Gate position correction method and correction mechanism

Abstract

The application provides a gate position correction method and a correction mechanism, and relates to the technical field of gate control of a hydropower station.The method comprises the following steps: constructing a trajectory prediction model and a global coordinate system; inputting a gate state vector into the trajectory prediction model to obtain a predicted trajectory; determining a predicted offset vector, a predicted offset rate and a correction critical time; selecting a correction start time; obtaining a predicted trajectory point and a predicted offset vector corresponding to the correction start time to obtain a correction start position and a correction start offset vector; determining a target position of a contact point based on the correction start offset vector and a current position of the contact point of the correction mechanism; moving the contact point of the correction mechanism to the correction start position at the correction start time; and moving the contact point of the correction mechanism to the target position of the contact point during the correction. The method can predict the offset trend of the gate in advance, rather than reacting after the actual offset occurs, thereby shortening the time interval from discovering the problem to taking action.

Description

Technical Field

[0001] This invention relates to the field of gate control technology for hydropower stations, specifically to a gate positioning correction method and correction mechanism. Background Technology

[0002] In current gate maintenance and operation practices, when gate misalignment occurs during lowering, manual intervention is typically used for correction. Existing technology allows manual pulling of the gantry crane's chain hoist to stabilize the crane and adjust the relative position between the gate and the gate slot entrance. However, this method is labor-intensive and has low correction accuracy. To address the high labor intensity, a corresponding correction mechanism has been designed. However, existing correction mechanisms still rely on manual observation, judgment, and operation, resulting in significant time lag. When the gate lowers rapidly or misalignment occurs suddenly, real-time manual response is difficult, often missing the optimal correction opportunity. Furthermore, differences in operator experience lead to inconsistent correction results, lacking quantitative standards and feedback mechanisms, making it difficult to meet the requirements for precise gate alignment. Summary of the Invention

[0003] The purpose of this invention is to provide a gate positioning correction method and correction mechanism, and the technical problem to be solved is to shorten the time lag of gate correction.

[0004] This invention is achieved through the following technical solution:

[0005] The first aspect provides a gate positioning correction method, including the following steps:

[0006] Construct a trajectory prediction model and a global coordinate system; wherein the origin of the global coordinate system is the center of the door slot, the X-axis is along the length of the door slot, the Y-axis is along the width of the door slot, and the Z-axis is along the height of the door slot.

[0007] Obtain the gate state vector at the current moment, input the gate state vector at the current moment into the trajectory prediction model, and obtain the predicted trajectory with the predicted duration;

[0008] Based on the global coordinate system described above, the prediction offset vector from each prediction trajectory point to the Z-axis is determined.

[0009] Based on the gate state vector and predicted offset vector at the current moment, the predicted offset rate of each predicted trajectory point is determined.

[0010] Obtain the preset safety boundary, extract the gate position vector from the gate state vector at the current moment, and determine the critical moment for correction when the gate deviates to the safety boundary based on the gate position vector at the current moment, the predicted trajectory, and the predicted offset rate of each predicted trajectory point; the time interval from the current moment to the critical moment for correction is composed of the correction time window; select the correction start time from the correction time window.

[0011] Based on the above correction start time, the predicted trajectory point and predicted offset vector corresponding to the correction start time are obtained, and the correction start position and correction start offset vector are obtained.

[0012] Obtain the current position of the correction mechanism contact point, and based on the above-mentioned correction start offset vector and the current position of the correction mechanism contact point, determine the target position of the contact point for the predicted duration.

[0013] At the aforementioned correction initiation moment, the contact of the correction mechanism moves from the current correction mechanism contact position to the correction initiation position; during correction, the contact of the correction mechanism moves from the correction initiation position to the contact target position.

[0014] By using the current gate state vector and a trajectory prediction model to generate a predicted trajectory, the gate's movement path over a period of time can be estimated in advance, allowing for early detection of deviation trends rather than reacting only after the deviation has actually occurred. This provides proactive guidance for corrective actions, shortening the time interval between problem detection and action. Clearly defining the predicted deviation vector of the predicted trajectory point relative to the Z-axis quantifies the possible degree and direction of gate deviation at various times, helping to determine the direction of corrective action and the extension length of the corrective mechanism. Predicting the development trend of gate deviation by forecasting the deviation rate allows the system or operators to schedule corrective actions based on the predicted deviation rate, intervening early when the predicted deviation rate is high to avoid missing the optimal correction opportunity due to rapid deviation development and reducing time lag.

[0015] The preset safety boundary defines the allowable offset range of the gate. By calculating the critical moment for correction, a suitable correction time range is planned. Within this time range, the correction start time is selected to ensure that the correction action begins before the gate is about to reach the safety boundary, further shortening the correction time lag.

[0016] By defining the target position of the contact point in the correction mechanism, the mechanism has a clear endpoint during the correction process. The contact point is moved to the target position according to the predetermined goal, avoiding repeated adjustments and thus shortening the correction time lag. The correction action is performed according to a predetermined time and position sequence. Before the correction begins, the contact point is moved to the starting position to prepare for the correction action. From the start of the correction, the contact point moves directly towards the target position.

[0017] Furthermore, a trajectory prediction model is constructed, including the following steps:

[0018] Numerical integration was performed using the fourth-order Runge-Kutta method.

[0019] Based on the gate state vector at the current moment, determine the gate state vector at each prediction moment within the prediction time.

[0020] Extract the predicted gate position vector from the gate state vector at each predicted moment within the above-mentioned prediction time, and connect the predicted gate position vectors to obtain the predicted trajectory for the prediction time.

[0021] Furthermore, selecting the correction start time from the aforementioned correction time window includes the following steps:

[0022] The above correction time window is discretized into N candidate times;

[0023] Extract the gate state vector corresponding to the above candidate time. The gate state vector includes the predicted gate position vector and the predicted offset vector of the gate at the candidate time.

[0024] The extension direction of the pre-defined correction mechanism points to the Z-axis, and the extension length of the correction mechanism is proportional to the predicted offset vector.

[0025] Based on the gate state vector corresponding to the above candidate time, the extension length and extension direction of the above correction mechanism, the fourth-order Runge-Kutta method is used to deduce the controlled motion trajectory of the gate from the candidate time to the end of the predicted time.

[0026] Based on the above controlled motion trajectory of the gate, the comprehensive evaluation index for correction at each candidate moment is determined;

[0027] The comprehensive evaluation index for correction at each of the above candidate moments is compared to determine the maximum comprehensive evaluation index for correction.

[0028] Select the candidate moment corresponding to the largest of the above-mentioned comprehensive evaluation indicators for correction as the correction start moment.

[0029] Discretizing the correction time window provides multiple options for selecting the optimal correction start time, helping to find the most suitable correction timing and avoiding missing the best correction time due to selecting a single time. Obtaining the gate state vector at candidate times reveals the gate's specific position and offset at those times. The fourth-order Runge-Kutta method is used to deduce the gate's controlled motion trajectory, simulating the gate's movement during correction in advance and predicting the correction effect. This avoids correction failure or wasted time due to blindly selecting a correction start time. Comprehensively considering the gate's offset and placement time, the correction effect of each candidate time is fully evaluated, improving the timeliness and effectiveness of correction. Selecting the candidate time corresponding to the maximum comprehensive correction evaluation index as the correction start time ensures that the final selected candidate time is optimal, minimizing the correction time lag and improving correction efficiency and success rate.

[0030] Furthermore, based on the controlled motion trajectory of the gate described above, the comprehensive evaluation index for correction at each candidate moment is determined, including the following steps:

[0031] Based on the above controlled motion trajectory of the gate, determine the maximum offset of the controlled motion trajectory of the gate to the Z-axis;

[0032] Calculate the time it takes for the gate to land in the gate slot along the controlled motion trajectory and the predicted trajectory, respectively, to obtain the controlled landing time and the free landing time; based on the controlled landing time and the free landing time, determine the time change.

[0033] Based on the maximum offset, time change, and preset offset weights and time change weights, a comprehensive evaluation index for correction is determined.

[0034] The maximum offset is used to evaluate the control effect of the correction strategy on the gate offset. The smaller the maximum offset, the better the offset effect. The time change is used to evaluate whether the correction strategy can shorten the gate's landing time. The larger the time change, the better the offset effect. Taking into account both the maximum offset and the time change, and assigning corresponding weights, the correction effect at each candidate moment is objectively evaluated.

[0035] The second aspect provides a gate positioning correction mechanism, which is arranged between the gate and the gate housing. The correction mechanism is used for communication connection to a control platform, which is used to determine the correction start time, the correction start position, and the contact target position. The correction mechanism is used to execute any of the above-mentioned gate positioning correction methods. The correction mechanism includes:

[0036] A sleeve, one end of which is used to abut against the gate, and the other end of which is used to face the gate. A lifting rod is fitted inside the sleeve, one end of which extends out of the sleeve. A roller is connected to the end of the lifting rod that extends out of the sleeve, and the roller is used to abut against the gate.

[0037] The drive unit is connected to the lifting rod and is used for communication connection with the control platform to control the lifting rod to reciprocate along the length of the sleeve. When the drive unit receives the correction start time and correction start position, it controls the lifting rod to drive the roller to move to the correction start position before the correction start time. After receiving the contact target position, the drive unit controls the lifting rod to start moving from the correction start position at the correction start time until it reaches the contact target position.

[0038] The aforementioned sleeve and lifting rod combination adjusts the position of the roller (i.e., the contact point) by extending the lifting rod. The roller supports and pushes the gate, which continues to move downwards while being pushed. The roller rolls on the gate surface, reducing resistance to the gate's downward movement. The drive unit receives instructions from the control platform, moves the roller to the correction initiation position before the correction begins, and then begins moving it to the target contact point position at the correction initiation moment, achieving automatic correction operation. This reduces the time and error of manual operation and improves the timeliness and accuracy of correction.

[0039] Furthermore, the outer wall of the aforementioned lifting rod is provided with external threads; one end of the aforementioned sleeve is provided with a turntable, the inner wall of which is provided with internal threads adapted to the lifting rod; the aforementioned lifting rod is inserted into the sleeve and threadedly connected to the turntable.

[0040] The aforementioned drive unit is connected to the turntable. By rotating the turntable through the drive unit, the extension length of the lifting rod can be adjusted.

[0041] Furthermore, a buffer block is provided at the other end of the aforementioned sleeve, which is used to abut against the door.

[0042] The aforementioned buffer blocks reduce the impact force between the correction mechanism and the gate, thus protecting the structure of both.

[0043] Furthermore, the correction mechanism also includes a base, which is connected to a sleeve. The bottom of the base is provided with at least three legs, and the included angle between adjacent legs is less than 90 degrees, thereby increasing the stability of the base.

[0044] Furthermore, the sleeve is provided with a detection unit, which is used to communicate with the control platform to detect the current extension length of the lifting rod extending out of the sleeve, and to determine the length margin of the lifting rod based on the current extension length and the limit length of the lifting rod.

[0045] When the control platform selects the correction start time from the candidate times, if the length margin of the lifting rod is less than the maximum offset of the candidate time, the candidate time is discarded. This avoids correction failures or wasted time for readjustment due to insufficient lifting rod length, thus improving the efficiency and success rate of correction.

[0046] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0047] By using the current gate state vector and a trajectory prediction model to generate a predicted trajectory, the gate's movement path over a period of time can be estimated in advance, allowing for early detection of deviation trends rather than reacting only after the deviation has actually occurred. This provides proactive guidance for corrective actions, shortening the time interval between problem detection and action. Clearly defining the predicted deviation vector of the predicted trajectory point relative to the Z-axis quantifies the possible degree and direction of gate deviation at various times, helping to determine the direction of corrective action and the extension length of the corrective mechanism. Predicting the development trend of gate deviation by forecasting the deviation rate allows the system or operators to schedule corrective actions based on the predicted deviation rate, intervening early when the predicted deviation rate is high to avoid missing the optimal correction opportunity due to rapid deviation development and reducing time lag.

[0048] The preset safety boundary defines the allowable offset range of the gate. By calculating the critical moment for correction, a suitable correction time range is planned. Within this time range, the correction start time is selected to ensure that the correction action begins before the gate is about to reach the safety boundary, further shortening the correction time lag.

[0049] By defining the target position of the contact point in the correction mechanism, the mechanism has a clear endpoint during the correction process. The contact point is moved to the target position according to the predetermined goal, avoiding repeated adjustments and thus shortening the correction time lag. The correction action is performed according to a predetermined time and position sequence. Before the correction begins, the contact point is moved to the starting position to prepare for the correction action. From the start of the correction, the contact point moves directly towards the target position. Attached Figure Description

[0050] To more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort. In the drawings:

[0051] Figure 1 The flowchart for the correction method;

[0052] Figure 2 This is a schematic diagram of the correction mechanism.

[0053] The attached diagram shows the markings and corresponding component names:

[0054] 1. Sleeve; 2. Roller; 3. Turntable; 4. Base; 5. Support leg; 6. Buffer block. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of this invention are only for explaining this invention and are not intended to limit this invention.

[0056] First embodiment:

[0057] Combination Figure 1 A gate positioning correction method includes the following steps:

[0058] Construct a trajectory prediction model and a global coordinate system; wherein the origin of the global coordinate system is the center of the door slot, the X-axis is along the length of the door slot, the Y-axis is along the width of the door slot, and the Z-axis is along the height of the door slot.

[0059] Obtain the gate state vector at the current moment, input the gate state vector at the current moment into the trajectory prediction model, and obtain the predicted trajectory with the predicted duration; the gate state vector includes the force situation, resultant force, gate moving speed, acceleration and gate position in each direction.

[0060] Based on the global coordinate system described above, the prediction offset vector from each prediction trajectory point to the Z-axis is determined.

[0061] Based on the gate state vector and predicted offset vector at the current moment, the predicted offset rate of each predicted trajectory point is determined.

[0062] Obtain the preset safety boundary, extract the gate position vector from the gate state vector at the current moment, and determine the critical moment for correction when the gate deviates to the safety boundary based on the gate position vector at the current moment, the predicted trajectory, and the predicted offset rate of each predicted trajectory point; the time interval from the current moment to the critical moment for correction is composed of the correction time window; select the correction start time from the correction time window.

[0063] Based on the above correction start time, the predicted trajectory point and predicted offset vector corresponding to the correction start time are obtained, and the correction start position and correction start offset vector are obtained.

[0064] Obtain the current position of the correction mechanism contact point, and based on the above-mentioned correction start offset vector and the current position of the correction mechanism contact point, determine the target position of the contact point for the predicted duration.

[0065] At the aforementioned correction initiation moment, the contact point of the correction mechanism moves from its current position to the correction initiation position; during correction, the contact point moves from the correction initiation position to the target position. The contact point movement speed of the correction mechanism can be set independently.

[0066] By using the current gate state vector and a trajectory prediction model to generate a predicted trajectory, the gate's movement path over a period of time can be estimated in advance, allowing for early detection of deviation trends rather than reacting only after the deviation has actually occurred. This provides proactive guidance for corrective actions, shortening the time interval between problem detection and action. Clearly defining the predicted deviation vector of the predicted trajectory point relative to the Z-axis quantifies the possible degree and direction of gate deviation at various times, helping to determine the direction of corrective action and the extension length of the corrective mechanism. Predicting the development trend of gate deviation by forecasting the deviation rate allows the system or operators to schedule corrective actions based on the predicted deviation rate, intervening early when the predicted deviation rate is high to avoid missing the optimal correction opportunity due to rapid deviation development and reducing time lag.

[0067] The preset safety boundary defines the allowable offset range of the gate. By calculating the critical moment for correction, a suitable correction time range is planned. Within this time range, the correction start time is selected to ensure that the correction action begins before the gate is about to reach the safety boundary, further shortening the correction time lag.

[0068] By defining the target position of the contact point in the correction mechanism, the mechanism has a clear endpoint during the correction process. The contact point is moved to the target position according to the predetermined goal, avoiding repeated adjustments and thus shortening the correction time lag. The correction action is performed according to a predetermined time and position sequence. Before the correction begins, the contact point is moved to the starting position to prepare for the correction action. From the start of the correction, the contact point moves directly towards the target position.

[0069] Second embodiment:

[0070] Based on the first embodiment, a trajectory prediction model is constructed, including the following steps:

[0071] Numerical integration is performed using the fourth-order Runge-Kutta method.

[0072] Based on the gate state vector at the current moment, the gate state vector at each prediction moment within the prediction time is determined.

[0073] Extract the predicted gate position vector from the gate state vector at each predicted moment within the above-mentioned prediction time, and connect the predicted gate position vectors to obtain the predicted trajectory for the prediction time.

[0074] Third embodiment:

[0075] Based on any of the above embodiments, selecting the correction start time from the above correction time window includes the following steps:

[0076] The above correction time window is discretized into N candidate times;

[0077] Extract the gate state vector corresponding to the above candidate time. The gate state vector includes the predicted gate position vector and the predicted offset vector of the gate at the candidate time.

[0078] The pre-set extension direction of the correction mechanism points to the Z-axis, and the extension length of the correction mechanism is equal to the predicted offset vector.

[0079] Based on the gate state vector corresponding to the above candidate time, the extension length and extension direction of the above correction mechanism, the fourth-order Runge-Kutta method is used to deduce the controlled motion trajectory of the gate from the candidate time to the end of the predicted time.

[0080] Based on the above controlled motion trajectory of the gate, the comprehensive evaluation index for correction at each candidate moment is determined;

[0081] The comprehensive evaluation index for correction at each of the above candidate moments is compared to determine the maximum comprehensive evaluation index for correction.

[0082] Select the candidate moment corresponding to the largest of the above-mentioned comprehensive evaluation indicators for correction as the correction start moment.

[0083] Discretizing the correction time window provides multiple options for selecting the optimal correction start time, helping to find the most suitable correction timing and avoiding missing the best correction time due to selecting a single time. Obtaining the gate state vector at candidate times reveals the gate's specific position and offset at those times. The fourth-order Runge-Kutta method is used to deduce the gate's controlled motion trajectory, simulating the gate's movement during correction in advance and predicting the correction effect. This avoids correction failure or wasted time due to blindly selecting a correction start time. Comprehensively considering the gate's offset and placement time, the correction effect of each candidate time is fully evaluated, improving the timeliness and effectiveness of correction. Selecting the candidate time corresponding to the maximum comprehensive correction evaluation index as the correction start time ensures that the final selected candidate time is optimal, minimizing the correction time lag and improving correction efficiency and success rate.

[0084] In a specific embodiment, based on the controlled motion trajectory of the gate described above, a comprehensive evaluation index for correction at each candidate moment is determined, including the following steps:

[0085] Based on the above controlled motion trajectory of the gate, determine the maximum offset of the controlled motion trajectory of the gate to the Z-axis;

[0086] Calculate the time it takes for the gate to land in the gate slot along the controlled motion trajectory and the predicted trajectory, respectively, to obtain the controlled landing time and the free landing time; based on the controlled landing time and the free landing time, determine the time change.

[0087] Based on the above maximum offset, time change, and preset offset and time change weights, the comprehensive evaluation index for correction is determined, as follows: ,in, This indicates the comprehensive evaluation indicators for corrective actions; Indicates the maximum offset; Indicates the change over time. , Indicates the free fall time. Indicates the controlled placement time; Indicates the offset weight; Indicates the weight of changes over time.

[0088] The maximum offset is used to evaluate the control effect of the correction strategy on the gate offset. The smaller the maximum offset, the better the offset effect. The time change is used to evaluate whether the correction strategy can shorten the gate's landing time. The larger the time change, the better the offset effect. Taking into account both the maximum offset and the time change, and assigning corresponding weights, the correction effect at each candidate moment is objectively evaluated.

[0089] Fourth embodiment:

[0090] Combination Figure 2 A gate positioning correction mechanism is provided, which is arranged between the gate and the gate housing. The correction mechanism is used for communication connection with a control platform, which is used to determine the correction start time, correction start position, and contact target position. The correction mechanism is used to execute any of the aforementioned gate positioning correction methods. The correction mechanism includes:

[0091] Sleeve 1, one end of sleeve 1 is used to abut against the gate, and the other end of sleeve 1 is used to face the gate. A lifting rod is installed inside sleeve 1, one end of which extends out of sleeve 1. A roller 2 is connected to the end of the lifting rod that extends out of sleeve 1. The roller 2 is used to abut against the gate.

[0092] The drive unit is connected to the lifting rod and is used for communication connection with the control platform to control the lifting rod to reciprocate along the length of the sleeve 1. When the drive unit receives the correction start time and correction start position, it controls the lifting rod to drive the roller 2 to move to the correction start position before the correction start time. After receiving the contact target position, the drive unit controls the lifting rod to start moving from the correction start position at the correction start time until it reaches the contact target position.

[0093] The aforementioned sleeve 1 and lifting rod assembly adjusts the position of roller 2 (i.e., the contact point) by extending the lifting rod. Roller 2 supports and pushes the gate. While pushing the gate, it continues to move downwards. Roller 2 rolls on the gate surface, reducing resistance to the gate's downward movement. The drive unit receives instructions from the control platform and moves roller 2 to the correction initiation position before the correction begins. At the correction initiation moment, it begins moving to the target contact point position, achieving automatic correction operation. This reduces the time and error of manual operation and improves the timeliness and accuracy of correction.

[0094] In a specific embodiment, the outer wall of the lifting rod is provided with external threads; one end of the sleeve 1 is provided with a turntable 3, the inner wall of the turntable 3 is provided with internal threads adapted to the lifting rod; the lifting rod is inserted into the sleeve 1 and threadedly connected to the turntable 3.

[0095] The aforementioned drive unit is connected to the turntable 3. By rotating the turntable 3 through the aforementioned drive unit, the extension length of the lifting rod can be adjusted.

[0096] In a specific embodiment, a buffer block 6 is provided at the other end of the sleeve 1, which is used to abut against the door.

[0097] The aforementioned buffer block 6 reduces the impact force between the correction mechanism and the gate, protecting the structure of both the correction mechanism and the gate.

[0098] In a specific embodiment, the correction mechanism further includes a base 4, which is connected to a sleeve 1. The bottom of the base 4 is provided with at least three legs 5, and the included angle between adjacent legs 5 is less than 90 degrees. This increases the stability of the base 4.

[0099] In a specific embodiment, the sleeve 1 is provided with a detection unit, which is used to communicate with the control platform, detect the current extension length of the lifting rod extending out of the sleeve 1, and determine the length margin of the lifting rod based on the current extension length and the limit length of the lifting rod.

[0100] When the control platform selects the correction start time from the candidate times, if the length margin of the lifting rod is less than the maximum offset of the candidate time, the candidate time is discarded. This avoids correction failures or wasted time for readjustment due to insufficient lifting rod length, thus improving the efficiency and success rate of correction.

[0101] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for correcting gate positioning, characterized in that, Includes the following steps: Construct a trajectory prediction model and a global coordinate system; wherein the origin of the global coordinate system is the center of the door slot, the X-axis is along the length of the door slot, the Y-axis is along the width of the door slot, and the Z-axis is along the height of the door slot. Obtain the gate state vector at the current moment, input the gate state vector at the current moment into the trajectory prediction model, and obtain the predicted trajectory with the predicted duration; Based on the global coordinate system, determine the prediction offset vector from each prediction trajectory point to the Z-axis on the prediction trajectory; Based on the gate state vector and predicted offset vector at the current moment, the predicted offset rate of each predicted trajectory point is determined; Obtain a preset safety boundary, extract the gate position vector from the gate state vector at the current moment, and determine the critical moment for correction when the gate deviates to the safety boundary based on the gate position vector at the current moment, the predicted trajectory, and the predicted offset rate of each predicted trajectory point; form a correction time window from the time interval from the current moment to the correction critical moment; select the correction start time from the correction time window; Based on the correction start time, the predicted trajectory point and predicted offset vector corresponding to the correction start time are obtained, and the correction start position and correction start offset vector are obtained. Obtain the current position of the correction mechanism contact point, and determine the target position of the contact point for the predicted duration based on the correction start offset vector and the current position of the correction mechanism contact point. At the start of the correction, the contact of the correction mechanism moves from the current position to the start position; during correction, the contact of the correction mechanism moves from the start position to the target position.

2. The gate positioning correction method according to claim 1, characterized in that, Constructing a trajectory prediction model includes the following steps: Numerical integration is performed using the fourth-order Runge-Kutta method; Based on the gate state vector at the current moment, determine the gate state vector at each prediction moment within the prediction time. Extract the predicted gate position vector from the gate state vector at each predicted moment within the predicted duration, and connect the predicted gate position vectors to obtain the predicted trajectory for the predicted duration.

3. The gate positioning correction method according to claim 1, characterized in that, Selecting the correction start time from the correction time window includes the following steps: The correction time window is discretized into N candidate times; Extract the gate state vector corresponding to the candidate time, which includes the predicted gate position vector and the predicted offset vector of the gate at the candidate time; The extension direction of the pre-defined correction mechanism points to the Z-axis, and the extension length of the correction mechanism is proportional to the predicted offset vector. Based on the gate state vector corresponding to the candidate moment, the extension length and extension direction of the correction mechanism, the fourth-order Runge-Kutta method is invoked to deduce the controlled motion trajectory of the gate from the candidate moment to the end of the predicted duration. Based on the controlled motion trajectory of the gate, a comprehensive evaluation index for correction is determined for each candidate moment; The comprehensive evaluation index for correction at each candidate moment is compared to determine the maximum comprehensive evaluation index for correction. Select the candidate time corresponding to the largest comprehensive evaluation index for correction as the correction start time.

4. The gate positioning correction method according to claim 3, characterized in that, Based on the controlled motion trajectory of the gate, the comprehensive evaluation index for correction at each candidate moment is determined, including the following steps: Based on the controlled motion trajectory of the gate, determine the maximum offset of the controlled motion trajectory of the gate to the Z-axis; The time it takes for the gate to land in the gate slot along the controlled movement trajectory and the predicted trajectory are calculated respectively to obtain the controlled landing time and the free landing time; based on the controlled landing time and the free landing time, the time change is determined. Based on the maximum offset, the time change, and the preset offset weight and time change weight, a comprehensive evaluation index for correction is determined.

5. A gate positioning correction mechanism, wherein the correction mechanism is arranged between the gate and the gate housing, the correction mechanism is used for communication connection with a control platform, the control platform being used to determine the correction start time, the correction start position, and the contact point target position; characterized in that, The correction mechanism is used to perform the gate positioning correction method according to any one of claims 1 to 4; the correction mechanism includes: Sleeve (1), one end of sleeve (1) is used to abut against the gate, and the other end of sleeve (1) is used to face the gate. A lifting rod is sleeved inside the sleeve (1), one end of which extends out of the sleeve (1); a roller (2) is connected to the end of the lifting rod that extends out of the sleeve (1), and the roller (2) is used to abut against the gate. The drive unit is connected to the lifting rod and is used to communicate with the control platform to control the lifting rod to reciprocate along the length of the sleeve (1). When the drive unit receives the correction start time and correction start position, it controls the lifting rod to drive the roller (2) to the correction start position before the correction start time. After the drive unit receives the contact target position, it controls the lifting rod to start moving from the correction start position until it reaches the contact target position.

6. The gate positioning correction mechanism according to claim 5, characterized in that, The outer wall of the lifting rod is provided with an external thread; one end of the sleeve (1) is provided with a turntable (3), the inner wall of the turntable (3) is provided with an internal thread adapted to the lifting rod; the lifting rod is inserted into the sleeve (1) and threadedly connected to the turntable (3); The drive unit is connected to the turntable (3), and the extension length of the lifting rod is adjusted by rotating the turntable (3) through the drive unit.

7. The gate positioning correction mechanism according to claim 6, characterized in that, The other end of the sleeve (1) is provided with a buffer block (6), which is used to abut against the door.

8. The gate positioning correction mechanism according to claim 5, characterized in that, The correction mechanism also includes a base (4), which is connected to a sleeve (1). The bottom of the base (4) is provided with at least three legs (5), and the included angle between adjacent legs (5) is less than 90 degrees.

9. The gate positioning correction mechanism according to claim 5, characterized in that, The sleeve (1) is provided with a detection unit, which is used to communicate with the control platform, detect the current extension length of the lifting rod extending out of the sleeve (1), and determine the length margin of the lifting rod based on the current extension length and the limit length of the lifting rod. When the control platform selects the correction start time from the candidate time, if the length margin of the lifting rod is less than the maximum offset of the candidate time, then the candidate time is eliminated.

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