A hangar balance control method and device, electronic equipment and storage medium

Abstract

The application discloses a hangar balance control method and device, electronic equipment and storage medium, and the method comprises the following steps: if the angle of the target component on the rotating device is not in the preset angle interval, the second rotation angle of each reference bearing component on the rotating device is determined; the second rotation angle is the rotation angle of each reference bearing component relative to the reference marker when the rotating device is rotated; the reference bearing component is the bearing component of the object on the rotating device; each second rotation angle contains the reference angle deviation of the reference bearing component on the rotating device when the rotating device is rotated; the correction angle is determined based on the second rotation angle; and the rotating device is driven to adjust the angle based on the correction angle, so that the angle of the target component on the rotating device is in the preset angle interval. The scheme can accurately correct the deviation angle generated after rotation, and accurately balance the rotating device in the hangar.

Description

Technical Field

[0001] This invention relates to the field of precision positioning technology, and in particular to a hangar balance control method, device, electronic equipment, and storage medium. Background Technology

[0002] In industrial production, for mechanical devices / systems with rotating functions, the rotation of certain components / devices can easily cause imbalances in the original device. Current technology typically compensates for this imbalance by fixing an angle, such as retracting a gear by one tooth pitch. However, such adjustment methods rely excessively on mechanical hard limits, making them prone to insufficient or excessive offset compensation, which is unsuitable for precision operations. Summary of the Invention

[0003] This invention provides a hangar balance control method, device, electronic equipment, and storage medium, which can accurately correct the deviation angle generated after rotation when the gravity distribution of the rotating device in the hangar changes, thereby achieving precise balance control of the rotating device in the hangar and meeting the requirements of precision positioning.

[0004] In a first aspect, the present invention provides a method for balancing a hangar, the hangar including a rotating device, the rotating device being equipped with a preset number of load-bearing components, the rotating device being axially rotating about a central axis and simultaneously driving each of the load-bearing components to rotate, the method comprising:

[0005] If the angle of the target component on the rotating device is not within the preset angle range, then a second rotation angle is determined for each reference bearing component on the rotating device; the second rotation angle is the rotation angle of each reference bearing component relative to the reference marker when the rotating device has finished rotating, and the reference bearing component is the bearing component of the object already bearing on the rotating device; each second rotation angle includes the reference angle deviation generated by the reference bearing component on the rotating device when the rotating device rotates;

[0006] Based on the second rotation angle, a correction angle is determined; the correction angle is used to correct the deviation of the reference angle.

[0007] Based on the correction angle, the rotating device is driven to adjust its angle so that the angle of the target component on the rotating device is within the preset angle range.

[0008] Secondly, the present invention also provides a hangar balance control device, the hangar including a rotating device, the rotating device being equipped with a preset number of bearing components, the rotating device being axially rotating about a central axis and simultaneously driving each of the bearing components to rotate, the device comprising:

[0009] The second rotation angle determination module is used to determine a second rotation angle for each reference bearing component on the rotating device if the angle orientation of the target component on the rotating device is not within a preset angle range. The second rotation angle is the rotation angle of each reference bearing component relative to the reference marker when the rotating device has completed its rotation. The reference bearing component is the bearing component of the object already bearing on the rotating device. Each second rotation angle includes the reference angle deviation generated by the reference bearing component on the rotating device when the rotating device rotates.

[0010] The correction angle determination module is used to determine a correction angle based on the second rotation angle; the correction angle is used to correct the deviation of the reference angle.

[0011] An angle adjustment module is used to drive the rotating device to adjust its angle based on the correction angle, so that the angle of the target component on the rotating device is within the preset angle range.

[0012] Thirdly, this invention also provides an electronic device, comprising:

[0013] One or more processors;

[0014] Storage device for storing one or more programs.

[0015] When the one or more programs are executed by the one or more processors, the one or more processors implement the hangar balancing control method provided in any embodiment of the present invention.

[0016] Fourthly, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the hangar balancing control method provided in any embodiment of the present invention.

[0017] In the technical solution of this invention embodiment, after the rotating device rotates axially, if the angle of the target component on the rotating device is not within a preset angle range, a second rotation angle is determined for each reference bearing component on the rotating device. The second rotation angle is the rotation angle generated by each reference bearing component relative to the reference marker when the rotating device completes its rotation. The reference bearing component is the bearing component of the object already supported on the rotating device. Each second rotation angle includes the reference angle deviation generated by the reference bearing component on the rotating device during the rotation of the rotating device. Then, based on the second rotation angle, a correction angle is determined. The correction angle is used to correct the reference angle deviation. Next, based on the correction angle, the rotating device is driven to adjust the angle so that the angle of the target component on the rotating device is within a preset angle range. This solution allows for the determination of a precise correction angle based on the actual rotation of the rotating device, even when the angular orientation of the target component on the rotating device is outside the preset angle range. The determined correction angle better matches the actual deviations in real-world scenarios. It enables targeted and precise correction of reference angle deviations after rotation when the gravity distribution of the rotating device changes. This solution can flexibly adapt to different loading methods in various application scenarios, thereby achieving precise balance control of the rotating device in the hangar and meeting the requirements for precision positioning.

[0018] The above description of the invention is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0019] The above and other features, advantages, and aspects of the various embodiments of the present invention will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the originals and elements are not necessarily drawn to scale.

[0020] Figure 1 A schematic flowchart of a hangar balancing control method provided in an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of the structural effect of a rotating device provided in an embodiment of the present invention from a frontal view;

[0022] Figure 3 This is a flowchart illustrating another hangar balancing control method provided in an embodiment of the present invention;

[0023] Figure 4 A schematic diagram illustrating the theoretical effect of a rotating device after axial rotation, as provided in an embodiment of the present invention.

[0024] Figure 5 A schematic diagram illustrating the actual effect of a rotating device after axial rotation, as provided in an embodiment of the present invention.

[0025] Figure 6 A schematic diagram of the structure of a hangar balance control device provided in an embodiment of the present invention;

[0026] Figure 7 This is a schematic diagram of an electronic device for implementing a hangar balance control method according to an embodiment of the present invention. Detailed Implementation

[0027] Embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While some embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the invention. It should be understood that the accompanying drawings and embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the invention.

[0028] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0029] The term "comprising" and its variations as used herein are open-ended inclusions, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below.

[0030] It should be noted that the concepts of "first" and "second" mentioned in this invention are only used to distinguish different devices, modules, or units, and are not used to limit the order of functions performed by these devices, modules, or units or their interdependencies. The modifications of "a" and "a plurality of" mentioned in this invention are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0031] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0032] Figure 1This is a flowchart illustrating a hangar balance control method provided in an embodiment of the present invention. This embodiment is applicable to situations where angle adjustments are made after the hangar's rotating device has rotated, in order to achieve hangar balance control. This method can be executed by a hangar balance control device, which can be implemented in the form of software and / or hardware, and is generally integrated into any electronic device with network communication capabilities, such as a mobile terminal, PC, or server.

[0033] Before describing the specific implementation method, the relevant configuration information and working process of the hangar and rotating device in a real-world scenario will be explained. The hangar can be a drone hangar, and it includes a rotating device equipped with a predetermined number of load-bearing components. These load-bearing components can be in the form of "cabins / cavities" (e.g., storage compartments, bomb bays) to carry objects; alternatively, they can be in the form of "surfaces (support surfaces) / flat plates." For example, if the rotating device is used in a drone hangar capable of assisting in firefighting, the load-bearing components can be used to load fire extinguishing bombs, water-based bombs, dry powder bombs, etc.; of course, the rotating device can also be equipped with load-bearing components in the form of "surfaces (support surfaces) / flat plates."

[0034] In addition, the rotating device can rotate axially around the central axis and simultaneously drive each load-bearing component to rotate. For example, a servo motor can be arranged at the center of the rotating device to drive the rotating device to rotate.

[0035] In this embodiment, the rotating device can be a "turntable-type" rotating device, for example, a circular turntable, a regular polygonal turntable, or other irregularly shaped rotating devices. The various supporting components can be evenly distributed on the turntable of the rotating device or non-uniformly distributed on the turntable. For example, this embodiment uses a "turntable-type" rotating device as an example to briefly explain the relevant workflow. Figure 2 This is a schematic diagram of the structural effect of a rotating device provided in an embodiment of the present invention from a frontal view, as shown below. Figure 2 As shown, the rotating device is a "turntable type," and the turntable is a regular pentagonal turntable. Each of the four sides of this regular pentagonal turntable is fixedly equipped with a "cabin / cavity" type supporting component, specifically ammunition compartment 1, ammunition compartment 2, ammunition compartment 3, and ammunition compartment 4. Figure 2 The image shows all four bomb bays loaded with ammunition. The remaining side of the pentagonal turntable is fixed with a support component in the form of a "surface (support surface) / plate," specifically a flat plate. Figure 2In the illustrated scenario, a support plane is provided on one side of the regular pentagonal turntable. This support plane is perpendicular to the plane on which the turntable is located. A slot is formed on this support plane, which can be matched with a flat plate placed on the turntable. When the flat plate and the support plane are fully matched, they can together form a larger, complete plane, which is used to support devices or equipment capable of retrieving ammunition (such as drones) in subsequent use. For example, it can be used to support the drone's fuselage during takeoff and landing, allowing the drone to perform ammunition retrieval operations. The relevant steps and procedures for the operation of this regular pentagonal turntable can be specifically described as follows:

[0036] (1) When the UAV needs to retrieve the bomb, the UAV will first land on the support plane, and can be adjusted to land just above the slot on the support plane.

[0037] (2) Assuming that the fire extinguishing bombs in bomb bay 1 need to be removed, the pentagonal turntable will be controlled to rotate axially. Specifically, in Figure 2 Based on the counterclockwise rotation, during the axial rotation, the flat plate will gradually move away from the slot, while the fire extinguishing bombs loaded in the bomb bay 1 will slowly enter the slot and appear on the bearing plane after rotating into place, so that the UAV that has landed on the bearing plane can perform the bomb retrieval operation.

[0038] (3) After the UAV retrieves the bomb, the pentagonal turntable will be controlled to rotate clockwise so that the bomb compartment 1 returns to its original position. The plate will also gradually reset to the slot position as it rotates so that it can match the slot on the bearing plane again, so that the bearing plane can wait for the next UAV support work and related bomb retrieval work.

[0039] However, in actual rotation, for example when retrieving ammunition from ammunition compartment 1, when ammunition compartment 1, carrying fire extinguishing bombs, rotates from the slot onto the bearing plane, theoretically, the side of ammunition compartment 1 should be parallel to the bearing plane. However, due to the change in the weight distribution of the entire pentagonal turntable, the side of ammunition compartment 1 cannot be parallel to the bearing plane, but instead forms an angle, preventing the UAV from retrieving ammunition. Similarly, for example, after retrieving ammunition from ammunition compartment 1, when returning the plate to the slot position, the removal of the fire extinguishing bombs reduces the weight, causing the plate to not align with the slot and instead form an angle with the bearing plane. This is detrimental to the subsequent support of the UAV by the bearing plane. The embodiments of this invention aim to further adjust the deviation angle of the rotating device after such rotation, thereby achieving balance control of the rotating device in the hangar.

[0040] like Figure 1 As shown, the hangar balancing control method of this embodiment of the invention may include the following process:

[0041] S110. If the angle of the target component on the rotating device is not within the preset angle range, then determine the second rotation angle of each reference bearing component on the rotating device; the second rotation angle is the rotation angle of each reference bearing component relative to the reference marker when the rotating device has finished rotating, and the reference bearing component is the bearing component of the object already carried on the rotating device; each second rotation angle includes the reference angle deviation generated by the reference bearing component on the rotating device when the rotating device rotates.

[0042] It is understandable that, since the rotating device is equipped with load-bearing components that can support objects, when the device is not rotating (i.e., at rest), the torques generated by each load-bearing component relative to the rotation center point of the device are balanced. However, when the rotating device rotates axially, the gravity distribution among the load-bearing components changes. Even after the object on a load-bearing component is removed, the magnitude of the gravity corresponding to that component during its rotational reset process also changes directly. Under the influence of such factors, the angular orientation of the target component on the rotating device may not be within the preset angle range after axial rotation, failing to achieve the desired state. Here, the target component can be a load-bearing component on the rotating device or a component at any point on the device. The angular orientation can be understood as the direction / orientation of the target component after rotation. Correspondingly, the preset angle range can be understood as a pre-defined angle range. If the angular orientation of the target component is within the preset angle range, it can be considered that the desired state has been achieved; if the angular orientation of the target component is not within the preset angle range, it is considered that the desired state has not been achieved.

[0043] In this embodiment, the second rotation angle is the rotation angle of each reference bearing component relative to the reference marker when the rotating device completes its rotation. The reference bearing component is the bearing component of the rotating device that already carries the object. The reference marker is a reference object associated with the rotating device; it can be understood as a marker used to measure the rotation angle, equivalent to the calibration direction / position when the angle is 0. In this embodiment, the reference marker can be preset based on actual needs. For example, the reference marker can be a bearing component on the rotating device, a point on a side of the rotating device, or a component / point at any other location on the rotating device. In other words, the second rotation angle is equivalent to the actual rotation angle of each reference bearing component after rotation. Of course, there can be multiple second rotation angles, with each reference bearing component corresponding to one second rotation angle. Furthermore, each second rotation angle includes the reference angle deviation generated by the reference bearing component during the rotation of the rotating device. This reference angle deviation can be understood as the angle deviation caused by the reference bearing component not rotating to its designated position.

[0044] Specifically, if the angle of the target component on the rotating device is not within the preset angle range, a second rotation angle associated with the rotating device is determined. For example, the second rotation angle after each reference bearing component has rotated can be directly measured using an angle measuring sensor. Alternatively, the reference angle deviation generated after rotation can be set as an unknown, and the second rotation angle after each reference bearing component has rotated can be constructed based on this unknown.

[0045] S120. Based on the second rotation angle, determine the correction angle; the correction angle is used to correct the deviation of the reference angle.

[0046] It is understandable that during the rotation of the rotating device, the gravity distribution of the various reference bearing components on the device is constantly changing, including changes in the orientation of the gravity distribution and even changes in the magnitude of gravity (e.g., changes in the weight of the object supported by the reference bearing component). Therefore, these factors will cause the rotating device to not rotate exactly to the required rotation angle after rotation, but rather to rotate by a second rotation angle. Thus, a correction angle can be determined based on the determined second rotation angle, which can be used to correct for any deviations in the reference angle.

[0047] S130. Based on the correction angle, drive the rotating device to adjust the angle so that the angle of the target component on the rotating device is within the preset angle range.

[0048] Specifically, after determining the correction angle, the rotating device can be driven to adjust its angle based on this correction angle. For example, a servo motor can be controlled to drive the rotating device to continue rotating, correcting the resulting reference angle deviation so that the angle of the target component on the rotating device is within a preset angle range. This achieves balanced control of the rotating device and reaches the desired state. For instance, assuming the correction angle is determined to be 1 degree after calculation, the servo motor can be controlled to drive the rotating device to rotate, adjusting this 1 degree angle so that the angle of the target component on the rotating device is within the preset angle range.

[0049] In the technical solution of this invention embodiment, after the rotating device rotates axially, if the angle of the target component on the rotating device is not within a preset angle range, a second rotation angle is determined for each reference bearing component on the rotating device. The second rotation angle is the rotation angle generated by each reference bearing component relative to the reference marker when the rotating device completes its rotation. The reference bearing component is the bearing component of the object already supported on the rotating device. Each second rotation angle includes the reference angle deviation generated by the reference bearing component on the rotating device during the rotation of the rotating device. Then, based on the second rotation angle, a correction angle is determined. The correction angle is used to correct the reference angle deviation. Next, based on the correction angle, the rotating device is driven to adjust the angle so that the angle of the target component on the rotating device is within a preset angle range. This solution allows for the determination of a precise correction angle based on the actual rotation of the rotating device, even when the angular orientation of the target component on the rotating device is outside the preset angle range. The determined correction angle better matches the actual deviations in real-world scenarios. It enables targeted and precise correction of reference angle deviations after rotation when the gravity distribution of the rotating device changes. This solution can flexibly adapt to different loading methods in various application scenarios, thereby achieving precise balance control of the rotating device in the hangar and meeting the requirements for precision positioning.

[0050] Figure 3 This is a flowchart illustrating another hangar balancing control method provided by an embodiment of the present invention. The technical solution of this embodiment further optimizes the process of determining the correction angle based on the second rotation angle in the aforementioned embodiments, building upon the technical solutions of the previous embodiments. This embodiment can be combined with various optional solutions in one or more of the above embodiments. For example... Figure 3 As shown, the hangar balancing control method of this embodiment of the invention may include the following process:

[0051] S310. If the angle of the target component on the rotating device is not within the preset angle range, then determine the second rotation angle of each reference bearing component on the rotating device; the second rotation angle is the rotation angle of each reference bearing component relative to the reference marker when the rotating device has finished rotating, and the reference bearing component is the bearing component of the object already carried on the rotating device; each second rotation angle includes the reference angle deviation generated by the reference bearing component on the rotating device when the rotating device rotates.

[0052] As an optional but non-limiting implementation, determining the second rotation angle associated with the rotating device includes: determining the first rotation angle corresponding to each reference bearing component based on a first rotation command; the first rotation command instructing the rotating device to perform a rotation operation; and determining the second rotation angle of each reference bearing component based on a correction angle and the first rotation angle corresponding to each reference bearing component. Using this optional solution, the second rotation angle corresponding to each reference bearing component can be determined based on the first rotation angle corresponding to the reference bearing component after the rotating device undergoes axial rotation.

[0053] The first rotation command is used to instruct the rotating device to perform a rotation operation. The first rotation command can indicate the angle that the rotating device needs to rotate, that is, indicate the first rotation angle that needs to be rotated. This first rotation angle actually reflects the theoretically required rotation angle.

[0054] Specifically, a first rotation angle corresponding to each reference bearing component can be determined based on a first rotation command. Then, a second rotation angle corresponding to each reference bearing component can be constructed based on a correction angle and the first rotation angle corresponding to each reference bearing component. For example, the first rotation angle and the correction angle can be added together to construct the second rotation angle, thereby determining the second rotation angle of each reference bearing component.

[0055] For example, Figure 4 This is a schematic diagram of the theoretical effect of a rotating device after axial rotation provided in an embodiment of the present invention (the specific application scenario can be: after the ammunition in the ammunition compartment 1 has been removed, axial rotation is performed to reset the plate, that is, to make the plate return to the slot position of the bearing plane). Figure 4 Point N shown is the reference marker, which is the midpoint of the side where the plate is located. In this embodiment, the rotation angle can be calculated using the line connecting the reference marker and the rotation center point of the rotating device. Continuing as... Figure 4 As shown, point M is the rotation center of the rotating device. After the rotating device completes its axial rotation (to reset the plate), theoretically... Figure 4The angle between the plate and line segment MN should be 0° (the center of mass of the plate can be considered as the point represented by the plate, and the center of mass of the plate coincides with point N). The angle between bomb bay 1 and line segment MN should be 72°, the angle between bomb bay 2 and line segment MN should be 144°, the angle between bomb bay 3 and line segment MN should be -144°, and the angle between bomb bay 4 and line segment MN should be -72°. However, since the fire extinguishing bomb in bomb bay 1 has been removed, the gravity in some directions of the rotating device has changed, which can be considered as the gravity distribution becoming uneven. Therefore, after axial rotation, it will lead to... Figure 4 When the plate is reset, it cannot achieve the desired effect and cannot match the slot of the bearing plane. Instead, it will produce a certain angle deviation. In other words, the plate at this time is equivalent to the target component, and the angle orientation of the target component is not within the preset angle range. Figure 5 This is a schematic diagram illustrating the actual effect of a rotating device after axial rotation, as provided in an embodiment of the present invention. Figure 5 and Figure 4 Corresponding and related, such as Figure 5 As shown, at this point, a certain angular deviation occurs between the side of the plate and the bearing plane. This angle is the reference angular deviation, which is the correction angle for subsequent solutions. Let's assume this correction angle is... Meanwhile, it is assumed that the first rotation angle formed by each bomb bay (i.e., the reference bearing component) relative to the reference marker N is respectively set as , , , .(exist Figure 5 In the case shown, , , , Therefore, based on the correction angle and the first rotation angle, we can construct:

[0056] The second rotation angle corresponding to bomb bay 1 is ( );

[0057] The second rotation angle corresponding to bomb bay 2 is ( );

[0058] The second rotation angle corresponding to bomb bay 3 is ( );

[0059] The second rotation angle corresponding to bomb bay 4 is ( );

[0060] The second rotation angle corresponding to the flat plate is ( ).

[0061] It should be noted that, in this embodiment of the invention, during the angle calculation and torque determination process, the load-bearing components fixedly configured on each side can be treated as a single point for calculation based on actual needs, and this point is located at the midpoint of each side. Of course, other differentiated position point calibrations can also be performed based on actual needs, which are not limited in detail here.

[0062] As an optional but non-limiting implementation, determining the second rotation angle associated with the rotating device further includes: measuring the second rotation angle of each reference bearing component using an angle measuring sensor.

[0063] S320. Based on the actual weight of each reference bearing component and the corresponding second rotation angle, generate the sum of the gravitational torques of multiple bearing components about the rotation center point of the rotating device.

[0064] Specifically, in practical applications, the actual weights of various reference load-bearing components may differ, and these differences in weight can generate different gravitational torques. Therefore, based on the actual weights and corresponding second rotation angles of each reference load-bearing component, a sum of gravitational torques about the rotation center of the rotating device can be generated. This sum of gravitational torques includes not only the torques generated by these reference load-bearing components but also those generated by other load-bearing components. For example, for a specific reference load-bearing component 'a', the gravitational torque about the rotation center of the rotating device can be generated based on its actual weight and second rotation angle. Then, following the same principle, the gravitational torques about the rotation center of reference load-bearing components 'b', 'c', etc., can be calculated separately. Next, the gravitational torques about the rotation center of other load-bearing components (e.g., load-bearing components 'd', 'e', ​​etc.) can be calculated. Finally, the gravitational torques corresponding to each load-bearing component are summed to generate the sum of the gravitational torques about the rotation center of the rotating device.

[0065] As an optional but non-limiting implementation, the reference bearing component is configured to have a receiving cavity, and the bearing component also includes a plate component. Accordingly, based on the actual weight of each reference bearing component and its corresponding second rotation angle, a sum of gravitational moments of multiple bearing components about the rotation center point of the rotating device is generated. This includes: generating a first sum of gravitational moments of the reference bearing component about the rotation center point of the rotating device based on the actual weight of each reference bearing component and its corresponding second rotation angle; generating a second sum of gravitational moments of the plate component about the rotation center point of the rotating device based on the actual weight of the plate component and its corresponding third rotation angle; wherein the third rotation angle includes the reference angle deviation of the plate component relative to the reference marker when the rotating device has completed rotation; and generating a sum of gravitational moments of multiple bearing components about the rotation center point of the rotating device based on the first sum of gravitational moments and the second sum of gravitational moments. Using this optional scheme, the gravitational moments of different types of bearing components can be determined separately based on their different types, thereby ultimately determining the sum of all gravitational moments corresponding to multiple bearing components.

[0066] The reference bearing component is configured to have a receiving cavity, which can be a component of the "cabin / cavity" type described above. For example, it could be... Figure 2 The various bomb bays are shown in the image. In addition, the load-bearing components also include flat plate components, which can be load-bearing components in the form of "surface (support surface) / flat plate" as described above.

[0067] It is understandable that the calculation of gravitational torque is related to the weight and lever arm of an object, and the weight of an object is directly related to its actual weight. Therefore, after determining the second rotation angle of each reference bearing component, the corresponding gravitational torque can be calculated. Specifically, based on the actual weight of each reference bearing component and its corresponding second rotation angle, the sum of the first gravitational torques of the reference bearing components about the rotation center point of the rotating device can be generated. For example, the gravitational torques of each reference bearing component about the rotation center point of the rotating device can be calculated separately, and then the gravitational torques generated by all reference bearing components can be summed to obtain the sum of the first gravitational torques. Similarly, on the other hand, based on the actual weight of the plate component and its corresponding third rotation angle, the sum of the second gravitational torques of the plate component about the rotation center point of the rotating device can be generated. The third rotation angle includes the reference angle deviation of the plate component relative to the reference marker when the rotating device has completed its rotation; that is, the third rotation angle also includes the reference angle deviation. Next, based on the sum of the first gravitational torque and the sum of the second gravitational torque, the sum of the gravitational torques of multiple bearing components on the rotation center point of the rotating device can be generated. In essence, it reflects the sum of the gravitational torques of all bearing components on the rotation center point.

[0068] As an optional but non-limiting implementation, a first gravitational torque sum of the reference bearing components about the rotation center point of the rotating device is generated based on the actual weight of each reference bearing component and its corresponding second rotation angle. This includes: determining the actual weight of each reference bearing component based on its loading state; and generating the first gravitational torque sum of the reference bearing components about the rotation center point of the rotating device based on the actual weight of each reference bearing component, the corresponding second rotation angle, and the rotation radius. Using this optional scheme, the actual weight of the reference bearing components can be determined based on their loading state, and further combined with the second rotation angle and rotation radius to construct and generate the first gravitational torque sum of the reference bearing components about the rotation center point of the rotating device.

[0069] The loading status indicates whether a reference bearing component is loaded with an object. The loading status of the reference bearing component can be determined by sensors. For example, corresponding sensors can be configured on each reference bearing component (e.g., a bomb bay) of the rotating device to detect the loading status of the reference bearing component.

[0070] The radius of rotation refers to the vertical distance that a reference bearing component on the side rotates around the center of rotation during the axial rotation of the rotating device. Generally, the distance between the "midpoint on the side of the rotating device" and the "center of rotation" can be used as the radius of rotation.

[0071] Specifically, the actual weight of each reference bearing component can be determined based on its loading state. Then, based on the actual weight of each reference bearing component, the second rotation angle and rotation radius corresponding to each reference bearing component, the gravitational torque of each reference bearing component about the rotation center point can be generated. After further accumulation and summation, the first gravitational torque of the reference bearing components about the rotation center point of the rotating device can be generated.

[0072] As an optional but non-limiting implementation, the sum of the second gravitational torques of the plate components about the rotation center point of the rotating device is generated based on the actual weight of the plate components and the corresponding third rotation angle. This includes: generating the sum of the second gravitational torques of the plate components about the rotation center point of the rotating device based on the actual weight of each plate component, the corresponding third rotation angle of each plate component, and the rotation radius.

[0073] Similarly, when calculating the sum of the second gravitational torques for a flat plate component, the sum of the second gravitational torques of the flat plate component about the rotation center point of the rotating device can be generated based on the actual weight of each flat plate component, the third rotation angle of each flat plate component, and the rotation radius.

[0074] As an optional but non-limiting implementation, the total constraint torque is determined as follows: the effective torque of the motor is determined based on the rated torque and reduction ratio of the servo motor configured in the rotating device; the mechanical friction torque is determined based on the friction coefficient between the mechanical mechanisms configured in the rotating device; the gear preload torque is determined based on the number of teeth of the reducer configured in the rotating device; and the total constraint torque is determined based on the effective torque of the motor, the mechanical friction torque, and the gear preload torque.

[0075] The reduction ratio refers to the ratio between the input shaft speed (motor side) and the output shaft speed (load side). For example, a reduction ratio of 1:620 means that for every 620 revolutions of the servo motor, the corresponding load side (such as a speed reducer) rotates 1 revolution.

[0076] Specifically, when determining the total constraint torque, the effective torque of the motor can be determined based on the rated torque and reduction ratio of the servo motor configured in the rotating device; the mechanical friction torque can be determined based on the friction coefficient between the mechanical mechanisms configured in the rotating device; and the gear preload torque can be determined based on the number of teeth of the reducer configured in the rotating device. Then, the effective motor torque, the mechanical friction torque, and the gear preload torque are summed to determine the total constraint torque. This total constraint torque is used to indicate the torque generated by the physical mechanical mechanisms at the rotation center point of the rotating device.

[0077] S330. Based on the sum of gravitational torques and the sum of constraint torques, solve for the correction angle; wherein, the sum of constraint torques is used to indicate the torque generated by the physical mechanical mechanism on the rotation center point of the rotating device.

[0078] It's easy to understand that when a rotating device rotates axially, it relies on other physical mechanical structures such as servo motors and reducers to complete the rotation, generally rotating around the central axis of the rotating device. For example, Figure 2 The illustrated scenario involves positioning a servo motor at the central axis of a regular pentagonal turntable. The servo motor, in conjunction with a reducer, enables the turntable to rotate axially. Correspondingly, the sum of constraint torques indicates the torque exerted on the rotation center point of the rotating device by the physical mechanical mechanism. Optionally, in this embodiment, the sum of constraint torques may consist of at least one of the following: effective motor torque, mechanical friction torque, and gear preload torque.

[0079] Specifically, in order to ensure that the angle of the target component on the rotating device is within a preset angle range, that is, to make the rotating device reach the desired equilibrium state, it means that all the torques acting on the rotation center point of the rotating device are balanced (for example, the sum of all the torques can be 0). Then, the correction angle can be solved based on the sum of the gravitational torques of multiple bearing components on the rotation center point of the rotating device, as well as the sum of the constraint torques.

[0080] As an optional but non-limiting implementation, the correction angle is solved based on the sum of gravitational torque and the sum of constraint torque, including: constructing an objective function based on the sum of gravitational torque and constraint torque of multiple bearing components about the rotation center point of the rotating device; the objective function is used to indicate the resultant torque of the rotation center point of the rotating device; the objective function is iteratively updated so that the resultant torque of the rotation center point of the rotating device reaches a preset equilibrium condition; when the preset termination condition is met, the iterative update of the objective function is stopped, and the correction angle corresponding to the angle orientation of the target component on the rotating device being within a preset angle range is obtained.

[0081] The preset equilibrium condition can be that the resultant torque is equal to zero or infinitely close to zero.

[0082] Specifically, after analyzing and calculating the various factors that affect the resultant torque at the rotation center point of the rotating device—that is, after analyzing and calculating the torques of each component—a target function can be constructed based on the sum of the gravitational torques of multiple bearing components on the rotation center point of the rotating device, as well as the sum of the constraint torques. For example, the torques of the aforementioned aspects can be summed to construct the target function. This target function can be used to indicate the resultant torque at the rotation center point of the rotating device.

[0083] For example, in this embodiment, we continue with Figure 5 Taking the rotating device shown as an example, the constructed objective function can be in the following form:

[0084] ;

[0085] in, This represents the actual weight of the flat component (i.e., the actual weight of the flat plate); g is the acceleration due to gravity, typically taken as a value of... L is the radius of rotation; Indicates the correction angle; k indicates the reference bearing component number (i.e., ...). Figure 2 (The designations of each bomb bay in the middle). This represents the actual weight of the k-th reference load-bearing component; This indicates the loading state of the k-th reference load-bearing component (e.g., when the reference load-bearing component is loaded with an object). When the reference support component is not loaded with an object / the object is removed, ); This represents the first rotation angle of the k-th reference bearing component; This indicates the effective constraint torque of the motor; Indicates mechanical friction torque; This indicates the gear preload torque.

[0086] By constructing this objective function, we can see that: Essentially, this corresponds to the gravitational torque exerted by the flat plate component on the rotation center point of the rotating device, where... In This is the third rotation angle corresponding to the flat plate component during the calculation process. This refers to the effective lever arm in the process of calculating the gravitational torque of the flat plate component about the rotation center point of the rotating device. Essentially, this corresponds to the sum of the gravitational torques of the four reference bearing components about the rotation center point of the rotating device, where... In This refers to the second rotation angle corresponding to each reference load-bearing component during the calculation process. This refers to the effective lever arm in the process of calculating the gravitational torque of the reference bearing component about the rotation center point of the rotating device. This corresponds to the sum of constraint torques generated by the physical mechanical mechanism.

[0087] Furthermore, since the objective function reflects the resultant torque at the rotation center point of the rotating device, in order for the rotating device to reach the required equilibrium state after axial rotation, the goal is to find the corresponding correction angle when the resultant torque at the rotation center point of the rotating device is equal to 0; that is, to find... The solution obtained at that time However, in actual calculations, it may be difficult to make the resultant torque absolutely equal to zero; it can only be made to approach zero infinitely. Therefore, the objective function can be iteratively updated with the goal of "making the resultant torque at the center of rotation of the rotating device approach zero infinitely." For example, Newton's iteration method can be used to iteratively update the objective function. During the iterative update of the objective function, if a preset termination condition is met, the iterative update of the objective function can be stopped, and the corrected angle corresponding to the angle of the target component on the rotating device being within a preset angle range can be obtained.

[0088] For example, the process of iteratively updating the objective function using Newton's method can be described as follows:

[0089] First, the derivative of the objective function can be determined:

[0090] ;

[0091] Then, determine the iterative update formula, which can be as follows:

[0092] ;

[0093] Then, following this iterative update formula, the process is continuously iterated to find the solution that makes the resultant torque approach 0. .

[0094] As an optional but non-limiting implementation, a preset termination condition is provided, including: the resultant torque of the rotation center point of the rotating device obtained by iteration is less than a preset torque; or, the difference between the correction angles obtained by two adjacent iterations is less than a preset angle.

[0095] Both the preset torque and preset angle can be set differently based on actual needs.

[0096] The preset torque can be understood as a set value that represents the resultant torque approaching zero. During the iterative update process, if it is determined that the resultant torque of the rotation center point of the rotating device obtained by the iteration is less than the preset torque, it can be considered that the current iteration process has been able to make the rotation center point of the rotating device approach zero, and the iterative update can be stopped.

[0097] The preset angle can be understood as a set value that measures the degree of update between the correction angles obtained from two adjacent iterations. During the iterative update process, if it is determined that the difference between the correction angles obtained from two adjacent iterations is less than the preset angle, it means that the current iteration update is unlikely to produce a significant update in the correction angle. It is equivalent to iterating to a value that is close to stabilizing. If the iteration continues, it will be difficult to produce a meaningful update, so the iterative update can be stopped.

[0098] Therefore, during the iteration process, if the above-mentioned preset termination conditions are met, it means that the function has converged, and the iteration update of the objective function can be stopped, and the corresponding correction angle can be obtained. This correction angle can be used as the final angle that needs to be adjusted and corrected.

[0099] For example, the preset termination condition can be set as follows: It can also be set to: , where n represents the number of iterations.

[0100] S340. Based on the correction angle, drive the rotating device to adjust the angle so that the angle of the target component on the rotating device is within the preset angle range.

[0101] In the technical solution of this invention embodiment, after the rotating device rotates axially, if the angle orientation of the target component on the rotating device is not within a preset angle range, a second rotation angle is determined for each reference bearing component on the rotating device. The second rotation angle is the rotation angle generated by each reference bearing component relative to the reference marker when the rotating device completes its rotation. The reference bearing component is the bearing component of the object already supported on the rotating device. Each second rotation angle includes the reference angle deviation generated by the reference bearing component on the rotating device during the rotation of the rotating device. Then, based on the actual weight of each reference bearing component and the corresponding second rotation angle, a sum of gravitational torques of multiple bearing components about the rotation center point of the rotating device is generated. Based on the sum of gravitational torques and the sum of constraint torques, a correction angle is solved. Then, based on the correction angle, the rotating device is driven to adjust its angle so that the angle orientation of the target component on the rotating device is within a preset angle range. This solution allows for the determination of a precise correction angle based on the actual rotation of the rotating device, even when the angular orientation of the target component on the rotating device is outside the preset angle range. The determined correction angle better matches the actual deviations in real-world scenarios. It enables targeted and precise correction of reference angle deviations after rotation when the gravity distribution of the rotating device changes. This solution can flexibly adapt to different loading methods in various application scenarios, thereby achieving precise balance control of the rotating device in the hangar and meeting the requirements for precision positioning.

[0102] Figure 6 This is a schematic diagram of a hangar balance control device provided in an embodiment of the present invention. This embodiment is applicable to situations where the hangar's rotational device continues to adjust its angle after rotation to achieve hangar balance control. The hangar balance control device can be implemented in software and / or hardware and is generally integrated into any electronic device with network communication capabilities, such as a mobile terminal, PC, or server. The hangar includes a rotational device, on which a preset number of bearing components are configured. The rotational device can rotate axially around a central axis, simultaneously driving each of the bearing components to rotate. Figure 6 As shown, the hangar balance control device of this embodiment of the invention may include a second rotation angle determination module 610, a correction angle determination module 620, and an angle adjustment module 630. Wherein:

[0103] The second rotation angle determination module 610 is used to determine a second rotation angle for each reference bearing component on the rotating device if the angle orientation of the target component on the rotating device is not within a preset angle range. The second rotation angle is the rotation angle of each reference bearing component relative to the reference marker when the rotating device has completed its rotation. The reference bearing component is the bearing component of the object already bearing on the rotating device. Each second rotation angle includes the reference angle deviation generated by the reference bearing component on the rotating device when the rotating device rotates.

[0104] The correction angle determination module 620 is used to determine a correction angle based on the second rotation angle; the correction angle is used to correct the deviation of the reference angle.

[0105] Angle adjustment module 630 is used to drive the rotating device to adjust the angle based on the correction angle, so that the angle of the target component on the rotating device is within the preset angle range.

[0106] In the technical solution of this invention embodiment, after the rotating device rotates axially, if the angle orientation of the target component on the rotating device is not within a preset angle range, the second rotation angle determination module determines the second rotation angle of each reference bearing component on the rotating device. The second rotation angle is the rotation angle generated by each reference bearing component relative to the reference marker when the rotating device completes its rotation. The reference bearing component is the bearing component of the object already supported on the rotating device. Each second rotation angle includes the reference angle deviation generated by the reference bearing component on the rotating device during the rotation of the rotating device. Then, the correction angle determination module determines the correction angle based on the second rotation angle. The correction angle is used to correct the reference angle deviation. Next, the angle adjustment module drives the rotating device to adjust the angle based on the correction angle so that the angle orientation of the target component on the rotating device is within the preset angle range. This solution allows for the determination of a precise correction angle based on the actual rotation of the rotating device, even when the angular orientation of the target component on the rotating device is outside the preset angle range. The determined correction angle better matches the actual deviations in real-world scenarios. It enables targeted and precise correction of reference angle deviations after rotation when the gravity distribution of the rotating device changes. This solution can flexibly adapt to different loading methods in various application scenarios, thereby achieving precise balance control of the rotating device in the hangar and meeting the requirements for precision positioning.

[0107] As an optional but non-limiting implementation, the correction angle determination module 620 includes a gravity torque determination unit and a correction angle solution unit. Wherein:

[0108] The gravitational torque determination unit is used to generate the sum of the gravitational torques of multiple load-bearing components about the rotation center point of the rotating device based on the actual weight of each reference load-bearing component and the corresponding second rotation angle.

[0109] The correction angle solving unit is used to solve the correction angle based on the sum of the gravitational torque and the sum of the constraint torque; wherein the sum of the constraint torque is used to indicate the torque generated by the physical mechanical mechanism on the rotation center point of the rotating device.

[0110] As an optional but non-limiting implementation, the second rotation angle determination module 610 includes a first rotation angle determination unit and a second rotation angle determination unit. Wherein:

[0111] The first rotation angle determination unit is used to determine the first rotation angle corresponding to each reference bearing component based on the first rotation command; the first rotation command is used to instruct the rotating device to perform a rotation operation.

[0112] The second rotation angle determination unit is used to determine the second rotation angle of each reference bearing component based on the correction angle and the first rotation angle corresponding to each reference bearing component. As an optional but non-limiting implementation, the reference bearing component is configured to have a receiving cavity, and the bearing component further includes a flat plate component; correspondingly, the gravity torque determination unit includes a first determination subunit, a second determination subunit, and a third determination subunit. Wherein:

[0113] The first determining subunit is used to generate the sum of the first gravitational torques of the reference bearing components about the rotation center point of the rotating device based on the actual weight of each reference bearing component and the corresponding second rotation angle.

[0114] The second determining subunit is used to generate a second gravitational torque sum of the plate component about the rotation center point of the rotating device based on the actual weight of the plate component and the corresponding third rotation angle; wherein, the third rotation angle includes the reference angle deviation of the plate component relative to the reference marker when the rotating device completes rotation;

[0115] The third determining subunit is used to generate, based on the first total gravitational torque and the second total gravitational torque, the sum of the gravitational torques of the multiple bearing components about the rotation center point of the rotating device.

[0116] As an optional but non-limiting implementation, the second determining subunit is specifically used to: generate the sum of the second gravitational torques of the plate components about the rotation center point of the rotating device based on the actual weight of each plate component, the third rotation angle and rotation radius corresponding to each plate component.

[0117] As an optional but non-limiting implementation, the sum of the constraint moments is determined in the following manner:

[0118] Based on the rated torque and reduction ratio of the servo motor configured in the rotating device, the effective torque of the motor is determined; based on the friction coefficient between the mechanical mechanisms configured in the rotating device, the mechanical friction torque is determined; based on the number of teeth of the reducer configured in the rotating device, the gear preload torque is determined; based on the effective torque of the motor, the mechanical friction torque, and the gear preload torque, the sum of the constraint torques is determined.

[0119] As an optional but non-limiting implementation, the corrected angle solution unit includes an objective function construction subunit, an iterative update subunit, and a corrected angle solution subunit. Wherein:

[0120] A sub-unit for constructing the objective function is used to construct an objective function based on the sum of the gravitational torques of the multiple bearing components about the rotation center point of the rotating device, and the sum of the constraint torques; the objective function is used to indicate the resultant torque at the rotation center point of the rotating device.

[0121] An iterative update subunit is used to iteratively update the objective function so that the resultant torque at the rotation center point of the rotating device reaches a preset equilibrium condition.

[0122] The correction angle solution subunit is used to stop iteratively updating the objective function when a preset termination condition is met, and to obtain the correction angle corresponding to the angle orientation of the target component on the rotating device being within the preset angle range.

[0123] As an optional but non-limiting implementation, the preset termination condition includes: the resultant torque of the rotation center point of the rotating device obtained by iteration is less than the preset torque; or, the difference between the correction angles obtained by two adjacent iterations is less than the preset angle.

[0124] The hangar balancing control device provided in this embodiment of the invention can be used to execute the hangar balancing control method, and has the corresponding functional modules and beneficial effects for executing the hangar balancing control method.

[0125] It is worth noting that the various units and modules included in the above-mentioned device are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the protection scope of the embodiments of the present invention.

[0126] Figure 7This is a schematic diagram of an electronic device for implementing a hangar balance control method according to an embodiment of the present invention. The following refers to... Figure 7 The diagram illustrates a structural schematic of an electronic device 710 suitable for implementing embodiments of the present invention. The terminal devices in these embodiments may include, but are not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 7 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0127] like Figure 7 As shown, the electronic device 710 includes at least one processor 711 and a memory, such as a read-only memory (ROM) 712 and a random access memory (RAM) 713, communicatively connected to the at least one processor 711. The memory stores computer programs executable by the at least one processor. The processor 711 can perform various appropriate actions and processes based on the computer program stored in the ROM 712 or loaded from storage unit 718 into the RAM 713. The RAM 713 may also store various programs and data required for the operation of the electronic device 710. The processor 711, ROM 712, and RAM 713 are interconnected via a bus 714. An input / output (I / O) interface 715 is also connected to the bus 714.

[0128] Multiple components in electronic device 710 are connected to input / output (I / O) interface 715, including: input unit 716, such as keyboard, mouse, etc.; output unit 717, such as various types of monitors, speakers, etc.; storage unit 718, such as disk, optical disk, etc.; and communication unit 719, such as network card, modem, wireless transceiver, etc. Communication unit 719 allows electronic device 710 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0129] Processor 711 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 711 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 711 executes the hangar balancing control method provided in any embodiment of the present invention.

[0130] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the hangar balancing control method shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication unit 719, or installed from storage unit 718, or installed from read-only memory (ROM) 712. When the computer program is executed by processor 711, it performs the functions defined in the hangar balancing control method of the embodiments of the present invention.

[0131] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0132] The electronic device provided in this embodiment of the invention and the hangar balance control method provided in the above embodiments belong to the same inventive concept. Technical details not described in detail in this embodiment can be found in the above embodiments, and this embodiment has the same beneficial effects as the above embodiments.

[0133] This invention provides a computer storage medium storing a computer program that, when executed by a processor, implements the hangar balancing control method provided in the above embodiments.

[0134] It should be noted that the computer-readable medium described above in this invention can be a computer-readable signal medium, a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a 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. In this invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0135] In some implementations, clients and servers can communicate using any currently known or future-developed network protocol such as HTTP (Hypertext Transfer Protocol) and can interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet of Things), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future-developed networks.

[0136] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0137] 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 the present invention. 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 the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can 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.

[0138] The units described in the embodiments of the present invention can be implemented in software or in hardware. The names of the units are not, in some cases, intended to limit the specific unit.

[0139] In the context of this invention, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0140] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-disclosed concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

[0141] Furthermore, while the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in sequential order. In certain circumstances, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the invention. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

[0142] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

Claims

1. A hangar balancing control method, characterized in that, The hangar includes a rotating device, on which a predetermined number of load-bearing components are mounted. These load-bearing components are used to support objects. The rotating device is axially rotating around a central axis and simultaneously driving each load-bearing component to rotate. The method includes: When the rotating device completes its rotation, if the angle of the target component on the rotating device is not within a preset angle range, then a second rotation angle is determined for each reference bearing component on the rotating device. The second rotation angle is the rotation angle of each reference bearing component relative to the reference marker when the rotating device completes its rotation. The reference bearing component is the bearing component of the object already bearing on the rotating device. Each second rotation angle includes the reference angle deviation generated by the reference bearing component on the rotating device when the rotating device rotates. Based on the second rotation angle, a correction angle is determined; the correction angle is used to correct the deviation of the reference angle. Based on the correction angle, the rotating device is driven to adjust the angle so that the angle of the target component on the rotating device is within the preset angle range; The step of determining the correction angle based on the second rotation angle includes: Based on the actual weight of each reference bearing component and the corresponding second rotation angle, the sum of the gravitational torques of the multiple bearing components about the rotation center point of the rotating device is generated. The correction angle is calculated based on the sum of the gravitational torque and the sum of the constraint torques; wherein the sum of the constraint torques is used to indicate the torque generated by the physical mechanical mechanism at the rotation center point of the rotating device.

2. The method according to claim 1, characterized in that, Determining the second rotation angle of each reference bearing component on the rotating device includes: The first rotation angle corresponding to each reference bearing component is determined based on the first rotation command; the first rotation command is used to instruct the rotating device to perform a rotation operation. Based on the correction angle and the first rotation angle corresponding to each reference bearing component, the second rotation angle of each reference bearing component is determined.

3. The method according to claim 1, characterized in that, The reference bearing component is configured to have a receiving cavity, and the bearing component further includes a flat plate component; correspondingly, the generation of the sum of the gravitational torques of multiple bearing components about the rotation center point of the rotating device based on the actual weight of each reference bearing component and the corresponding second rotation angle includes: Based on the actual weight of each reference bearing component and the corresponding second rotation angle, the sum of the first gravitational torques of the reference bearing components about the rotation center point of the rotating device is generated; Based on the actual weight of the plate component and the corresponding third rotation angle, a second gravitational torque sum of the plate component about the rotation center point of the rotating device is generated; wherein, the third rotation angle includes the reference angle deviation of the plate component relative to the reference marker when the rotating device completes rotation; Based on the first sum of gravitational torques and the second sum of gravitational torques, the sum of gravitational torques of the multiple bearing components about the rotation center point of the rotating device is generated.

4. The method according to claim 3, characterized in that, The step of generating the sum of the second gravitational torques of the plate component about the rotation center point of the rotating device based on the actual weight of the plate component and the corresponding third rotation angle includes: Based on the actual weight of each plate component, the third rotation angle and rotation radius corresponding to each plate component, the sum of the second gravitational torques of the plate components about the rotation center point of the rotating device is generated.

5. The method according to claim 1, characterized in that, The sum of the constraint torques is determined in the following manner: The effective torque of the motor is determined based on the rated torque and reduction ratio of the servo motor configured in the rotating device. The mechanical friction torque is determined based on the friction coefficient between the mechanical mechanisms configured in the rotating device. The gear preload torque is determined based on the number of teeth of the reducer configured in the rotating device. The sum of the constraint torques is determined based on the effective torque of the motor, the mechanical friction torque, and the gear preload torque.

6. The method according to claim 1, characterized in that, The process of solving for the correction angle based on the sum of the gravitational torques and the sum of the constraint torques includes: An objective function is constructed based on the sum of the gravitational torques exerted by the multiple bearing components on the rotation center point of the rotating device, and the sum of the constraint torques; the objective function is used to indicate the resultant torque at the rotation center point of the rotating device. The objective function is iteratively updated so that the resultant torque at the rotation center point of the rotating device reaches the preset equilibrium condition. When the preset termination condition is met, the iterative update of the objective function is stopped, and the correction angle corresponding to the angle orientation of the target component on the rotating device being within the preset angle range is obtained.

7. The method according to claim 6, characterized in that, The preset termination conditions include: The resultant torque at the rotation center point of the rotating device obtained through iteration is less than the preset torque; or, The difference between the correction angles obtained from two adjacent iterations is less than the preset angle.

8. A hangar balance control device, characterized in that, The hangar includes a rotating device, on which a predetermined number of load-bearing components are mounted. These load-bearing components are used to support objects. The rotating device is axially rotating around a central axis and simultaneously driving each load-bearing component to rotate. The device includes: The second rotation angle determination module is used to determine a second rotation angle for each reference bearing component on the rotating device if the angle orientation of the target component on the rotating device is not within a preset angle range when the rotating device has completed its rotation. The second rotation angle is the rotation angle generated by each reference bearing component relative to the reference marker when the rotating device has completed its rotation. The reference bearing component is the bearing component of the object already bearing on the rotating device. Each second rotation angle includes the reference angle deviation generated by the reference bearing component on the rotating device when the rotating device rotates. The correction angle determination module is used to determine a correction angle based on the second rotation angle; the correction angle is used to correct the deviation of the reference angle. The correction angle determination module specifically includes: The gravitational torque determination unit is used to generate the sum of the gravitational torques of multiple load-bearing components about the rotation center point of the rotating device based on the actual weight of each reference load-bearing component and the corresponding second rotation angle. The correction angle calculation unit is used to solve the correction angle based on the sum of the gravitational torques and the sum of the constraint torques; wherein the sum of the constraint torques is used to indicate the torque generated by the physical mechanical mechanism on the rotation center point of the rotating device; An angle adjustment module is used to drive the rotating device to adjust its angle based on the correction angle, so that the angle of the target component on the rotating device is within the preset angle range.

9. An electronic device, characterized in that, The electronic device includes: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the hangar balancing control method as described in any one of claims 1-7.

10. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the hangar balancing control method as described in any one of claims 1-7.

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