is a medical bed specifically designed to support patients. It has a horizontal rotation axis that enables the bed to rotate horizontally, and a vertical motion axis that enables the bed to be raised and lowered vertically to meet the needs of patients for different body position adjustments and transport.

[0095] The motion control device 303 continuously monitors the relevant data of the horizontal rotation axis and vertical motion axis of the medical bed to accurately acquire motion control information. During the operation of the medical bed, if the horizontal rotation axis deviates in rotation position due to backlash in the mechanical structure, or if the vertical motion axis is affected by gravity and backlash, causing inaccurate lifting angle, the motion control device 303 will quickly correct the control information according to the preset compensation scheme.

[0096] The corrected control information is transmitted to the medical bed drive system in a timely and reliable manner via network 302, ensuring the smooth and precise movement of the medical bed, providing patients with a safe and comfortable transfer and nursing experience, and effectively improving the quality of medical services.

[0097] Figure 4 A block diagram schematically illustrates an electronic device suitable for implementing a motion control method according to an embodiment of this application.

[0098] like Figure 4 As shown, an electronic device 400 according to an embodiment of this application includes a processor 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage portion 408 into a random access memory (RAM) 403. The processor 401 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 401 may also include onboard memory for caching purposes. The processor 401 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of this application.

[0099] RAM 403 stores various programs and data required for the operation of electronic device 400. Processor 401, ROM 402, and RAM 403 are interconnected via bus 404. Processor 401 executes various operations of the method flow according to embodiments of this application by executing programs in ROM 402 and / or RAM 404. It should be noted that programs may also be stored in one or more memories other than ROM 402 and RAM 403. Processor 401 may also execute various operations of the method flow according to embodiments of this application by executing programs stored in one or more memories.

[0100] According to embodiments of this application, the electronic device 400 may further include an input / output (I / O) interface 405, which is also connected to a bus 404. The electronic device 400 may also include one or more of the following components connected to the input / output (I / O) interface 405: an input section 406 including a keyboard, mouse, etc.; an output section 407 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN card, modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the input / output (I / O) interface 405 as needed. A removable medium 411, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 410 as needed so that computer programs read from it can be installed into the storage section 408 as needed.

[0101] This application also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs, which, when executed, implement the method according to the embodiments of this application.

[0102] According to embodiments of this application, the computer-readable storage medium can be a non-volatile computer-readable storage medium, such as including but not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this application, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. For example, according to embodiments of this application, the computer-readable storage medium may include ROM 402 and / or RAM 403 and / or one or more memories other than ROM 402 and RAM 403 described above.

[0103] Embodiments of this application also include a computer program product comprising a computer program containing program code for performing the methods shown in the flowchart. When the computer program product is run on a computer system, the program code is used to cause the computer system to implement the methods provided in the embodiments of this application.

[0104] When the computer program is executed by the processor 401, it performs the functions defined in the system / apparatus of this application embodiment. According to the embodiments of this application, the systems, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0105] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of signals over a network medium, and downloaded and installed via communication section 409, and / or installed from removable medium 411. The program code contained in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.

[0106] In such an embodiment, the computer program can be downloaded and installed from a network via communication section 409, and / or installed from removable medium 411. When the computer program is executed by processor 401, it performs the functions defined in the system of this application embodiment. According to embodiments of this application, the systems, devices, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0107] According to embodiments of this application, program code for executing the computer programs provided in the embodiments of this application can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0108] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0109] Those skilled in the art will understand that the features described in the various embodiments of this application can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in this application. In particular, the features described in the various embodiments of this application can be combined and / or combined in various ways without departing from the spirit and teachings of this application. All such combinations and / or combinations fall within the scope of this application.

[0110] The embodiments of this application have been described above. However, these embodiments are merely illustrative and not intended to limit the scope of this application. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. Without departing from the scope of this application, those skilled in the art can make various substitutions and modifications, all of which should fall within the scope of this application.

Claims

1. A motion control method characterized by, The method comprises: obtaining horizontal motion control information of a horizontal rotating shaft and vertical motion control information of a vertical motion shaft in a load support device; after controlling the horizontal rotating shaft by using the horizontal motion control information, detecting joint displacement of the horizontal rotating shaft, and correcting the horizontal motion control information according to the joint displacement; after controlling the vertical motion shaft by using the vertical motion control information, detecting joint motion angle of the vertical motion shaft, and correcting the vertical motion control information according to the joint motion angle; controlling the horizontal rotating shaft or the vertical motion shaft of the load support device according to at least one of the corrected horizontal motion control information and the corrected vertical motion control information.

2. The method of claim 1, wherein, The method of detecting the joint displacement of the horizontal rotating shaft and correcting the horizontal motion control information according to the joint displacement comprises: obtaining joint displacement information of the horizontal rotating shaft, wherein the joint displacement information comprises current position information and speed direction change information; obtaining a preset reference compensation value for the horizontal rotating shaft, determining a positive backlash compensation value and a negative backlash compensation value according to the speed direction change information and the reference compensation value; correcting the horizontal motion control information according to a preset backlash compensation function, wherein the backlash compensation function is defined by the current position information, the positive backlash compensation value and the negative backlash compensation value.

3. The method of claim 2, wherein, The method of correcting the horizontal motion control information according to the preset backlash compensation function comprises: determining a difference between the horizontal instruction information and the current position information; when the difference is greater than the positive backlash compensation value, subtracting the positive backlash compensation value from the horizontal instruction information to obtain the corrected horizontal motion control information; when the difference is less than or equal to the negative backlash compensation value, adding the negative backlash compensation value to the horizontal instruction information to obtain the corrected horizontal motion control information.

4. The method of claim 1, wherein, The method of detecting the joint motion angle of the vertical motion shaft and correcting the vertical motion control information according to the joint motion angle comprises: obtaining joint motion angle information of the vertical motion shaft, wherein the joint motion angle information comprises current position information and angle change information; obtaining a preset reference compensation value for the vertical motion shaft, determining an inverse gravity backlash compensation value and a forward gravity backlash compensation value according to the angle change information and the reference compensation value; correcting the vertical motion control information according to a preset backlash compensation function, wherein the backlash compensation function is defined by the current position parameter, the inverse gravity backlash compensation value and the forward gravity backlash compensation value.

5. The method of claim 4, wherein, The method of correcting the vertical motion control information according to the preset backlash compensation function comprises: determining a difference between the vertical instruction information and the current position information; when the difference is greater than the inverse gravity backlash compensation value, subtracting the inverse gravity backlash compensation value from the instruction position information to obtain the corrected vertical motion control information; when the difference is less than or equal to the forward gravity backlash compensation value, adding the forward gravity backlash compensation value to the instruction position information to obtain the corrected vertical motion control information.

6. The method of claim 1, wherein, The motion control of the horizontal rotation shaft and the vertical motion shaft of the load support device according to the corrected horizontal motion control information and the corrected vertical motion control information comprises: generating a first driving instruction of the horizontal rotation shaft according to the corrected horizontal motion control information, and controlling the horizontal rotation shaft to move horizontally through the first driving instruction; generating a second driving instruction of the vertical motion shaft according to the corrected vertical motion control information, and controlling the vertical motion shaft to move vertically through the second driving instruction.

7. A motion control apparatus characterized by comprising: The method comprises: obtaining horizontal motion control information of a horizontal rotation shaft and vertical motion control information of a vertical motion shaft in a load support device; detecting joint displacement of the horizontal rotation shaft after the horizontal rotation shaft is controlled by the horizontal motion control information, and correcting the horizontal motion control information according to the joint displacement; detecting joint motion angle of the vertical motion shaft after the vertical motion shaft is controlled by the vertical motion control information, and correcting the vertical motion control information according to the joint motion angle; controlling motion of the horizontal rotation shaft or the vertical motion shaft of the load support device according to at least one of the corrected horizontal motion control information and the corrected vertical motion control information.

8. An electronic device comprising: one or more processors; a memory for storing one or more computer programs, characterized in that the one or more processors execute the one or more computer programs to implement the steps of the method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, a computer program or instructions stored thereon, which, when executed by a processor, implement the steps of the method according to any one of claims 1-6.

10. A computer program product comprising computer programs or instructions, characterized in that, the computer program or instructions, when executed by a processor, implement the steps of the method according to any one of claims 1-6.

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